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检索条件"任意字段=5th International Conference on Informatics in Control, Automation and Robotics"

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Experimental Evaluation of Some Indoor Exploration Strategies 13

Experimental Evaluation of Some Indoor Exploration Strategie...

引用

13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Wettach, Jens Berns, Karsten Univ Kaiserslautern Robot Res Lab Gottlieb Daimler Str Kaiserslautern Germany

ISBN: (纸本)9789897581984

A key capability of any indoor service robot is to explore arbitrary, unknown environments in order to record a complete and correct map in minimal time. Such a map is a prerequisite of common tasks like surveillance, transportation as well as search and rescue. In recent years a series of solutions has been proposed by the authors: a dynamic enhancement of the frontier-based approach, ground plan-based exploration and a hybrid combination of both. this paper evaluates the performance of each of these strategies within an everyday office scenario in simulation and reality and discusses their pros and cons.

关键词： robotics Exploration Indoor Environments Experiments Evaluation

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An Observer-based Force Reflection Robust control for Dual User Haptic Surgical Training System

An Observer-based Force Reflection Robust Control for Dual U...

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RSI/ISM international conference on robotics and Mechatronics (ICROM)

作者： M. Motaharifar H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781538657041

this paper investigates the controller design problem for the dual user haptic surgical training system. In this system, the trainer and the trainee are interfaced together through their haptic devices and the surgical operations on the virtual environment is performed by the trainee. the trainer is able to interfere into the procedure in the case that any mistakes is made by the trainee. In the proposed structure, the force of the trainer's hands is reflected to the hands of the trainee to give necessary guidance to the trainee. the force signal is obtained from an unknown input high gain observer. the position of the trainee and the contact force with the environment are sent to the trainer to give him necessary information regarding the status of surgical operations. Stabilizing control laws are also designed for each haptic device and the stability of the closed loop nonlinear system is proven. Simulation results are presented to show the effectiveness of the proposed controller synthesis.

关键词： Haptic interfaces Force Surgery Training Stability analysis Iron Observers

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Motion control of an Underactuated Parallel Robot with First Order Nonholonomic Constraint

Motion Control of an Underactuated Parallel Robot with First...

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RSI/ISM international conference on robotics and Mechatronics (ICROM)

作者： Mohammad Reza J. Harandi Hamid. D. Taghirad Advanced Robotics and Automated Systems (ARAS) K. N. Toosi University of Technology Tehran lran KN Toosi University of Technology Tehran Tehran IR

ISBN: (纸本)9781538657041

Adding nonholonomic constraints in parallel manipulators, allows reduction of the actuated-joint number without affecting the reachable workspace. this principle applies to wrist robot in some underactuated designs. this paper studies steady state motion control for an nS-2SPU underactuated parallel wrist robot. First, a suitable Euler angles representation is selected and a new method for forward kinematic problem without extra sensor is proposed. Next, differential kinematics of the robot is analyzed considering first order nonholonomic constraint on angular velocity of the robot. By some manipulations, the derived equations are transformed into chain form, and a hierarchical sliding mode controller is designed for the system. Closed-loop performance of the proposed controller is compared to that of a traditional controller reported in the literature through simulations.

关键词： Kinematics Robot kinematics Robot sensing systems Parallel robots Wrist Mathematical model

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Autonomous Surface Vessel based on a Low Cost Catamaran Design 13

Autonomous Surface Vessel based on a Low Cost Catamaran Desi...

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Puente, Santiago Candelas, Francisco Torres, Fernando Basalai, Dzmitry Univ Alicante Phys Syst Engn & Signal Theory Dept Carretera De San Vicente S-N Alicante 03690 Spain

ISBN: (纸本)9789897581984

Nowadays, robotics is increasing its importance for the marine environment in our society. It allows to perform surveillance and data sampling tasks reducing the current cost of these tasks. this paper presents the design of a prototype of an Autonomous Surface Vessel (ASV) based on catamaran shape. It uses the screw theory for the propulsion system, which provides high manoeuvrability to the vessel. Furthermore, the parts of the ASV are designed to be printed by a RepRap 3D printer. this gives flexibility to check the performance of the vessel. Also the software control scheme of the vessel is presented.

关键词： Marine robotics Autonomous Surface Vessel ASV

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Design of a Micro Piezo Actuated Gripper for a Swarm Robotic System 13

Design of a Micro Piezo Actuated Gripper for a Swarm Robotic...

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Kaygusuz, Batuhan Turgut, A. Emre Middle East Tech Univ Dept Mech Engn Ankara Turkey

ISBN: (纸本)9789897581984

In this paper, we introduced a novel micro swarm robotic platform, called the AttaBot, designed specifically for complex systems and swarm robotics research. the novelty of the AttaBot platform is two-folds. (1) Artificial pheromones are implemented, (2) Each AttaBot has a gripper to grip small discs on the ground. In this way, AttaBot platform can be used in many different swarm scenarios including foraging, collective motion and collective transport. We introduced the design of the AttaBot, focusing mainly on the gripper design. We designed a novel gripper using off-the-shelf piezostack materials. We simulated the performance of the gripper using COMSOL and depicted the results. We showed that the current design with the proper piezostack material is feasible and it can used in AttaBot.

