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Technology and intelligent mechatronics

Technology and intelligent mechatronics

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IEEE International conference on Mechatronics and Automation

作者： Tzyh Jong Tam

ISBN: (纸本)0780387481

In the last few decades, a silent revolution is taking place. The exponential growth in microelectronic processing power has been achieved by ever decreasing the size of integrated circuits. These circuits which integrate electrical, mechanical and sometimes optical devices, have evolved from silicon revolution. It replaced big complex, costly systems with small, affordable, high performance microsystems. Microsystems are expected to further enable silicon chips to sense, "think", act, and communicate. In essence, to become intlelligent machines. Structures of current microsystems are approaching fundamental limits and the next generation of devices might. show unexpected properties due to quantum effects and fluctuations. A new research field is developing in which we pursue understanding of basic physics associated with such quantum structures, explore their control1 ability, and propose new devices. In this talk, we will begin with a summary of engineering problem solving and proceed to discuss the impact of technology on the development of newly emerging discipline of soft computing and compulational intelligence. The relationship between technology and intelligent mechatronics will be pointed out.

关键词： Mechatronics Intelligent robots Robotics and automation Competitive intelligence Automatic control Silicon Control systems Intelligent control Councils Robot control

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Reflective force integration method for nonautonomous mobile robot control

Reflective force integration method for nonautonomous mobile...

引用

IEEE International conference on Robotics and Automation (ICRA)

作者： J.B. Park B.H. Lee School of Electrical Engineering Seoul National University Seoul South Korea

In this paper, a reflective force generation method of a force feedback joystick is suggested for a nonautonomous mobile robot maneuvered by a teleoperator. Three types of the reflective forces are defined such as obstacle detection, obstacle avoidance and robot posture recognition forces. To generate the reflective force for obstacle detection and avoidance, range data from ultrasonic sensors of the robot are used. Using these data, wall and center following of the robot are implemented by a fuzzy logic controller for obstacle avoidance. next, the reflective force for robot posture recognition is generated using a gyro sensor of the robot. Thus the operator can not only maneuver the robot without collisions but also recognize the existence of obstacles and the posture of the robot by the reflective forces while driving the robot. Then, to determine the type of the reflective forces according to robot and obstacle states a state transition diagram is suggested. Finally, the experimental and simulation results with the mobile robot, ROBHAZ-DT developed by KIST show the effectiveness of the suggested method.

关键词： Mobile robots Force control Robot control Robot sensing systems Force sensors Force feedback Orbital robotics Haptic interfaces Teleoperators Fuzzy logic

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Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot

Kinematic optimization of a spherical mechanism for a minima...

引用

IEEE International conference on Robotics and Automation (ICRA)

作者： M.J.H. Lum J. Rosen M.N. Sinanan Hannaford B Department of Electrical Engineering University of Washington Seattle WA USA Department of Electrical Engineering Department of Surgery University of Washington Seattel WA Department of Surgery University of Washington Seattel WA USA

Advances in surgical technology allow physicians to more effectively provide care to their patients. Minimally invasive surgery (MIS) has revolutionized the way a significant number of procedures are performed. Advances in technology have led to the fusion of MIS techniques and robotic devices; however, such systems are currently large and cumbersome. By optimizing a spherical mechanism based on in-vivo data collected during MIS procedures, this paper focuses on a bottom-up approach in developing a new class of surgical robot arms. The spherical mechanism is a rotational manipulator with all axes intersecting at the center of the sphere. Locating the rotational center of the mechanism at the MIS port makes this class of mechanism a suitable candidate for the first two links of a surgical robot for both minimally invasive and open surgery. For optimizing the mechanism structure, the forward and inverse kinematics, as well as the Jacobian matrix, were derived. Using the Jacobian, mechanism isotropy was considered as the performance metric. The dexterous workspace (DWS) is defined as a high dexterity region defined by a right circular cone with a vertex angel of 60/spl deg/ in which 95% of the tool motions are contained based on in-vivo measurements. The extended dexterous workspace (EDWS) is defined as the workspace required to reach the entire abdominal cavity with MIS instruments and defined by a cone with an elliptical cross section created by two orthogonal vertex angels of 60/spl deg/ and 90/spl deg/. Optimization across both the DWS and a superset of the EDWS led to a mechanism configuration with link length angles of 74/spl deg/ and 60/spl deg/ that maximizes kinematic performance and compactness. The workspace of this design covers the entire EDWS and is the optimal design for the next generation of surgical manipulator. By directly applying in-vivo experimental data from MIS in order to optimize the spherical manipulator a design that maximizes performance an

