ANNALS OF THE UNIVERSITY OF CRAIOVA

Florin Daniel Anton, Theodor Borangiu, Silvia Anton, Andra Condrut
University Politehnica of Bucharest, Dept. of Automation and Applied Informatics

Abstract: Nowadays production flows are modular, each module in the enterprise being specialized and used to achieve a particular task. In many cases the modules are connected and materials are sequentially processed in each module resulting a final, unique product or assembly. One typical such production module is a flexible cell/system using multiple robots. The paper describes a platform which is a software product designed to control and supervise multiple robot-vision controllers using remote connections with a number of Adept Technology V+ controllers, either located in a local network or via Internet. Additionally the platform allows users to run remote robot vision sessions and to develop and execute robot-vision programs.
Keywords: remote control, flexible manufacturing systems, interface, robot vision, robot control.

Marián Bakoš
Technical university of Košice, Faculty of Electrical Engineering and Informatics Department of Cybernetics and Artificial Intelligence

Abstract: The main aim of image segmentation is to divide an image to some parts, which correlate strongly by objects of reality. At image segmentation, deformable models which were studied at resolving of these problems, found wide use. Deformable models became popular since 1987. In the literature we can meet different names for these models, for example snake, active contours, as well as surfaces or balloons. Of course, that this theme is dealt also by different segmentation methods, but this article deals exactly the use of the method of active contours and explains briefly the fundamentals of functioning of this system and finally offers a simple demonstration of functioning of the active contours methods at a artificial and real picture.
Keywords: image segmentation, active contour, parametric and geometric deformable models

Áron Ballagi1, Tihamér Ádám2
Department of Automation, University of Miskolc

Abstract: This paper presents a non-systematic odometry error qualificatory method base on fuzzy logic. Odometry is the most widely used navigation method for mobile robot positioning. It is well known that odometry provides good short-term accuracy, is inexpensive, and allows very high sampling rates. The disadvantage of odometry is that the position error grows without bound unless an independent reference is used periodically to reduce the error. We have started a research project that works out some intelligent methods for calculate the plausibility of odometric trajectory and pose of a mobile robot.
Keywords: Robotics, Fuzzy Logic, Odometry.

Claudiu Chiculita, Laurentiu Frangu
„Dunarea de Jos” University of Galati

Abstract: The paper presents an experimental setup, for a teleoperation experiment. It contains a physical controlled object and all the server and client software required to local or remote control of this object (through the Internet). The controlled object is the known experiment "plate and ball" and the feedback provided by image processing, which is an unstable system. When remote operated, the experiment includes an unknown and variable deadtime, produced by the network propagation time of the control and feedback signals. The objectives are to share this teaching and research resource and to create a challenging control problem, i.e. control of unstable processes, with variable deadtime in the loop. The main result is the remote control system, satisfying the above mentioned objectives.
Keywords: teleoperation, Internet, control, deadtime, communication software.

Dervis Z. Deniz and Atilla Bulancak
Information Technologies R&D Center Department of Electrical & Electronic Engineering Eastern Mediterranean University Gazimagusa, N. Cyprus, Mersin-10, Turkey

Abstract: Web based conference organization and management is one of the most popular applications over the Internet developed recently. Conferences are events that bring knowledge and people together. There is however a lot of informational exchange, organizational and administrative work to be carried out before such an event can be a success. In this paper, an automated web based conference management system is described. Automation of certain management activities is proposed in order to take the pain out of such event organization. Academic conference organization is presented as an example to such an activity.
Keywords: Conference management, web application, web-based event management, Internet information systems.

Ionut Dinulescu, Alice Predescu, Dorin Popescu
University of Craiova, Faculty of Automation, Computers & Electronics Dept. of Automation and Mechatronics

Abstract: The aim of this work is to develop a software framework which allows building and evaluation of structure-from-motion algorithms. A graphical simulation software built on top of this framework allows fast development and debugging each phase of the segmentation process, starting with image acquisition to final feature extraction. The object oriented architecture of the framework allows later extension, without the need to modify and re-test its existing components.
Keywords: image recognition, structure from motion, segmentation, moving camera.

Sorin Dumitru, Dorian Cojocaru
University of Craiova, Faculty of Automation, Computers and Electronics, Automation & Mechatronics Department

Abstract: Wireless communications and electronics has been enabled the development of low-cost sensor networks. The sensor networks can be used for various application areas (e.g., health, military, home). In this paper our aim was to design and implement an application for monitoring the data from a Tmote Sky that is measuring the temperature, humidity and pressure and communicates at a certain trigger of start with other motes. This motes are connected and configured so that the communication between them can be maintained at a certain scale. The application was developed to the Czech Technical University in Prague in the ERASMUS/SOCRATES program.
Keywords: sensor network, visualization.

