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Design and Implementation of a sensorimotor Network for Chemical Sensing Using a Mobile Robot Platform

Design and Implementation of a Sensorimotor Network for Chem...

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IEEE International conference on Multisensor fusion and Integration for Intelligent systems (MFI)

作者： Craver, Matthew Grant, Edward N Carolina State Univ Dept Elect & Comp Engn Raleigh NC 27795 USA N Carolina State Univ Dept Biomed Engn Raleigh NC 27795 USA

ISBN: (纸本)9781479977727

Many current robotic systems are application-specific and have difficulty if the environment changes. These controllers do not scale well with increased task complexity, and rely on widely used high quality sensors. However, biological systems exhibit impressive adaptability. Therefore, selforganizing architectures should be incorporated into robotic systems to allow for emergent intelligence and robustness given less than optimal sensors and environments. In this study, a flat, fully-connected sensorimotor architecture was implemented on the EvBot iii platform for the application of chemical sensing. The network was trained to associate increased alcohol concentration with increased battery charge. Seven training and testing experiments were conducted using different learning protocols. Although the sensorimotor network was shown to be a good initial step towards robotic reflex behavior, the robot was unable to successfully learn to home to the alcohol source.

关键词： chemical sensors mobile robots robust control EvBot iii platform alcohol concentration battery charge biological system chemical sensing fully-connected sensorimotor architecture high quality sensor learning protocol mobile robot platform optimal sensor robotic reflex behavior robotic system robustness self-organizing architecture sensorimotor network task complexity Correlation Protocols Robot sensing systems Testing Training Mobile robots BATTERY CHARGING task complexity Manipulator sensing systems CHEMICAL sensor Robust control protocols Functional training biological organs

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A modular planning/control architecture for the semi-autonomous control of telerobots in a hazardous environment

A modular planning/control architecture for the semi-autonom...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Tarn, TJ Brady, K Xi, N Love, L Lloyd, P Burks, B Davis, H Department of Systems Science and Mathematics Washington University St. Louis MO 63130 United States Oak Ridge National Laboratory Robotics and Process Systems Division Oak Ridge TN 37831-6304 United States

ISBN: (纸本)0819426415

The Oak Ridge National Laboratory (ORNL) has demonstrated, evaluated, and deployed a telerobotic approach for the remote retrieval of hazardous and radioactive wastes from underground storage tanks. The telerobotic system, built by Spar Aerospace Ltd., is capable of dislodging and removing sludge and gravel-like wastes without endangering the human operators through contact with the environment. Working in partnership with Washington University, ORNL has implemented an Event Based Planner/Function Based Sharing control (FBSC) as an integral part of their overall telerobotic architecture. These aspects of the system enable the seamless union of the human operator and an autonomous controller in such a way to emphasize safety without any loss of performance. The cooperation between ORNL, Spar, and Washington University requires an open and modular control software architecture to enable the parallel development of various components of the system. controlShell has been used as the underlying software architecture to help meet these criteria of generality and modularity.

关键词： intelligent control semi-autonomous control teleoperation control systems

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Development of a biomimetic underwater ambulatory robot: advantages of matching biomimetic control architecture with biomimetic actuators

Development of a biomimetic underwater ambulatory robot: adv...

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conference on sensor fusion and decentralized control in robotic systems iii

作者： Witting, JH Ayers, J Safak, K Northeastern Univ Ctr Marine Sci Nahant MA 01908 USA

ISBN: (纸本)0819438618

The American Lobster Homarus americanus is a highly mobile marine decapod, ubiquitous to the benthic environment of the eastern North Atlantic. Lobsters occupy a range of subtidal habitats on the continental shelf, and are capable of navigating through spatially complex boulder fields, as well as coping with variable water currents. Given these competencies, we have adopted the lobster as a design model for a biomimetic autonomous underwater vehicle intended for operation in similar environments. A central motor pattern generator model was developed from electromyographic data from lobsters, and is being implemented on an eight-legged ambulatory vehicle. The vehicle uses Nitinol shape-memory alloy wires as linear actuators, physically modeling the antagonistic muscle pairs of a lobster leg. The contraction of the wires is produced by heating them with an electrical current. This produces a change in the crystalline structure of the material from a martensite to an austenite state, resulting in a 5% contraction of the wire. Three pairs of wires are used around three joints to produce a three-degrees-of-freedom walking leg. Current drivers power the actuators, and pulse-width modulation is used to obtain graded contractions from the muscles. The combination of a biologically based control system coupled with a linear actuator sharing many characteristics of invertebrate muscle tissue has enabled us to construct a biomimetic ambulatory robot sharing some of the competencies of the model.

