To develop human friendly robots we required two key components; smart interfaces and safe mechanisms. Smart interfaces facilitate natural and easy interfaces for humanrobot interaction. Facial gestures can be a natural way to control a robot. In this paper, we report on a vision-based interface that in real-time tracks a user’s facial features and gaze point. Human friendly robots must also ha...

This thesis presents an approach to robot arm control exploiting natural dynamics. The approach consists of using a compliant arm whose joints are controlled with simple non-linear oscillators. The arm has special actuators which makes it robust to collisions and gives it a smooth compliant motion. The oscillators produce rhythmic commands of the joints of the arm, and feedback of the joint mot...

Industrial robot arms are an essential part of automated manufacturing and are used due to the facts that they are highly repeatable; can be calibrated to be sufficiently accurate and they eliminate human error. They automate tasks such as component assembly; welding; light machining; spray painting; etc. The industrial serial robot arm architecture is by far the most ubiquitous in modern day m...

This reference manual targets application developers. It provides complete information on how to use the STM32F405xx/07xx, STM32F415xx/17xx, STM32F42xxx and STM32F43xxx microcontroller memory and peripherals. The STM32F405xx/07xx, STM32F415xx/17xx, STM32F42xxx and STM32F43xxx constitute a family of microcontrollers with different memory sizes, packages and peripherals. For ordering information,...

This paper presents and justifies an open benchmark suite named BEEBS, targeted at evaluating the energy consumption of embedded processors. We explore the possible sources of energy consumption, then select individual benchmarks from contemporary suites to cover these areas. Version one of BEEBS is presented here and contains 10 benchmarks that cover a wide range of typical embedded applicatio...

This paper presents an ASIP design for fingerprint authentication application and its implementation on FPGA. The ASIP architecture is derived from existing embedded processor architecture, ARM. In order to optimize the architecture, some redundant features are removed but other new instructions are introduced. Assembly converter tool is employed to solve the compiler generation. Implemented on...

Star-shaped polymers with varying arm numbers and arm lengths are synthesized, and self-assembled into microspheres, which are either smooth or fibrous on the nanoscale, and either nonhollow, hollow, or spongy on the microscale. The molecular architecture and functional groups determine the structure on both length scales. This exciting mechanistic discovery guides simultaneous control of both ...

This paper presents an approach to robot arm control based on exploiting the dynamical properties of an adaptive oscillator circuit coupled to the joints of an arm. The approach is implemented on a real robot arm, and swings pendulums at their natural frequencies, turns cranks and manipulates slinky toys. These actions are all achieved using the same architecture, without any modeling of the ar...

We validate a HOL4 model of the ARM Cortex-M0 microcontroller core by testing the model’s behaviour on randomly chosen instructions against real chips from several manufacturers. The model and our intended application involve precise timing information about instruction execution, but the implementations are pipelined, so checking the behaviour of single instructions would not give us sufficien...

Braided pneumatic artificial muscles, and in particular the better known type with a double helical braid usually called the McKibben muscle, seem to be at present the best means for motorizing robotarms with artificial muscles. Their ability to develop high maximum force associated with lightness and a compact cylindrical shape, as well as their analogical behavior with natural skeletal muscle...