I. Gavrilut^*, V. Tiponut^**, A. Gacsádi^*
*University of Oradea, Electronics Department ^**Politehnica University from Timisoara, Applied Electronics Department

Abstract: The paper presents some vision-based algorithms for mobile robots guidance in an environment with obstacles. Cellular Neural Networks (CNNs) processing techniques are used here for real time motion planning to reach a fixed target. The CNN methods are considered an advantageous solution for image processing in autonomous mobile robots guidance.
Keywords: image processing, CNN, path planning, mobile robots.

Daniela Gherghel
S.C. Takata-Petri, SRL,

Abstract: One of the most important applications of parametric representation of the system is modeling described by the end of cinematic chain during the motion. The approach to modeling is based on the direct geometrical model considering the human upper limb as a cinematic structure similar to that a robot with five degrees of freedom.
Keywords: parametric representation, human upper limb

Gîrnita Marian-Silviu
Military Technical Academy Bucuresti, ROMÂNIA

Abstract: Parallel and sequential implementations of the Multi-sensor Joint Probabilistic Data Association (MSJPDA) tracking algorithm are analyzed and compared. The sequential implementation is shown to be exponentially less computationally complex as the number of sensors increases. Simulation results suggest that the sequential method also yields better tracking performance on the average. This is primarily due to the fact that better filtered estimates are available after processing each sensor's data. Thus, while sequential and parallel implementations are equivalent in multisensor filtering when no data association routine is needed, the sequential implementation gives superior tracking performance when data association is required.
Keywords: multitarget, tracking , multisensor

Mircea Ivanescu*, Mihaela Cecilia Florescu**
* Mechatronics Department, Faculty of Automation, Computers and Electronics ** Faculty of Engineering of Management of Technological Systems, University of Craiova

Abstract: The paper focuses on the control problem of a tentacle robot that performs the coil function of the grasping. First, the dynamic model of a tentacle arm with continuum elements produced by flexible composite materials in conjunction with activecontrollable electro-rheological fluids is analyzed. Secondly, both problems, i.e. the position control and the force control are approached. The difficulties determined by the complexity of the non-linear integral-differential equations are avoided by using a very basic energy relationship of this system. Energy-based control laws are introduced for the position control problem. A force control method is proposed, namely the DSMC method in which the evolution of the system on the switching line by the ER fluid viscosity is controlled. Numerical simulation is also presented.
Keywords: distributed control, energy control, force control, robotics.

Gheorghe LAZEA, Radu ROBOTIN, Cosmin MARCU, Levente TAMAS
Technical University of Cluj-Napoca, Department of Automation

Abstract: Cooperative mobile robots involve accurate robot localization, map-matching and information exchange and collision-free navigation. Autonomous robots must be able to learn and maintain models of their environments. Robots operating in a team must also exchange information and cope with the requirements of a dynamic world. The paper gives results for autonomous exploration, mapping and operation of a mobile robot in populated multi-room environments, part of a mobile team of exploratory robots.
Keywords: mobile robots, autonomous exploration, Kalman filters, sensor integration, navigation

Mircea Nitulescu
University of Craiova Faculty of Automation, Computers and Electronics, Department of Automation and Mechatronics

Abstract: This work presents some considerations regarding mathematical models and control solutions for a class of mobile robots currently namely two-wheel differential drive mobile robots. Now, this configuration is one of the most utilized mechanical structures in wheeled mobile robotics practice. The closed loop control diagrams for position control and respectively for direction control in tracking along imposed trajectories are also analyzed and included in this paper. For these control solutions and based on root locus method diagram, the paper presents therefore some analyses regarding the stability in different circumstances.
Keywords: Mobile robotics, Modeling, Control, Stability

Roberto Oboe ¹, Tahar Slama ², Alberto Trevisani ^3
1 Department of Mechanical and Structural Engineering University of Trento ² Laboratory of Vision and Robotic University of Bourges, France. ³Department of Technique and Management of Industrial Systems University of Padova, Italy.

