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Embodied localization in visually-guided walk of humanoid robots 11

Embodied localization in visually-guided walk of humanoid ro...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Chame, Hendry Ferreira Chevallereau, Christine Robotics Team of the IRCCyN Ecole Centrale de Nantes CNRS Nantes France

ISBN: (纸本)9789897580406

Humanoid robots are conceived to resemble the body and comportment of the human beings. Among the behavior repertoire, the possibility of executing visually-guided tasks is crucial for individual adaptation and relies on the on-board sensory system. However, the research on walk and localization is far from conclusive. Given the difficulties in the processing of the visual feedback, some studies have treated the problem by placing external sensors on the environment;thus neglecting the corporal metaphor. Others, despite exploring on-board solutions;have relied on an extensive model of the environment, thus considering the system as an information processing unit, abstracted from a body. this work presents a methodology to achieve embodied localization to serve visually-guided walk. the solution leans on robust segmentation from monocular vision, ego-cylindrical localization, and minimal knowledge about stimuli in the environment.

关键词： Computer vision

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A neurally inspired robotic control algorithm for gait rehabilitation in hemiplegic stroke patients 5

A neurally inspired robotic control algorithm for gait rehab...

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5th IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics, BioRob 2014

作者： Mishra, Abhishek Ghosh, Rohan Coscia, Martina Kukreja, Sunil Chisari, Carmelo Micera, Silvestro Haoyong, Yu thakor, Nitish V. Singapore National University of Singapore Singapore Johns Hopkins University United States Department of Bioengineering National University of Singapore 9 Engineering Drive 1 Singapore117575 Singapore SINAPSE NUS NASA CA93524 United States Translational Neuro Engineering Lab Center for Neuroprosthetics School of Engineering Lausanne Switzerland Biorobotics Institute Scuola Superiore Sant'Anna Pisa Italy SINAPSE NUS 28 Medical Drive Singapore117456 Singapore

ISBN: (纸本)9781479931262

Cerebrovascular accident or stroke is one of the major brain impairments that affects numerous people globally. After a unilateral stroke, sensory motor damages contralateral to the brain lesion occur in many patients. As a result, gait remains impaired and asymmetric. this paper describes and simulates a novel closed loop algorithm designed for the control of a lower limb exoskeleton for post-stroke rehabilitation. the algorithm has been developed to control a lower limb exoskeleton including actuators for the hip and knee joints, and feedback sensors for the measure of joint angular excursions. It has been designed to control and correct the gait cycle of the affected leg using kinematics information from the unaffected one. In particular, a probabilistic particle filter like algorithm has been used at the top-level control to modulate gait velocity and the joint angular excursions. Simulation results show that the algorithm is able to correct and control velocity of the affected side restoring phase synchronization between the legs.

关键词： Exoskeleton (robotics)

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Modeling and control of Temperature Dynamics In Induction Furnace System

Modeling and Control of Temperature Dynamics In Induction Fu...

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IEEE international conference on System Engineering and Technology

作者： Rina Ristiana Arief Syaichu-Rohman Pranoto H. Rusmin Mineral Processing Unit-LIPI Jl. Ir. Sutami Km15 Tanjung Bintang School of Electrical Engineering and Informatics Institut Teknologi Bandung

ISBN: (纸本)9781467367141

this paper explains modeling and control of temperature dynamics on induction furnace. Induction furnace is used for melting metal to process raw material scrap into steel ferrit rate 0.22 wt% carbons. the dynamics response of the induction furnace temperature affects the resulting product. therefore, the controller of temperature dynamics is required to produce the desired process response. the induction furnace systems consist of electrical and thermal system dynamics. the dynamics of the electrical system represents the induction furnace system in the form of an electric circuit i.e. fed current inverter with a parallel resonant circuit. Meanwhile, the thermal system dynamics represents the thermal energy transfer process, which is developed with the principle of energy balance, including heat generated energy and heat loss. Induction furnace system dynamics is modelled in an order 2 system, with a time constant coil 1000 times faster than time constant temperature. thus, by ignoring the time constant coil, induction furnace system dynamic model can be transformed into a first order nonlinear system. then, linear system can be obtained by making a replacement variable. Induction furnace temperature control has been implemented by adjusting the PWM to control the input power to the induction furnace. PI controller is designed in three cases, namely linear model with linear PI controller, saturated linear model with linear PI controller, and saturated linear model with anti-windup PI controller. Each case is simulated by Simulink. To get the appropriate specifications, the temperature should be controlled at 912 Celsius degree. the best results can be achieved with maximum overshoot is 7% and the rise time is 2.9 seconds.