关键词： Kinematics Minimally invasive surgery Medical robotics Manipulators Jacobian matrices robots Measurement Abdomen Instruments Design optimization

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Radar the next generation - Sensors as robots

Radar the next generation - Sensors as robots

引用

International conference on Radar

作者： Wicks, MC Spina, JF Capraro, GT AFRL Sensors Directorate Rome NY 13441 USA

ISBN: (纸本)0780378709

One can easily envision future military operations and emerging civilian requirements (e.g. intelligent unmanned vehicles for urban warfare, intelligent manufacturing plants) that will be both complex and stressing and will demand innovative sensors and sensor configurations. The goal of our research into Sensors as robots is to develop a cost effective and extendable approach for providing surveillance for a variety of applications in dynamically changing military and civilian environments. Within Sensors as robots, we foresee a new sensor archetype. In this paradigm, sensors and algorithms will be autonomously altered depending on the environment Radars will use the same returns to perform detection and discrimination, to adjust the platform flight path and change mission priorities. The sensors win dynamically and automatically change waveform parameters to accomplish these goals. Disparate sensors will communicate and share data and instructions in real-time. Intelligent sensor systems will operate within and between sensor platforms such that the integration of multiple sensor data provides information needed to achieve dynamic goals and avoid electromagnetic fratricide. Intelligent sensor platforms working in partnership will increase information flow, minimize ambiguities, and dynamically change multiple sensors' operations based upon a changing environment Concomitant with the current emphasis on more flexible defense structures, Sensors as robots will allow the appropriate incremental application of remote sensing assets by matching resources to the situation at hand. In this paper, we discuss the development of a futuristic intelligence, surveillance and reconnaissance concept utilizing the innovative integration of cutting edge technologies such as: knowledge-based signal processing, robotics, wireless networking, waveform diversity, the Semantic Web, advanced computer architectures and supporting software languages. This concept is projected as an autono

关键词： Cost effectiveness

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A role for immunology in "next generation" robot controllers

引用

2nd International conference on Artificial Immune Sysyems

作者： Hart, E Ross, P Webb, A Lawson, A Napier Univ Edinburgh EH14 1DJ Midlothian Scotland

ISBN: (纸本)3540407669

Much of current robot research is about learning tasks in which the task to be achieved is pre-specified, a suitable technology for the task is chosen and the learning process is then experimentally investigated. A more interesting research question is how can robot be provided with an architecture that would enable it to developmentally 'grow-up' and accomplish complex tasks by building on basic built-in capabilities. Previous work by the authors defined the requirements of a robot architecture that would enable this to happen - in this paper, we describe how some components of such an architecture can be achieved using an immune network model, and present preliminary results that show the plausibility of the suggested approach.

关键词： robots

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Radar the next generation - sensors as robots

Radar the next generation - sensors as robots

引用

IEEE International conference on Radar

作者： M.C. Wicks AFRL Sensors Directorate

One can easily envisage future military operations and emerging civilian requirements (e.g. intelligent unmanned vehicles for urban warfare, intelligent manufacturing plants) that will be both complex and stressing and will demand innovative sensors and sensor configurations. The goal of our research into sensors as robots is to develop a cost effective and extendable approach for providing surveillance for a variety of applications in dynamically changing military and civilian environments. We discuss the development of a futuristic intelligence, surveillance and reconnaissance concept utilizing the innovative integration of cutting edge technologies such as: knowledge-based signal processing; robotics; wireless networking; waveform diversity; the semantic Web; advanced computer architectures and supporting software languages. This concept is projected as an autonomous constellation of air, space, and ground vehicles that would offer a robust paradigm to build toward future deployments.

关键词： Radar Robot sensing systems Intelligent sensors Intelligent robots Intelligent vehicles Surveillance Space technology Manufacturing Costs Application software

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Mobile robot navigation in dynamic environments using omnidirectional stereo

Mobile robot navigation in dynamic environments using omnidi...

引用

IEEE International conference on Robotics and Automation (ICRA)

作者： H. Koyasu J. Miura Y. Shirai Department of Computer-Controlled Mechanical Systems Osaka University Osaka Japan

This paper describes a mobile robot navigation method in dynamic environments. The method uses a real-time omnidirectional stereo, which can obtain panoramic range information of 360 degrees. From this panoramic range information, the robot estimates its ego-motion by comparing the current and the previous observations in order to integrate observations obtained at different positions. The uncertainty in the estimation is also calculated. next, the robot recognizes and tracks moving obstacles. Finally, the robot plans a collision free path by a heuristic planner in space-time considering the velocity uncertainty of observed obstacles. Experimental results show the effectiveness of our method.