Abstract: This paper presents the problems arising in the realization of an Internet-based telerobotic system. Variable delays, data losses, unknown available throughput and unknown enviroment dynamics are the common problems faced in designing a reliable control strategy. The design of a stabilizing controller can be approached with several techniques, each of them with merits and limitations. The paper introduces some of the newest techniques, and presents some applications.
Keywords: telerobotics, communication networks, time delay, delay compensation

Ana Pavel, Cristian Vasile, Catalin Buiu
Faculty of Automatic Control and Computers “POLITEHNICA” University of Bucharest

Abstract: Ecology is a challenging application area for mobile service robots. They should be able to automate tasks that are too tedious or dangerous for humans to execute, such as collecting waste material. Such a robot must make use of several senses, of which the most important and difficult to implement is vision. This paper presents the cognitive vision system of ReMaster One, an autonomous service robot that is able to recognize and sort waste in an indoor environment. A first prototype has been built and tested with success.
Keywords: service robot, ecology, cognitive vision

Doru Panescu, Marius Sutu, Stefan Dumbrava
”Gh. Asachi” Technical University of Iasi, Faculty of Automatic Control and Computer Engineering Department of Automatic Control and Applied Informatics

Abstract: A comparison of two multiagent schemes is presented. One is a blackboard based system, the other uses a message exchange coordination mechanism. They are compared regarding the possibility to plan and control an assembly manufacturing system with two industrial robots working in cooperation. The coordination and communication issues are discussed, the advantages for each of the proposed approaches being pointed out. The aim of the research is to increase the autonomy and flexibility of robot based manufacturing systems.
Keywords: multi-agent systems, planning, blackboard systems, cooperative robotics, robot assembly.

Somrak Petchartee¹ and Gareth Monkman^2
1Ferderal Arms Force University Munich, Germany,
²University of Applied Sciences Regensburg, Germany

Abstract: The surface recognition algorithm that determines the types of contact surfaces by fusing information collected by the tactile sensor system is proposed. The tactile system will be determined from the shape of the object image which can then be characterized using the mathematical properties of Quadric surface. This algorithm can recognize 3-D objects using a 2-fingered robot gripper, on which tactile sensors are mounted. Experiments have demonstrated the reliability of the surface classification method and the accuracy of transformations independent of an object’s shape, translation and rotation.
Keywords: multisensor integration, surface classification, surface recognition, shape recognition, shape discrimination.

Somrak Petchartee¹ and Gareth Monkman^2
1Ferderal Arms Force University Munich, Germany,
²University of Applied Sciences Regensburg, Germany

Abstract: A method to detect pre-slip by controlling the normal force as measured by tactile sensor arrays has been developed. A predictive model has been proposed which uses a basic method adapted to real applications in grasp optimization. Prevention of premature release with minimum prehension force is addressed without the need to measure the coefficient of friction between object and robot gripper. Predictive models have been used to develop a set of rules which predict the preslip based on fluctuations in tactile signal data.
Keywords: predictive control, vibration measurement, signal detection, transient oscillations, robot control.

Marian POBORONIUC¹, Marian PETRESCU^1,2, Ciprian STEFAN1, Gheorghe LIVINT^1
1Technical University of Iasi, Faculty of Electrical Engineering, Iasi, Romania, ²Siemens VDO Automotive SRL, Iasi, Romania

Abstract: Functional Electrical Stimulation is a means of producing contractions in muscles, paralysed due to central nervous system lesions, by means of electrical stimulation. The devices that provides the required stimulation pattern are termed as neuroprostheses. By increasing the number of specialists that are trained to implement control strategies within a neuroprosthesis an increased number of disabled people may benefit during their rehabilitation processus. The main feature of the developed system is support for the training, development, implementation and testing of user defined control algorithms with remote equipment laboratory that emulate a neuroprosthesis.
Keywords: Remote labs, E-learning, Functional Electrical Stimulation, Neuroprostheses.

Dorin Popescu, Florin Manta, Adrian Moraret, Sorin Vava, Livia Popescu
University of Craiova, Faculty of Automation, Computers and Electronics Department of Automation and Mechatronics, Romania

Abstract: The aim of the work was to develop telematics aplications to be used in an eteaching context. A web based application has been developed, which links a programmable logic controller (PLC) with a computer for programming via Internet. The main requirement of our application is to provide a friendly user interface that allows PLC application developers to control a Flexible Manufacturing System (FMS) from anywhere in the world via a thin client that does not need the installation of any additional software on the user side. The user has possibility to see the environment (FMS) via images from a network video camera.
Keywords: telematics, web based application, flexible manufacturing system, programmable logic controller, open-source technologies.

Nirvana Popescu, Decebal Popescu, Cornel Popescu* Gabriel Verzea**
* POLITEHNICA University of Bucharest, Computer Science Department, ** Eng., Future IT ConceptCompany

Abstract: This paper presents the implementation of a portal dedicated to the academic activities for a specific subject. The portal, designed and developed in TYPO 3, is meant to create a virtual space for learning. The student can attend courses, view slides and run the labs in a virtual environment.
Keywords: portal, TYPO 3, distance learning.

