检索结果-内蒙古大学图书馆

3rd international conference on informatics in control, automation and robotics

作者： Milstein, Adam Wang, Tao Univ Waterloo Dept Comp Sci Waterloo ON N2L 3G1 Canada Univ Alberta Dept Comp Sci Edmonton AB Canada

ISBN: (纸本)9728865600

Localization is the problem of determining a robot's location in an environment. Monte Carlo Localization (MCL) is a method of solving this problem by using a partially observable Markov decision process to find the robot's state based on its sensor readings, given a static map of the environment. MCL requires a model of each sensor in order to work properly. One of the most important sensors involved is the estimation of the robot's motion, based on its encoders that report what motion the robot has performed. Since these encoders are inaccurate, MCL involves using other sensors to correct the robot's location. Usually, a motion model is created that predicts the robot's actual motion, given a reported motion. The parameters of this model must be determined manually using exhaustive tests. Although an accurate motion model can be determined in advance, a single model cannot optimally represent a robot's motion in all cases. With a terrestrial robot the ground surface, slope, motor wear, and possibly tire inflation level will all alter the characteristics of the motion model. Thus, it is necessary to have a generalized model with enough error to compensate for all possible situations. However, if the localization algorithm is working properly, the result is a series of predicted motions, together with the corrections determined by the algorithm that alter the motions to the correct location. In this case, we demonstrate a technique to process these motions and corrections and dynamically determine revised motion parameters that more accurately reflect the robot's motion. We also link these parameters to different locations so that area dependent conditions, such as surface changes, can be taken into account. These parameters might even be used to identify surface changes by examining the various parameters. By using the fact that MCL is working, we have improved the algorithm to adapt to changing conditions so as to handle even more complex situations.

关键词： mobile robots localization machine learning

来源：评论

学校读者我要写书评

暂无评论

Comparison of control approaches for tracking control of a 3 DOF parallel robot: Experimental results

Comparison of control approaches for tracking control of a 3...

引用

9th international conference on control, automation, robotics and Vision

作者： Ren, Lu Mills, James K. Univ Toronto Dept Mech & Ind Engn 5 Kings Coll Rd Toronto ON Canada

ISBN: (纸本)9781424403417

In this paper, to study the effect of different control approaches on improving trajectory tracking accuracy for a 3 degree-of-freedom (DOF) planar parallel robot, we tested two synchronized-type controllers: PI-type synchronized control and adaptive synchronized (A-S) control;and conventional PEE) control and adaptive control. Here PID control and PI-type synchronized control are dynamic model-free while the adaptive control and A-S control are dynamic model-based. Because of the closed-loop kinematic chain mechanism of the experimental planar parallel robot used in this study, trajectory tracking control of this robot may be treated as a synchronization problem, and consequently, use of the synchronized control approaches can substantially improve the trajectory tracking performance of the robot end-effector compared with approaches without synchronization. Through conducting experiments on an experimental 3-DOF P-R-R type planar parallel robot by using the four control approaches, the above claims are demonstrated.

关键词： planar parallel manipulator synchronized control

来源：评论

学校读者我要写书评

暂无评论

Dual-modal control of configuration-dependent linkage vibration in a smart parallel manipulator

Dual-modal control of configuration-dependent linkage vibrat...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Wang, Xiaoyun Mills, James K. Univ Toronto Dept Mech & Ind Engn 5 Kings Coll Rd Toronto ON M5S 3G8 Canada

ISBN: (纸本)0780395050

A newly designed lightweight planar parallel manipulator is designed to improve operational speed of electronic manufacturing processes and implement a "smart parallel manipulator" through the integration of a parallel mechanism architecture and active control of linkage vibration using Lead Zirconate Titanate (PZT) transducers. Boundary conditions and mode shapes of intermediate linkage are not conventional due to linkages undergoes constrained rigid body motion. Through numerical simulations using a substructuring dynamic model developed for the parallel manipulator, the boundary condition is determined close to a pinned-pinned boundary condition. This conclusion is confirmed using experimental modal analysis (EMU) using a random motion input. However, it is observed that linkage vibration exhibits configuration-dependency. Based on experimental observations, an assumption is taken to simplify the transfer function from the motor input to linkage vibration. Based on this simplification, a dual-mode modal controller is designed and implemented. Experimental results show that linkage vibration is reduced by over 50%.

