Sharif Digital Repository

One of the main requisites for multi agent researchers is a multi-purpose infrastructure that enables them to create, test and evaluate protocols, methods and algorithms. RoboCupRescue simulation environment is a flexible and configurable environment that can fill this gap. With changes in its configuration files, it will gain different features, so different methods can be designed, implemented, and tested. This environment is actually suitable for most multi-agent research issues such as cooperation, coordination, agent communication languages, and agent micro level issues. Sensible roles and tasks in the system motivate more research and make this environment a suitable infrastructure for... 

Path planning is crucial in constructability analysis and heavy construction equipment scheduling, particularly in industrial plants. The main purpose of construction equipment path planning is devising the shortest path between its initial and aimed location. This suggested path is supposed to be safe, and collision-free. The current planning practice, even in industrial projects whose sites are extremely congested, is manual based on the expert judgment. Thus, this sophisticated manual process is not only prone to errors, but also time-consuming. This research presents an automated path planning approach based on an obstacle avoidance technique in robotics to support the decision-making... 

In Iranian Sign Language (ISL), alongside the movement of fingers/arms, the dynamic movement of lips is also essential to perform/recognize a sign completely and correctly. In a follow up of our previous studies in empowering the RASA social robot to interact with individuals with hearing problems via sign language, we have proposed two automated lip-reading systems based on DNN architectures, a CNN-LSTM and a 3D-CNN, on the robotic system to recognize OuluVS2 database words. In the first network, CNN was used to extract static features, and LSTM was used to model temporal dynamics. In the second one, a 3D-CNN network was used to extract appropriate visual and temporal features from the... 

This paper describes a nursing robot system currently under development at the Center of Excellence in Design, Robotics and Automation. Our goal was to design and fabricate of a robot specifically for paraplegic patients and the design procedure led to a plan which can be employed in any hospital environment. Through the design procedure, the team members conducted a survey on the robot client's needs and disabilities which provided a unique view on mechanical design features, in addition to, performing dynamical analysis on the designed mechanisms. Dynamical Simulation of mechanisms helped us to find the best design and solutions as well as optimization of parts has resulted in a matchless...