关键词： artificial muscle Shape Memory Alloy biomimetic robot

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An open multi-agent control architecture to support virtual reality based man-machine interfaces

An open multi-agent control architecture to support virtual ...

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sensor fusion and decentralized control in robotic systems IV conference

作者： Freund, E Rossmann, R Brasch, M Univ Dortmund Inst Robot Res D-44227 Dortmund Germany

ISBN: (纸本)0819442992

Projective Virtual Reality(2) is a new and promising approach to intuitively operable man machine interfaces for the commanding and supervision of complex automation systems. The user interface part of Projective Virtual Reality heavily builds on latest Virtual Reality techniques, a task deduction component and automatic action planning capabilities. In order to realize man machine interfaces for complex applications, not only the Virtual Reality part has to be considered but also the capabilities of the underlying robot and automation controller are of great importance. This paper presents a control architecture that has proved to be an ideal basis for the realization of complex robotic and automation systems that are controlled by Virtual Reality based man machine interfaces. The architecture does not just provide a well suited framework for the real-time control of a multi robot system but also supports Virtual Reality metaphors and augmentations which facilitate the user's job to command and supervise a complex system. The developed control architecture has already been used for a number of applications. Its capability to integrate sensor information from sensors of different levels of abstraction in real-time helps to make the realized automation system very responsive to real world changes. In this paper, the architecture will be described comprehensively, its main building blocks will be discussed and one realization that is built based on an open source real-time operating system will be presented. The software design and the features of the architecture which make it generally applicable to the distributed control of automation agents in real world applications will be explained. Furthermore its application to the commanding and control of experiments in the Columbus space laboratory, the European contribution to the International Space Station (ISS), is only one example which will be described.

关键词： Projective Virtual Reality robot controller real-time-capability distributed system International Space Station man-machine-interface

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Learning manipulation skills by combining PCA technique and adaptive interpolation

Learning manipulation skills by combining PCA technique and ...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Zhang, JW Knoll, A Univ Bielefeld Fac Technol D-33501 Bielefeld Germany

ISBN: (纸本)0819429848

We propose an approach for learning manipulation skills of robot arms based on complex sensor data. The first component of the used model serves as a projection of high-dimensional input data into an eigenspace by using Principal Component Analysis (PCA). Complex sensor data can be efficiently compressed if robot movements achieving optimal manipulation tasks are constrained to a local scenario. The second component is an adaptive B-spline model whose input space is the eigenspace and whose outputs are robot motion parameters. In the offline learning phase, an appropriate eigenspace can be built by extracting eigenvectors from a sequence of sampling sensor patterns. The B-spline model is then trained for smooth and correct interpolation. In the online application phase, through the cascaded two components, a sensor pattern can be mapped into robot action for performing the specified task. This approach makes tasks such as visually guided positioning much easier to implement. Instead of undergoing cumbersome hand-eye calibration processes, our system is trained in a supervised learning procedure using systematical perturbation motion around the optimal manipulation pose. If more sensors or some robust geometric features from the image processing are available, they can also be added to the input vector. Therefore, the proposed model can integrate multiple sensors and multiple modalities. Our experimental setup is a two-arm robotic system with "self-viewing" hand-eyes and force/torque sensors mounted on each parallel jaw gripper. Implementations with one-hand grasping and two-hand assembly based on visual and force sensors show that the method works even when no robust geometric features can be extracted from the sensor pattern.