关键词： active vibration control experimental modal analysis modal control parallel manipulator smart structures

来源：评论

学校读者我要写书评

暂无评论

Position estimation on a grid, based on infrared pattern reception features

Position estimation on a grid, based on infrared pattern rec...

引用

3rd international Workshop on Ubiquitous Computing, IWUC 2006 - In Conjunction with ICEIS 2006

作者： Petrellis, N. Konofaos, N. Alexiou, G.Ph. Computer Engineering and Informatics Dept. University of Patras Greece

ISBN: (纸本)9728865511

The location of the position of a moving target on a grid plane is studied in this paper. The estimation method is based on encountering the number of infrared patterns that arrive to the target as expected, unexpected or out of order. Since the position of the target is not determined by an analog signal intensity, no high precision sensors and measurements are required and the coordinate estimation can be carried out by a pair of transmitters and a pair of sensors on the moving target. The speed of the estimation is adjustable according to the desired accuracy. An error of less than 5% can be reached in most of the covered area. The presented system can be used in a number of automation, robotics, virtual reality and ubiquitous applications.

关键词： Virtual reality

来源：评论

学校读者我要写书评

暂无评论

A robotics task scheduler - TAPAS

引用

8th international conference on Climbing and Walking Robots (CLAWAR 2005)

作者： Focant, G. Fontaine, B. Steinicke, L. Joudrier, L. Space Applicat Serv Leuvensesteenweg 325 B-1932 Zaventem Belgium ESA ESTEC NL-2201 Noordwijk Netherlands

ISBN: (纸本)3540264132

Within the frame of the ESA project TAPAS (TAsk Planner for automation & robotics in Space), a generic scheduling tool has been developed. Its prime objective is to interactively assist a robot operator in planning and scheduling the activities of a robot-tended payload facility concurrently used by several (scientific) users, taking into account resources and various constraints. The system is potentially reusable in other space automation and robotics scenarios where this decentralised payload operations concept is applicable. One of the facilities analysed to establish the requirements was ERA, a robotic arm foreseen to be attached to the international Space Station. This abstract mainly gives an overview of the scheduling engine which is at the core of the software and constitutes its intelligence.

关键词： space robotics scheduling resources constraints

来源：评论

学校读者我要写书评

暂无评论

Long-term survival of polar mobile robots

Long-term survival of polar mobile robots

引用

3rd international conference on Cybernetics and Information Technologies, Systems and Applications/4th international conference on Computing, Communications and control Technologies

作者： Akers, Eric L. Stansbury, Richard S. Agah, Arvin Univ Kansas Dept Elect Engn & Comp Sci Lawrence KS 66045 USA

ISBN: (纸本)9789806560840

Mobile robots for harsh environments can increase the efficiency of data collection in field experiments, reduce the potential dangers to humans, and enable experiments beyond the regular field seasons, When the data collection process requires several days, weeks, or months, special considerations must be made for the survivability of these robots. The PRISM robotics team at the University of Kansas has spent time in the field in Greenland and Antarctica. This paper describes the lessons learned about what is required of a robot to survive for long periods of time in these harsh polar environments.

关键词： robotics polar robots mobile robots

来源：评论

学校读者我要写书评

暂无评论

Robotic deployment and retrieval of seismic sensors for polar environments

Robotic deployment and retrieval of seismic sensors for pola...

引用

3rd international conference on Cybernetics and Information Technologies, Systems and Applications/4th international conference on Computing, Communications and control Technologies

作者： Gifford, Christopher M. Agah, Arvin Univ Kansas Dept Elect Engn & Comp Sci Lawrence KS 66045 USA

ISBN: (纸本)9789806560840

Research in Polar Regions is a complex task due to the extremely harsh environment. Mobile robots can aid research in these regions by performing tasks with automated precision, reducing the need for human involvement. In order to gain a better understanding of ice sheet changes and possible impact of sea rise, polar subsurface imaging must be performed. Because seismic deployment is labor-intensive, expensive in term of time and cost, and possibly dangerous, autonomously performing such tasks using a robot can be beneficial. A classification of robotic deployment and retrieval techniques of seismic sensors for polar environments is presented in this paper, accompanied by related challenges and technology requirements.

