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This paper presents a parametrized stability control method for special slow motion field mobile robots, based on use cases from border surveillance. The concept uses the centre of gravity (COG) as the virtual centre of motion (VCM). The simplified robot geometry is an input parameter of the model, so it can work with different types of mobile robots, like holonomic-wheeled, differential-wheeled, steered, tracked, wheeled-tracked, segmented, etc. structures. This method resulted in the implementation of a flexible and universal control algorithm for transformable and hybrid drive mobile robots, where every parameter can be changed and recalculated for different applications or even in discrete time steps during the motion at a 3D path. The velocity reference, the angular velocity reference and the optimization parameter (for example gravity compensation) of the robot can be prescribed. The model was implemented in MATLAB and can be compiled to C for measurements and validation with test robots.

Lasers are widely used and have become indispensable in many areas. Their application is very advantageous in many cases, the technology is very fast and high-precision machining can be achieved. Lasers are increasingly used in the automotive, aerospace, electronics, and medical industries. With this technology, we can perform almost any kind of material processing whether drilling, cutting, welding or even heat treatment. The laser can be well integrated into various machining systems and well automated. With the advancement of technology, we are capable of producing femtosecond pulsed lasers which machines are capable of high peak performance. Because of the high peak power and short pulses, other physical phenomena occur when the laser interacts with the material, so the method of material removal is different from longer laser impulses. Their application is expected to provide a much more controlled, more precise material removal, with very good surface quality, free of burrs and other dirt and deposits. One of the most important benefits expected from the use of technology is the minimal or no heat affected zone. In our research we are looking for a parameter that can achieve the most accurate material removal with a smaller heat affected zone.

It is indispensable for the industry to introduce the most accurate manufacturing technologies. Therefore, laser beam machining centres have been gaining popularity in machining equipment over the last few years. We can perform quick and highly accurate machining with the latest generation of laser equipment which operates in femtosecond pulse mode. The purpose of this study is to find the best femtosecond laser surface machining technique on stainless steels by changing technological parameters. We have compiled a general table that lists the parameters, with variable values in bands and columns to select the most accurate surface treatment with minimal heat affected zone.

To develop efficient therapies and identify novel early biomarkers for chronic kidney disease an understanding of the molecular mechanisms orchestrating it is essential. We here set out to understand how differences in CKD origin are reflected in gene expression. To this end, we integrated publicly available human glomerular microarray gene expression data for nine kidney disease entities that account for a majority of CKD worldwide. We included data from five distinct studies and compared glomerular gene expression profiles to that of non-tumor parts of kidney cancer nephrectomy tissues. A major challenge was the integration of the data from different sources, platforms and conditions, that we mitigated with a bespoke stringent procedure. This allowed us to perform a global transcriptome-based delineation of different kidney disease entities, obtaining a landscape of their similarities and differences based on the genes that acquire a consistent differential expression between each kidney disease entity and nephrectomy tissue. Furthermore, we derived functional insights by inferring activity of signaling pathways and transcription factors from the collected gene expression data, and identified potential drug candidates based on expression signature matching. We validated representative findings by immunostaining in human kidney biopsies indicating e.g. that the transcription factor FOXM1 is significantly and specifically expressed in parietal epithelial cells in RPGN whereas not expressed in control kidney tissue. These results provide a foundation to comprehend the specific molecular mechanisms underlying different kidney disease entities, that can pave the way to identify biomarkers and potential therapeutic targets. To facilitate this, we provide our results as a free interactive web application: https://saezlab.shinyapps.io/ckd_landscape/.Translational StatementChronic kidney disease is a combination of entities with different etiologies. We integrate and analyse transcriptomics analysis of glomerular from different entities to dissect their different pathophysiology, what might help to identify novel entity-specific therapeutic targets.

This paper gives introspection to the concept of the Ethon – holonomic drive based mobile robot. Nowadays the mobile robots are widely spread at the industrial and the service sectors as well. It is a facing problem in the view of development cost and time that the mobile robots are redesigned for every different application, despite most of the mobile robots are move on wheels. Our mobile robot base development gives a solution for the movement of mobile robot applications whit its modularity, holonomic movement, high load and work time capacity. The robot base has 3 DoFs according to the holonomic wheels and it can move, handle or even drive different superstructures. [1]