关键词： sensor-based skills hand-eye task based mapping learning

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RoBlock - a prototype autonomous manufacturing cell

RoBlock - a prototype autonomous manufacturing cell

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conference on sensor fusion and decentralized control in robotic systems iii

作者： Baekdal, LK Balslev, I Eriksen, RD Jensen, SP Jorgensen, BN Kirstein, B Kristensen, BB Olsen, MM Perram, JW Petersen, HG Petersen, ML Ruhoff, PT Skjolstrup, CE Sorensen, AS Waagenaar, JM Univ So Denmark Maersk McKinney Moller Inst Prod Technol DK-5230 Odense M Denmark

ISBN: (纸本)0819438618

RoBlock is the first phase of an internally financed project at the Institute aimed at building a system in which two industrial robots suspended from a gentry, as shown below, cooperate to perform a task specified by an external user, in this case, assembling an unstructured collection of coloured wooden blocks into a specified 3-dimensional pattern. The blocks are indentified and localised using computer vision and grasped with a suction cup mechanism. Future phases of the project will involve other processes such as grasping and lifting, as well as other types of robot such as autonomous vehicles or variable geometry trusses. Innovative features of the control software system include: The use of an advanced trajectory planning system which ensures collision avoidance based on a generalisation of the method of artificial potential fields [1], The use of a generic model-based controller which "learns" the values of parameters, including static and kinetic friction, of a detailed mechanical model of itself by comparing actual with planned movements [2], The use of fast, flexible, and robust pattern recognition and 3D-interpretation strategies, Integration of trajectory planning and control with the sensor systems in a distributed Java application running on a network of PC's attached to the individual physical components. In designing this first stage, the aim was to build in the minimum complexity necessary to make the system non-trivially autonomous and to minimize the technological risks. The aims of this project, which is planned to be operational during 2000, are as follows: To provide a platform for carrying out experimental research in multi-agent systems and autonomous manufacturing systems, To test the interdisciplinary cooperation architecture of the Maersk Institute, in which researchers in the fields of applied mathematics (modelling the physical world), software engineering (modelling the system) and sensor/actuator technology (relating the virtual and

关键词： Manufacturing Cameras systems modeling control systems Robots Process modeling Java Design for manufacturability Prototyping sensors

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A next best view algorithm for object reconstruction

A next best view algorithm for object reconstruction

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conference on sensor fusion amd decentralized control in robotic systems

作者： Wong, LM Dumont, C Abidi, MA Univ Tennessee Dept Elect Engn IRIS Lab Knoxville TN 37996 USA

ISBN: (纸本)0819429848

The goal of sensor planning in 3-D object reconstruction is to acquire enough 2-D information about an object to create a 3-D model of that object. This requires the acquisition of images from different viewpoints, the registration of each view, and the integration of all acquired information into a single model. Our focus is on the acquisition stage;we want to determine sensor poses or viewpoints that provide the next best view in an object reconstruction task. The Next Best View (NBV) is the determination of a new sensor position that reveals an optimal amount of unknown information about the object being modeled. The goal of a NBV reconstruction system is usually to model an object using the smallest number of views. Our approach to complete this task is to study a volumetric representation of the model after a new view is obtained. Since the volumetric model consists of known and unknown information, we want to find the viewpoint from which the largest amount of unknown data can be acquired. The NBV algorithm is integrated into a system that acquires synthetic range data from a computer object model, calculates new viewpoints according to an objective function, and reconstructs a complete volumetric model of the object of interest. The NBV algorithm is described in depth and experimental results are given. Also included is a review of related work.