关键词： robotics mobile robots polar robot seismic

来源：评论

学校读者我要写书评

暂无评论

Autonomous robot motion in an unknown environment by local 3D elevation map construction

引用

INTEGRATED COMPUTER-AIDED ENGINEERING 2006年第3期13卷 263-275页

作者： Usai, A. Di Giamberardino, P. Univ Roma La Sapienza Dept Comp & Syst Sci Antonio Ruberti I-00184 Rome Italy

The paper deals with the problem of autonomous motion for a mobile robot in a totally unknown environment with obstacles and with rough ground. The solution proposed for the safe motion is based on a continuous combination between environment analysis and motion, achieved using an incremental path planner working on local maps obtained by an iterative construction of a 3D elevation map, built making use of a stereovision system only, reporting the presence and the highness of obstacles together with the shape of the ground and its discontinuities. The combination of the local map construction with the motion along the portion of the path planned reduces the area to be investigated and, consequently, the time, the computational effort and complexity and so on. Experimental results are reported to validate the proposed technique.

关键词： ROBOT motion CARTOGRAPHY MOBILE robots robotics automation

来源：评论

学校读者我要写书评

暂无评论

Development of a low-cost robotic device for internet-based palpation assessment

Development of a low-cost robotic device for internet-based ...

引用

3rd international conference on Cybernetics and Information Technologies, Systems and Applications/4th international conference on Computing, Communications and control Technologies

作者： Robbins, K. Karpenko, M. Sepehri, N. Onyshko, S. Capner, C. Postuma, R. Univ Manitoba Fac Engn Winnipeg MB R3T 5N5 Canada

ISBN: (纸本)9789806560833

Palpation assessment is a highly qualitative skill where the tactile sense is used for diagnosis of medical illness. This paper reports the development of a robotic arm and accompanying software that records the relevant kinematics (force, displacement, and their first time derivatives) of palpation assessments. The software has a client/server architecture that enables quantification of the palpation examination and allows results to be transmitted over the Internet. The robotic device is used to carry out a mock abdominal palpation examination to illustrate its application. Typical results are presented along with their interpretation. Metrics of potential diagnostic significance are also identified.

关键词： robotics palpation internet medical assessment

来源：评论

学校读者我要写书评

暂无评论

Online free walking trajectory generation for biped humanoid robot KHR-3(HUBO)

Online free walking trajectory generation for biped humanoid...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Park, Ill-Woo Kim, Jung-Yup Lee, Jungho Oh, Jun-Ho Korea Inst Sci & Technol KAIST Humanoid Robot Res Ctr N9 Dept Mech Engn 373-1 Guseong Dong Taejon 305701 South Korea

ISBN: (纸本)0780395050

This paper describes an algorithm about online gait trajectory generation method, controller for walking, brief introduction of humanoid robot platform KRR-3 (KAIST Humanoid Robot - 3: HUBO) and experimental result. The gait trajectory has continuity, smoothness in varying walking period and stride, and it has simple mathematical form which can be implemented easily. It is tested on the robot with some control algorithms. The gait trajectory algorithm is composed of two kinds of function trajectory. The first one is cycloid function, which is used for ankle position in Cartesian coordinate space. Because this profile is made by superposition of linear and sinusoidal function, it has a property of slow start, fast moving, and slow stop. This characteristics can reduce the over burden at instantaneous high speed motion of the actuator. The second one is 3(rd) order polynomial function. It is continuous in the defined time interval, easy to use when the boundary condition is well defined, and has standard values of coefficients when the time scale is normalized. Position and velocity values are used for its boundary condition. controllers mainly use F/T(Force/Torque) sensor at the ankle of the robot as a sensor data, and modify the input position profiles (in joint angle space and Cartesian coordinate space). They are to reduce unexpected external forces such as landing shock, and vibration induced by compliances of the sensors and reduction gears, because they can affect seriously on the walking stability. This trajectory and control algorithm is now. on the implementing stage for the free-walking realization of KHR-3. As a first stage of realization, we realized the marking time and forward walking algorithm with variable frequency and stride.

关键词： HUBO humanoid biped walking trajectory planning

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：