Autor: Delgado, R. - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Comparative study of ROS on embedded system for a mobile robot
Autorzy:: Kim, M. S.
Delgado, R.
Choi, B. W.
Powiązania:: https://bibliotekanauki.pl/articles/385189.pdf
Data publikacji:: 2018
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: Robot Operation System
mobile robot
embedded system
navigation
SLAM
path planner
Opis:: This paper presents a comparative study of Robot Operating System (ROS) packages for mobile robot navigation on an embedded system. ROS provides various libraries and tools in developing complex robot software. We discuss the process of porting ROS to an open embedded platform, which serves as the main controller for a mobile robot. In the case of driving the robot, ROS provides local path planners such as the base, elastic band, and timed elastic band. The local planners are compared and analyzed in terms of accuracy in tracking the global path conducted on a robot model using Gazebo, 3D simulation tool provided by ROS. We also discussed the difference in performance of deploying ROS packages on a personal computer and on the embedded environment. Experiments were performed by controlling two different mobile robots with results showing that tracking error is highly dependent on the goal tolerance. This study will serve as a promising metric in improving the performance of mobile robots using ROS navigation packages.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2018, 12, 3; 61-67
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Short-term effects of spent coffee grounds on the physical properties of two Mediterranean agricultural soils
Autorzy:: Cervera-Mata, A.
Martin-Garcia, J.M.
Delgado, R.
Parraga, J.
Sanchez-Maranon, M.
Delgado, G.
Powiązania:: https://bibliotekanauki.pl/articles/2082515.pdf
Data publikacji:: 2019
Wydawca:: Polska Akademia Nauk. Instytut Agrofizyki PAN
Tematy:: organic amendment
soil aggregate stability
soil water retention
soil aggregate size
SEM images
Opis:: We investigated the short-term effects of spent coffee grounds on the physical properties of two Mediterranean agricultural soils (Calcisol and Luvisol). The in vitro assay was performed with two spent coffee grounds doses (60 and 240 Mg ha-1), two incubation times (30 and 60 days) and two modalities: with and without lettuce seedlings (Lactuca sativa var. longifolia). Spent coffee grounds addition increased water retention at -33 and -1500 kPa, and decreased bulk density and plant-available water content. With spent coffee grounds, the percentage of macroaggregates increased, the percentage of meso- and microaggregates decreased and the structural stability of all types of aggregates increased. The stereomicroscopy images showed that: the structural aggregates were rounded, the porosity increased by 316%, the structure was ordered into smaller aggregates, the incorporation of spent coffee grounds particles could occur in intraped cracks and spent coffee grounds particles could act as a binding agent. Scanning electron microscopy also showed that spent coffee grounds particles interacted with mineral particles and integrated into soil structure; moreover, fungal hyphae also developed on many spent coffee grounds particles. If spent coffee grounds effects are compared with those described in the literature for other organic amendments, the same trend was observed in most of the soil physical properties although with a different intensity, principally with regard to structural stability.
Źródło:: International Agrophysics; 2019, 33, 2; 205-216
0236-8722
Pojawia się w:: International Agrophysics
Dostawca treści:: Biblioteka Nauki

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