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This paper introduces JOpenShowVar, a Java open-source cross-platform communication interface to Kuka robots that allows for reading and writing variables and data structures of the controlled manipulators. This interface, which is compatible with all Kuka robots that use KR C4 and previous versions, runs as a client on a remote computer connected with the(More)
This paper introduces ModGrasp, an open-source virtual and physical rapid-prototyping framework that allows for the design, simulation and control of low-cost sensorised modular hands. By combining the rapid-prototyping approach with the modular concept, different manipulator configurations can be modelled. A real-time one-to-one correspondence between(More)
This paper introduces a new modular approach to robotic grasping that allows for finding a trade off between a simple gripper and more complex human like manipulators. The modular approach to robotic grasping aims to understand human grasping behavior in order to replicate grasping and skilled in-hand movements with an artificial hand using simple, robust,(More)
This paper introduces a flexible and general control system architecture that allows for modelling, simulation and control of different models of maritime cranes and, more generally, robotic arms by using the same universal input device regardless of their differences in size, kinematic structure, degrees of freedom, body morphology, constraints and(More)
This paper presents an open source, object-oriented machine learning framework, formally named Java Intelligent Optimisation (JIOP). While JIOP is still in the early stages of development, it already provides a wide variety of general learning algorithms that can be used. Initially designed as a collection of existing learning methods , JIOP aims to(More)
In [1], a flexible and general control system architecture that allows for modelling, simulation and control of different models of maritime cranes and, more generally, robotic arms was previously presented by our research group. Each manipulator can be controlled by using the same universal input device regardless of differences in size, kinematic(More)
A wearable integrated health-monitoring system is presented in this paper. The system is based on a multisensor fusion approach. It consists of a chest-worn device that embeds a controller board, an electrocardiogram (ECG) sensor, a temperature sensor, an accelerometer, a vibration motor, a colour- changing light-emitting diode (LED) and a push-button. This(More)
In this paper, the configuration of a five-limbed modular robot is introduced. A specialised locomotion gait is designed to allow for omni-directional mobility. Due to the large diversity resulting from various gait sequences, a criteria for selecting the best gaits based on their stability characteristics is proposed. A series of simulations is then(More)
In this paper, we present two optimisation methods for a generic boids swarm model which is derived from the original Reynolds' boids model to simulate the aggregate moving of a fish school. The aggregate motion is the result of the interaction of the relatively simple behaviours of the individual simulated boids 1. The aggregate moving vector is a linear(More)