This paper introduces an optical flow based odometry solution for indoor mobile robots. The indoor localization of mobile robots is an important issue according to the increasing mobile robot market and the needs of the industrial, service and consumer electronics sectors. The robot odometry calculated from the robot kinematics accumulates the position error caused by the wheel slip but an optical flow based measurement is independent from wheel slipping so both methods have different credibility which was considered during the sensor fusion and the development. The focus of the research was to design an embedded system with high accuracy on the possibly lowest price to serve the needs of the consumer electronics sector without the need of expensive camera and real-time embedded computer based high level robot localization solutions. The paper proposes the theoretical background, the implementation and the experimental results as well. The universal optical flow module can be implemented in any kind of indoor mobile robot to measure the position and the orientation of the robot during the motion, even in the case of a 3 DoF holonomic drive like kiwi drive. The application of omnidirectional wheels in mobile robotics requires high accurate position and orientation feedback methods contrary to differential drives., Ovaj rad predstavlja rješenje odometrije mobilnog robota za unutrašnje prostore koje se bazira na optičkom toku. Lokalizacija mobilnog robota u unutrašnjim prostorima je veoma važno pitanje u rastućem tržištu mobilnih robota i potreba industrijskog, uslužnog i sektora potrošačke elektronike. Odometrija robota izračunata iz kinematike robota nakuplja greške s vremenom radi sklizanja kotača, dok na odometriju izmjerenu optičkim tokom klizanje ne utječe, te obje metode imaju različit kredibilitet što je uzeto u obzir prilikom fuzije senzora i razvoja. Fokus istraživanja je bio dizajnirati ugradbeno sustav visoke točnosti i niske cijene koji bi zadovoljio potrebe sektora potrošačke elektronike bez potrebe za skupim kamerama i lokalizacijskim rješenjima mobilnog robota visokog nivoa namijenjenim izvođenju na ugradbenim računalima za rad u stvarnom vremenu. U radu je iznesena teorijska podloga, implementacija i eksperimentalni rezultati. Univerzalni modul za izračun optičkog toka može se implementirati na bilo kojem mobilnom robotu za unutrašnje prostore kako bi mjerio poziciju i rotaciju robota tijekom gibanja, čak i u slučaju 3 DoF holonomskog pogona kao što je kiwi pogon. Korištenje omnidirekcijskih kotača u mobilnoj robotici zahtjeva visoku točnost pozicije i orijentacije za razliku od diferencijalnog pogona.

At product manufacturing the time-to-market factor, the profitability and the delivered value define the success of an enterprise. The increasing number of modules in Enterprise Resource Planning (ERP) programs is a facing problem, when there is a margin between the manufacturing cells and the ERP. Nowadays, the connection between the industrial machines and the ERP is an important requirement especially at automated warehouses and smart factories. Other concerns at manufacturing are the maintenance schedules of the machines, and flexible and easy reconfiguration of the production lines or the production cells. Information technology provides solutions and software environments to implement complex production supervisor ERPs at smart factories. At a production line or an automated warehouse several technical parameters and information can influence the planning of the resources at the enterprise, like maintenance, machine error, stockpile, product ID, defective product ratios, etc. When there is machine maintenance, the company needs to order the service parts, as well as schedule the service time and the stop of the production line. In case of a machine error, the system can estimate the length of the service time from error messages, and reorganize orders, transportation, or even maintenance schedules of other machines. Our plug and play type robot and industrial automation controller project gives a solution for these hardware demanding needs.

This paper presents a new dimension of robotics for SMEs. Open AIST RT-middleware technology enables SMEs to reuse old robots or machine tools which have good mechanism but outworn electronics. The technical solutions are described for three different experimental systems of different machines. All the systems are universal in the term that they can be connected to many different machines. They were all developed as a RT-Middleware real-time component in order to make them flexibly connectable to each other to form a production cell. The third is our latest novel conception which is combining the reliability of the LinuxCNC software system and the flexibility of RTM technology with using modern hardware elements. One of our several LinuxCNC based controllers is presented as an experimental result.

Previously, robots were mainly used by big companies in high volume manufacturing (i.e.: car industry). Industrial robots were perfect to execute procedures simplified to tiny (angular) movements. Today robots have appeared in small and medium enterprises, and they will appear rapidly in non-engineering fields as well, like offices, hospitals, and even in our homes. Robotics grains ground in newer and newer fields and it is too wide to overview it in one paper. This paper tries to summarize the nowadays robotics trends from the point of view of industrial electronics and industrial informatics.

Nowadays the flexible configuration of manufacturing cells becomes to an important requirement especially at small and medium sized companies. This method can make the production fast and effective at small series or frequent manufacturing changes. The shop-floor control method - presented in this paper - offers a solution for the facing problem of fast and easy reconfiguration. The hardware of the controller designed modular with software components for online configuration. This solution allows sensor integration on different levels for every part of the manufacturing cell. With unified programming language and the machine specific controllers (post-processing) the cells can be defined easily by different types of human-machine interaction. The shop-floor control architecture is implemented and validated on an Adept SCARA robot. The robot is driven by standalone, low-level, interchangeable, software and hardware components.

The paper deals with a general purpose industrial robot controller. Due to the modules of the system is universal. It can be connected to several types of robots, even to CNC, turning-mill or other machines. It was connected to an Adept Scara robot successfully,experimental results will be presented. The basic element of the system is the EMC2 open source robot controller program, which runs in a realtime linux kernel. A PCI card creates the high speed connection between the EMC2 and the machine. DC servo amplifier, digital input and output module, teach pendant, and power electronics designed for the system. The system is RT-middleware (Robotics Technology Middleware)compatible. The RT-middleware is a common robot control platform, which can easily connect different robots to the same network for a common work.