Ionut Resceanu, Ofelia Tindea
University of Craiova, Faculty of Automation, Computers and Electronics, Department of Mechatronics, Romania S.C. IT SIX Global Services, Craiova, Romania

Abstract: Reinforcement learning is often a considerable abstraction of the problem of goal-directed learning from interaction. Autonomous, online learning robots possess the ability to operate in complex, dynamic environments through training and instruction to improve the robots’ connection between its perception and action. In this article, it is presented an implementation of an autonomous, learning robot that performs exploration of the environment and learns how to avoid obstacle effectively. The robot was built using the Lego RCX.
Keywords: control algorithms mobile robot, genetic algorithms, learning, path-planning, Lego RCX;

Ajij Sayyad , K. Kurien Issac, Bharatendu Seth
Indian Institute of Technology, Bombay, Mumbai, India

Abstract: The only possible gait (hopping) of single-legged hopping system can be modeled as a simple hybrid dynamic system, with spring-mass dynamics during stance and ballistic motion during the °ight phase. In this paper, an asymmetrical 2 DOF one-legged hopping robot - a Springy-Legged O®set-Mass (SLOM) robot - is investigated. An under-actuated model, uses a simple linear actuator to input energy within the °ight duration. A 3-dimensional Poincar¶e return map is used to investigate this nonlinear model. This nonlinear model is linearized at its operating point. We formulated a linear approximate model of the proposed robot. We used di®erent discrete-time sliding mode based state feedback stabilization strategies to accomplish sustained hopping behaviour. The proposed sliding mode controllers are designed based on the linear approximate model and applied to the actual nonlinear hopping model.
Keywords: hopping robotics, Poincare map, linear approximation, discrete-time sliding mode control

Nikos C. Tsourveloudis
Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete

Abstract: A general fuzzy logic control framework along with its application specific modifications is presented to support, evaluate and justify the proposed perspective to unmanned vehicle autonomous navigation. The paper discusses successful applications of collision free motion control of ground, aerial and underwater unmanned vehicles navigation. The common characteristic in all applications regardless of the type of vehicle is the navigation architecture used. Experimental and simulation results are included to validate and support the implemented techniques and approaches. A comparison of classical and soft computing based controllers, designed to control an underwater vehicle provides additional evidence of the usefulness and applicability of fuzzy logic as a viable alternative to using analytic approaches, and as a modeling tool that deals with real life ill-defined problems.
Keywords: Autonomous navigation, unmanned vehicles, fuzzy logic.

Bogdan Vigaru, Pierre Mozer , Doru Petrisor , Dan Stoianovici
Urology Robotics, School of Medicine, Johns Hopkins University, Baltimore, MD, USA

Abstract: Today’s most successful surgical robots are perhaps surgeon-driven systems, such as the da Vinci (Intuitive Surgical Inc., USA, www.intuitivesurgical.com). These have already enabled surgery that was unattainable with classic instrumentation; however, at their present level of development, they have limited utility. The drawback of these systems is that they are independent self-contained units, and as such, they do not directly take advantage of patient data. The potential of these new surgical tools lies much further ahead. Integration with medical imaging and information are needed for these devices to achieve their true potential. Many different robotic systems have been developed for invasive medical procedures. Surgical robots and especially their subclass of image-guided systems require special design, construction and control compared to industrial types, due to the special requirements of the medical and imaging environments. Imager compatibility raises significant engineering challenges for the development of robotic manipulators with respect to imager access, safety, ergonomics, and above all the non-interference with the functionality of the imager.
Keywords: medical robot, image-guided robot, MR compatible

Iveta Zolotová, Marián Bakoš, Lenka Landryová
Technical University of Košice, Faculty of Electrical Engineering and Informatics Department of Cybernetics and Artificial Intelligence
VSB Technical University Ostrava, Faculty of Mechanical Engineering, Department of Control Systems and Instrumentation, Ostrava, Czech Republic

Abstract: This article takes an interest in communication possibilities in Information and Control Systems (ICS), focused on visualization and control of SCADA/HMI systems. It describes the way of communication between Suite Voyager Industrial Server and external devices or models. It contains descriptions of configurations and a description of structures which we have built in our department. We also describe communication protocols which we use and combine in our solution. At the end, these possibilities are compared and our practical experience is described.
Keywords: visualization, SCADA/HMI, communication possibilities, Information and Control Systems