关键词： next best view sensor planning 3-D reconstruction

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A Java-based decentralised tracking simulator

A Java-based decentralised tracking simulator

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Sutcliffe, JH Nicholson, D Deaves, RH Advanced Information Processing Department Sower by Research Centre British Aerospace Filton Bristol BS12 7QW PO Box 5 United Kingdom

ISBN: (纸本)0819426415

The potential of the new language of Java is explored in the development of a decentralised target tracking simulator. Three particular features of the Java language prompted this initial investigation, namely that it is fully object-oriented, graphical user interfaces (GUIs) may be simply constructed, and it, is Internet compatible. In the context of this paper, the full power of Java's object-oriented design is harnessed to reflect the inherent modularity of decentralised tracking systems. This enables, for example, tracks with their associated information structures, and platforms with their associated tracks, to be encapsulated within advanced data structures, or classes. An easy-to-build GUI, based on Java's Abstract Windowing Toolkit (AWT), permits the end-user to rapidly configure a test scenario by selecting simulation variables from pop-up menus, such as the number of sensor platforms, the number of targets, and the type of target trajectory. Additionally, Java's Internet compatibility allows the simulation, in principle, to be accessed remotely. Development work on the Java tracking simulator is described, and illustrated in terms of pseudo-code and screen snapshots. We conclude that in terms of our long-range goal of constructing a simulator that can aid the investigation of decentralised systems under a range of world scenarios and operating conditions, Java shows considerable promise.

关键词： Java target tracking simulator decentralised data-fusion Kalman filter

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Virtual reality hardware for use in interactive 3D data fusion and visualization

Virtual reality hardware for use in interactive 3D data fusi...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Gourley, CS Abidi, MA Univ. of Tennessee/Knoxville (United States)

ISBN: (纸本)0819426415

Virtual Reality has become a tool for use in many areas of research. We have designed and built a VR system for use in range data fusion and visualization. One major VR tool is the CAVE. This is the ultimate visualization tool, but comes with a large price tag. Our design uses a unique CAVE whose graphics are powered by a desktop computer instead of a larger rack machine making it much less costly. The system consists of a screen eight feet tall by twenty-seven feet wide giving a variable field-of-view currently set at 160 degrees. A Silicon Graphics Indigo2 MaxImpact with the Impact Channel Option is used for display. This gives the capability to drive three projectors at a resolution of 640x480 for use in displaying the virtual environment and one 640x480 display for a user control interface. This machine is also the first desktop package which has built-in hardware texture mapping. This feature allows us to quickly fuse the range and intensity data and other multi-sensory data. The final goal is a complete 3D texture mapped model of the environment. A dataglove, magnetic tracker, and spaceball are to be used for manipulation of the data and navigation through the virtual environment. This system gives several users the ability to interactively create 3D models from multiple range images.

关键词： virtual reality laser range scanner CAVE visualization

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Reconfigurable robots for all terrain exploration

Reconfigurable robots for all terrain exploration

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conference on sensor fusion and decentralized control in robotic systems iii

作者： Schenker, PS Pirjanian, P Balaram, B Ali, KS Trebi-Ollennu, A Huntsberger, TL Aghazarian, H Kennedy, BA Baumgartner, ET Iagnemma, K Rzepniewski, A Dubowsky, S Leger, PC Apostolopoulos, D McKee, GT CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)0819438618

While significant recent progress has been made in development of mobile robots for planetary surface exploration, there remain major challenges. These include increased autonomy of operation, traverse of challenging terrain, and fault-tolerance under long, unattended periods of use. We have begun work which addresses some of these issues, with an initial focus on problems of "high risk access," that is, autonomous roving over highly variable, rough terrain. This is a dual problem of sensing those conditions which require rover adaptation, and controlling the rover actions so as to implement this adaptation in a well understood way (relative to metrics of rover stability, traction, power utilization, etc.). Our work progresses along several related technical lines: 1) development a fused state estimator which robustly integrates internal rover state and externally sensed environmental information to provide accurate "configuration" information;2) kinematic and dynamical stability analysis of such configurations so as to determine "predicts" for a needed change of control regime (e.g., traction control, active c.g. positioning, rover shoulder stance/pose);3) definition and implementation of a behavior-based control architecture and action-selection strategy which autonomously sequences multi-level rover controls and reconfiguration. We report on these developments, both software simulations and hardware experimentation. Experiments include reconfigurable control of JPL's Sample Return Rover geometry and motion during its autonomous traverse over simulated Mars terrain.

关键词： mobile robots reconfigurable robots modular robots Mars rovers robot architectures robot control intelligent control sensor fusion fused state estimation field robotics

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