关键词： Mobile robots Navigation Uncertainty Orbital robotics Mechanical systems Robot sensing systems Path planning Image generation

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Three-DOF angular positioning control using a multi-DOF ultrasonic motor in the pre-loaded condition: application to the auditory tele-existence robot "TeleHead"

Three-DOF angular positioning control using a multi-DOF ultr...

引用

IEEE International Workshop on Intelligent robots and systems (IROS)

作者： H. Kawano T. Hirahara NTT Communication Science Laboratories NTT Corporation Atsugi Kanagawa Japan

A multi degree of freedom (multi-DOF) ultrasonic motor is anticipated as an actuator in the next generation, because it can drive three-DOF motion with high torque and low noise that can not be perceived by the human auditory system. Using a multi-DOF ultrasonic motor as an actuator that constitutes the mechanism of the neck of the auditory tele-existence robot "TeleHead" is a good example of its applicability. However getting enough torque requires a suitable pre-loading method, and properly controlling three-DOF motion requires a suitable measurement method of the three-DOF angular position of the rotor and a control algorithm that takes into account the high-DOF motion and complex physical characteristics of the motor. This paper proposes both a hardware system for pre-loading and measuring 3-DOF angular position and a software system for controlling 3-DOF motion of the motor from the view point of application to TeleHead (see video). The proposed pre-loading method can generate enough pre-loading force and reduce resistance torque when the dummy head of "TeleHead" is in the inclined state. The proposed measuring method for three-DOF motion achieves a wide range of angular position of the motion of the dummy head in each rotating direction, especially in the yaw direction. The proposed control algorithm adopts a serial switching method with a very high frequency, and does not need any dynamics model of the physical characteristics of the motor for control signal calculation. Experimental results show the high performance of the proposed system when a 1-kg load is attached to the rotor of the multi-DOF ultrasonic motor.

关键词： robots Motion control Motion measurement Position measurement Actuators Torque control Rotors Electrical resistance measurement Noise generators Humans

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Stabilization of biped locomotion utilizing compensation in double-supporting phase

Stabilization of biped locomotion utilizing compensation in ...

引用

Proceedings of Space 2002: the Eighth International conference and Exposition on Engineering, Construction, Operations and Business in Space and Proceedings of Robotics 2002: the Fifth International conference and Exposition/Demonstration on Robotics

作者： Toda, Kengo Furuta, Takayuki Tomiyama, Ken The Dept. Integrated Info. Technol. Aoyama Gakuin University 6-16-1 Chitosedai Setagaya Tokyo 157-8572 Japan Kitano Symbiotic Systems Project ERATO JST 6-31-15 Jinguumae M-31 Suite 6A Shibuya Tokyo 150-0001 Japan

ISBN: (纸本)0784406251

A gait generation method for biped robots that realizes stabilization of the single-supporting phase by taking advantage of robustness of the double-supporting phase is developed. Considering these points, the proposed method utilizes the double-supporting phase to eliminate disturbances that are caused by ground condition and/or other factors affecting stability of biped locomotion. In our method, ample stability margin in the double-supporting phase is also exploited to realize the angular momentum that is required by the next single-supporting phase. The propose method can achieve more stable continuous walk due to these features. In this paper, the proposed gait generation method is explained in detail and some results of experiments using originally developed humanoid robot are reported.

关键词： Mobile robots

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The Umbra simulation framework as applied to building HLA federates

The Umbra simulation framework as applied to building HLA fe...

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Simulation Winter conference

作者： E.J. Gottlieb M.J. McDonald F.J. Oppel J.B. Rigdon P.G. Xavier Orion International Technologies Inc. Albuquerque NM USA Sandia National Laboratories Albuquerque NM USA

Sandia's Umbra modular simulation framework was designed to enable the modeling of robots for manufacturing, military, and security system concept evaluation. Umbra generalizes data-flow-based simulation to enable modeling of heterogeneous interaction phenomena via a multiple worlds abstraction. This and other features make Umbra particularly suitable for developing simulation federates. Umbra's HLA interface library utilizes DMSO's HLA Run Time Infrastructure 1.3-next generation (RTI 1.3-NG) software library to federate Umbra-based models into HLA environments. Examples draw on a first application that provides component technologies for the US Army JPSD's Joint Virtual Battlespace (JVB) simulation environment for Objective Force concept analysis.

关键词： Analytical models Software libraries Robot sensing systems Virtual manufacturing Mobile robots Computer architecture Unmanned aerial vehicles Data security Application software Computational geometry

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