关键词： Piezogripper Piezostack Piezo Actuated Mechanisms Ultrasonic Motors Swarm robotics

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Lessons from the MOnarCH Project 13

Lessons from the MOnarCH Project

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Sequeira, Joao Silva Ferreira, Isabel Aldinhas Univ Lisbon IST ISR Lisbon Portugal Univ Lisbon Ctr Filosofia Lisbon Portugal

ISBN: (纸本)9789897581984

the paper describes the main conclusions issued from three years of development, of which approximately eighteen months of observations, of an autonomous social robot interacting with children and adults in the Pediatrics ward of an Oncological hospital. After this long period of trials and continuous interaction, the integration of the robot in that particular social environment can be considered highly successful. the results taken from all the long run experiments yield valuable lessons in what relates social acceptance and user experience to be considered in the case of robot deployment at institutions or even at households. these are detailed in the paper.

关键词： Human-Robot Interaction Social robotics

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A Task Space Approach for Planar Optimal Robot Tube Following 13

A Task Space Approach for Planar Optimal Robot Tube Followin...

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Oberherber, Matthias Gattringer, Hubert Mueller, Andreas Schachinger, Michael Johannes Kepler Univ Linz Inst Robot Altenberger Str 69 Linz Austria

ISBN: (纸本)9789897581984

the classical optimal path following problem considers the problem of moving optimally along a predefined geometric path under technological restrictions. In contrast to optimal path following, optimal tube following allows deviations from the initial path within a predefined tube to reduce cost even more. the present paper proposes a modern approach that treats this non-convex problem in task space. this novel method also provides a simple way to derive optimal trajectories within a tube described in terms of polygonal lines. Numerical examples are presented that allow to compare the proposed method to existing joint space approaches.

关键词： robotics Optimal Path Planning Optimal Tube Following Dynamic Modeling Polygonal Paths

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HarpLDA+: Optimizing latent dirichlet allocation for parallel efficiency 5

HarpLDA+: Optimizing latent dirichlet allocation for paralle...

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5th IEEE international conference on Big Data, Big Data 2017

作者： Peng, Bo Zhang, Bingjing Chen, Langshi Avram, Mihai Henschel, Robert Stewart, Craig Zhu, Shaojuan McCallum, Emily Smith, Lisa Zahniser, Tom Omer, Jon Qiu, Judy School of Informatics and Computing Indiana University United States UITS Indiana University United States Intel Corporation United States

ISBN: (纸本)9781538627143

Latent Dirichlet Allocation (LDA) is a widely used machine learning technique in topic modeling and data analysis. Training large LDA models on big datasets involves dynamic and irregular computation patterns and is a major challenge to both algorithm optimization and system design. In this paper, we present a comprehensive benchmarking of our novel synchronized LDA training system HarpLDA+ based on Hadoop and Java. It demonstrates impressive performance when compared to three other MPI/C++ based state-of-the-art systems, which are LightLDA, F+NomadLDA, and WarpLDA. HarpLDA+ uses optimized collective communication with a timer control for load balance, leading to stable scalability in both shared-memory and distributed systems. We demonstrate in the experiments that HarpLDA+ is effective in reducing synchronization and communication overhead and outperforms the other three LDA training systems. © 2017 IEEE.

关键词： Statistics

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Robust shared autonomy for mobile manipulation with continuous scene monitoring

Robust shared autonomy for mobile manipulation with continuo...

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IEEE international conference on automation Science and Engineering (CASE)

作者： Wolfgang Merkt Yiming Yang theodoros Stouraitis Christopher E. Mower Maurice Fallon Sethu Vijayakumar School of Informatics Informatics Forum Edinburgh United Kingdom Oxford Robotics Institute University of Oxford Oxford United Kingdom

this work presents a fully integrated system for reliable grasping and manipulation using dense visual mapping, collision-free motion planning, and shared autonomy. the particular motion sequences are composed automatically based on high-level objectives provided by a human operator, with continuous scene monitoring during execution automatically detecting and adapting to dynamic changes of the environment. the system is able to automatically recover from a variety of disturbances and fall back to the operator if stuck or if it cannot otherwise guarantee safety. Furthermore, the operator can take control at any time and then resume autonomous operation. Our system is flexible to be adapted to new robotic systems, and we demonstrate our work on two real-world platforms - fixed and floating base - in shared workspace scenarios. To the best of our knowledge, this work is also the first to employ the inverse Dynamic Reachability Map for real-time, optimized mobile base positioning to maximize workspace manipulability reducing cycle time and increasing planning and autonomy robustness.

关键词： Robot sensing systems Planning Monitoring Robustness Dynamics

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μAUV² - Development of a Minuscule Autonomous Underwater Vehicle 13

μAUV<SUP>2</SUP> - Development of a Minuscule Autonomous Un...

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Hanff, Hendrik Schmid, Korbinian Kloss, Philipp Kroffke, Sven DFKI GmbH Robot Innovat Ctr Bremen Robert Hooke Str 1 D-28359 Bremen Germany RoboCept GmbH Kaflerstr 2 D-81241 Munich Germany

ISBN: (纸本)9789897581984

Small sized robotic systems have operational advantages compared to large systems. they can also operate in fields of application where bigger systems would fail. this paper describes the specifications and the design of the autonomous underwater vehicle mu AUV(2). Technical details of the system regarding sensor setup, motorization and computing power are given. Furthermore, we present details about the system identification process and the implemented controller structure. Possible scopes of the mu AUV(2) are underwater exploration, inspection tasks, development and evaluation of algorithms, education and competitions.

关键词： Underwater robotics System Design Miniature robotics System Parameter Identification control of Underwater Robots Robot Development

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