关键词： Induction furnace Parallel resonant circuit Saturated linear model Anti-windup PI INDUCTION FURNACES PI control energy balance System dynamics Modeling Temperature control PULSE RISE TIME linear models maximum overshoot Standing Orders Electrical systems

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A body-machine interface for training selective pelvis movements in stroke survivors: a pilot study

A body-machine interface for training selective pelvis movem...

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Annual international conference of the IEEE Engineering in Medicine and Biology Society

作者： S. Summa C. Pierella P. Giannoni A. Sciacchitano S. Iacovelli A. Farshchiansadegh F. A. Mussa-Ivaldi M. Casadio the Department of Informatics Bioengineering Robotics and System Engineering at the University of Genoa 16145 Genoa Italy the ART Education and Rehab Center Genoa Italy the Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL 60611 USA. the Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL 60611 USA

ISBN: (纸本)9781424492695

the body-machine interfaces (BMIs) map the subjects' movements into the low dimensional control space of external devices to reach assistive and/or rehabilitative goals. this work is a first proof of concept of this kind of BMI as tool for rehabilitation after stroke. We designed an exercise to improve the control of selective movements of the pelvis in stroke survivors, increasing the ability to decouple the motion in the sagittal and frontal planes and decreasing compensatory adjustments at the shoulder girdle. A Kinect sensor recorded the movements of the subjects. Subjects played different games by controlling the vertical and horizontal motion of a cursor on a screen with respectively the lateral tilt and the ante/retroversion of their pelvis. We monitored also the degrees of freedom not directly involved in cursor control, thus subjects could complete the task only with a correct posture. Our preliminary results highlight significant improvement not only in cursor control, but also in the Trunk Impairment Scale (TIS) and in the Five Times Sit to Stand Test (5xSST).

关键词： TIS 5xSST BMI Pelvis cursor control Movements proof of concept Stroke Pilot Studies Body Mass Index Horizontal motion BMI CONSOLE first proofs Survivors nonius

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Underwater SLAM: Challenges, state of the art, algorithms and a new biologically-inspired approach 5

Underwater SLAM: Challenges, state of the art, algorithms an...

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5th IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics, BioRob 2014

作者： Guth, Felipe Silveira, Luan Botelho, Silvia Drews, Paulo Ballester, Pedro Centro de Ciências Computacionais Universidade Federal Do Rio Grande - FURG Rio Grande - RS Brazil

ISBN: (纸本)9781479931262

the unstructured scenario, the extraction of significant features, the imprecision of sensors along with the impossibility of using GPS signals are some of the challenges encountered in underwater environments. Given this adverse context, the Simultaneous Localization and Mapping techniques (SLAM) attempt to localize the robot in an efficient way in an unknown underwater environment while, at the same time, generate a representative model of the environment. In this paper, we focus on key topics related to SLAM applications in underwater environments. Moreover, a review of major studies in the literature and proposed solutions for addressing the problem are presented. Given the limitations of probabilistic approaches, a new alternative based on a bio-inspired model is highlighted.

关键词： robotics

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A mixed-integer mathematical programming model for integrated planning of manufacturing and remanufacturing activities 11

A mixed-integer mathematical programming model for integrate...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Giglio, Davide Paolucci, Massimo Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Genova Italy

ISBN: (纸本)9789897580406

this paper considers a hybrid remanufacturing and manufacturing system on a closed-loop supply chain. the system manufactures a set of new products characterized by a multi-level structure through multi-stage assembly operations. the required raw or basic parts can be acquired new from suppliers or provided as new by a de-manufacturing facility which performs a remanufacturing process from acquired old products returned by customers. the quality of returned products has impact on the quantity of recovered basic parts which can be assumed as good as new, and on the duration of the remanufacturing process. the considered problem is to determine the production lots for the system machines as well as the quantity of new basic parts and retuned products to be acquired in order to satisfy a deterministic demand in the time buckets of the planning period. the performance criterion to be minimized includes the acquisition costs for the new and returned items, inventory and production costs, recovering and disposal costs, and tardiness costs. A mixed-integer programming model is proposed and its effectiveness is demonstrated by experiments on a case study.

关键词： Manufacture

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Real-time people detection and mapping system for a mobile robot using a RGB-D sensor 11

Real-time people detection and mapping system for a mobile r...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Sales, Francisco F. Portugal, David Rocha, Rui P. Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)9789897580406

In this paper, we present a robotic system capable of mapping indoor, cluttered environments and, simultaneously, detecting people and localizing them with respect to the map, in real-time, using solely a Red-Green-Blue and Depth (RGB-D) sensor, the Microsoft Kinect, mounted on top of a mobile robotic platform running Robot Operating System (ROS). the system projects depth measures in a plane for mapping purposes, using a grid-based Simultaneous Localization and Mapping (SLAM) approach, and pre-processes the sensor's point cloud to lower the computational load of people detection, which is performed using a classical technique based on Histogram of Oriented Gradients (HOG) features, and a linear Support Vector Machine (SVM) classifier. Results show the effectiveness of the approach and the potential to use the Kinect in real world scenarios.

关键词： Mapping

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Enhanced physical interaction performance for compliant joint manipulators using proxy-based sliding mode control 11

Enhanced physical interaction performance for compliant join...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Kashiri, Navvab Tsagarakis, Nikos G. Van Damme, Michäel Vanderborght, Bram Caldwell, Darwin G. Department of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy Department of Mechanical Engineering Vrije Universiteit Brussel Brussels Belgium

ISBN: (纸本)9789897580406

the use of typical position controllers for robots working around humans can involve some risks when unintended physical human-robot interactions occur. In order to benefit from a proper tracking performance during normal operations, and a smooth and damped recovery from position errors due to contacts with external objects/agents, Proxy-based Sliding Mode control was proposed. While the efficacy of this controller in fully actuated manipulators was discussed, the employment of this controller in underactuated systems has not been studied so far. this paper introduces a control scheme to implement this controller in a class of underactuated systems. Specifically, the control of flexible joint manipulators possessing passive elastic elements in series with motors is studied. the formulation of Proxy-based Sliding Mode control is adopted according to the stability requirements of this type of dynamic systems, and a torque controller required for the regulation of the the output torque of actuation units is designed using the Feedback Linearization and the Linear Quadratic optimal control approach. the performance of the proposed scheme is demonstrated in dynamic simulation of an anthropomorphic compliant arm.

关键词： controllers

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A new duty-cycling approach for 3D needle steering allowing the use of the classical visual servoing framework for targeting tasks 5

A new duty-cycling approach for 3D needle steering allowing ...

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5th IEEE RAS/EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Krupa, Alexandre Inria Rennes Bretagne Atlantique Rennes France IRISA Rennes France

ISBN: (纸本)9781479931262

We present a method for three dimensional steering of a beveled-tip flexible needle that can be used in medical robotics for percutaneous assistance procedures. the proposed solution is based on the design of a new duty-cycling control strategy that makes possible to control three degrees of freedom (DOFs) of the needle tip. these DOFs correspond to two rotations that are performed around the needle tip lateral axes and one translation along the needle shape axis. this approach has two advantages compared to existing methods. First it does not rely on a trajectory planning and opens therefore numerous closed-loop control scheme possibilities as for example the implementation of the visual servoing framework based on the task function approach. Second, it does not constraint the needle to follow a succession of planar arcs but allows non planar 3D trajectories. Experimental results of a targeting task performed by visual servoing demonstrate the feasibility of this new concept and its robustness to needle kinematic model errors.

关键词： Angular velocity Needles three-dimensional displays Trajectory Visual servoing Visualization Visual servoing NEEDLES three-dimensional displays ANGULAR VELOCITY trajectory needles Visualization medical robotics Steering

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informatics in control automation and robotics: Revised and Selected Papers from the international conference on informatics in control automation and ...

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2013年

作者： Juan Andrade Cetto Joaquim B L Filipe Jean Louis Ferrier

ISBN: (纸本)9783642267413

the present book includes a set of selected papers from the fourth international conference on informatics in control automation and robotics (ICINCO 2009), held in Milan, Italy, from 2 to 5 July 2009. the conference was organized in three simultaneous tracks: Intelligent control Systems and Optimization, robotics and automation and Systems Modeling, Signal Processing and control. the book is based on the same *** received 365 paper submissions, not including those of workshops, from 55 countries, in all continents. After a double blind paper review performed by the Program Committee only 34 submissions were accepted as full papers and thus selected for oral presentation, leading to a full paper acceptance ratio of 9%. Additional papers were accepted as short papers and posters. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO *** to high quality standards is a major concern of ICINCO that will be maintained in the next editions of this conference, including not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, workshops and logistics.

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