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Virtual environment for prototyping and experiments

Virtual environment for prototyping and experiments

引用

ICROS-SICE international Joint conference 2009, ICCAS-SICE 2009

作者： Sklyarov, Valery Skliarova, Iouliia Department of Electronics Telecommunications and Informatics University of Aveiro/IEETA Portugal

ISBN: (纸本)9784907764333

The paper suggests the methodology for validation of designed systems and experiments through the use of the developed simulation tools and interactive models. The primary idea is prototyping on the basis of virtual visual samples imitating interacting physical objects. The desired electronic functionality is implemented in reconfigurable hardware and, therefore, can easily be changed, which significantly simplifies such problems as verification of alternative implementations and eliminating potential errors. The desired physical functionality is modeled through observation of and experiences with interacting images which look like physical objects. The proposed methodology is very helpful and effective for many practical applications, such as mechanical systems control, robotics, process automation, transportation systems, computational devices, etc. © 2009 SICE.

关键词： Field programmable gate arrays (FPGA)

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Tracking of constrained submarine robot arms

Tracking of constrained submarine robot arms

引用

international conference on informatics in control automation and robotics, ICINCO 2007

作者： Olguín-Díaz, Ernesto Parra-Vega, Vicente Robotics and Advanced Manufacturing Division CINVESTAV-Saltillo Campi Mexico

ISBN: (纸本)9783540856399

Despite the appearance of impressive submarine robot arms (SRA), simple posture (position/orientation) regulators are implemented nowadays and tracking still remains an open issue, let alone the force/posture tracking goal. The main challenge to achieve simultaneous tracking of posture and force seems the complex dynamical structure, the difficulty to measure precisely the inertial parameters of SRA and the access to the full state of SRA. In this paper, on one hand the nature of the control problem of SRA is discussed in contrast to typical AUV, and on the other hand, we introduce a model-free second order sliding mode controller to finally yield a model-free smooth control scheme to achieve tracking of force and posture of the SRA. Structural properties of the submarine robot dynamic are used to design a the passivity-based control to produce a viable tracking control scheme for constrained SRA. Helpful and succinct discussions of its inherent open-loop and closed-loop properties are presented, which provide additional insight into the control problem of SRA. A representative simulation study is presented.

关键词： Sliding mode control

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A research roadmap for model-driven design of embedded systems for automation components

A research roadmap for model-driven design of embedded syste...

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IEEE international conference on Industrial informatics (INDIN)

作者： T. Strasser M. Rooker I. Hegny M. Wenger A. Zoitl L. Ferrarini A. Dede M. Colla Robotics and Adaptive Systems PROFACTOR GmbH Austria Automation and Control Institute University of Technology Vienna Austria Dipartimento di Elettronica e Informazione Politecnico di Milano Italy Institute of Computer Integrated Manufacturing of Sustainable Innovation University of Applied Science Switzerland

The aim of this paper is to describe a research roadmap for a multi-domain model-driven embedded systems design approach and the corresponding meta-model which is applicable to the domain of complex Industrial automation and control Systems (IACS). The special requirements of the industrial automation sector are taken into account by this novel approach, utilizing existing model-driven techniques. This approach is currently being developed in the Framework Seven (FP7) Embedded Systems Design project MEDEIA funded by the European Commission.

关键词： Embedded system Design automation Automatic control Electrical equipment industry control systems Industrial control robotics and automation Design engineering control system synthesis Production

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Concept and design of the intellwheels platform for developing intelligent wheelchairs

Concept and design of the intellwheels platform for developi...

引用

5th international conference on informatics in control automation and robotics, ICINCO 2008

作者： Braga, Rodrigo A. M. Petry, Marcelo Moreira, Antonio Paulo Reis, Luis Paulo LIACC - Artificial Intelligence Computer Science Lab University of Porto Rua Dr. Roberto Frias s/n Porto 4200-465 Portugal Informatics Engineering Department FEUP-DEI - Faculty of Engineering University of Porto Rua Dr. Roberto Frias s/n Porto 4200-465 Portugal

ISBN: (纸本)9783642002700

Many people with severe disabilities find it difficult or even impossible to use traditional powered wheelchairs independently by manually controlling these electrical devices. Intelligent wheelchairs are a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. This paper describes a development platform for intelligent wheelchairs called IntellWheels. The intelligent system developed may be added to commercial powered wheelchairs with minimal modifications in a very straightforward manner. The paper describes the concept and design of the platform, including the hardware and software, multimodal input interface and the intelligent wheelchair prototype developed to validate the approach. Preliminary results concerning automatic movement of the IntellWheels prototype are also described showing the autonomous movement capabilities of the prototype. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Wheelchairs

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Mimetic communication with impedance control for physical human-robot interaction

Mimetic communication with impedance control for physical hu...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Dongheui Lee Christian Ott Yoshihiko Nakamura Department of Mechano-Informatics and IRT Research Initiative University of Tokyo Tokyo Japan

In this paper, mimetic communication is extended to human-robot interaction tasks, in which physical contact transitions must be handled. The mimetic communication consists of imitation learning for learning low level motion primitives and a higher level interaction learning stage in which also the information about the human-robot contacts is included. For the imitation learning, Cartesian marker data from a motion capture system is used. A modification of the low level marker trajectory following algorithm is presented, which allows to reshape the trajectory of the motion primitive in accordance with the human hand motion in real-time. Moreover, for performing safe contact motion, an appropriate impedance controller is integrated into the setting. All the presented concepts are evaluated in experiments with a humanoid robot.

关键词： Impedance Communication system control Humanoid robots Robot kinematics Human robot interaction Cognitive robotics robotics and automation Automatic control Motion control Robot control

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Voice quality manipulation for humanoid robots consistent with their head movements

Voice quality manipulation for humanoid robots consistent wi...

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9th IEEE-RAS international conference on Humanoid Robots, HUMANOIDS09

作者： Otsuka, Takuma Nakadai, Kazuhiro Takahashi, Toru Komatani, Kazunori Ogata, Tetsuya Okuno, Hiroshi G. Graduate School of Informatics Kyoto University Kyoto 606-8501 Japan Honda Research Institute Japan Co. Ltd. Wako Saitama 351-0114 Japan Graduate School of Information Science and Engineering Tokyo Institute of Technology Japan

ISBN: (纸本)9781424445882

This paper presents voice-quality control of humanoid robots based on a new model of spectral envelope modification corresponding to the vertical head motions, and left-right sound-pressure modulation corresponding to the horizontal head motions. We assume that a pitch-axis rotation, or a vertical head motion, and a yaw-axis rotation, or a horizontal head motion, affect the voice quality independently. Spectral envelope modification model is constructed based on the analysis of human vocalizations. Left-right sound-pressure modulation model is established through the measurements of impulse responses using a pair of microphones. The experiments are carried out using two humanoid robots HRP-2 and Robovie-R2. Experimental results show that our method presents the change in the voice quality derived from pitch-axis head movement in a robot-to-robot dialogue situation when the interval between the robots are 50 cm. It is also confirmed that an observable modulation in the voice quality declines as the distance between the robots becomes large. The voice-cast directionality caused by yaw-axis rotation is observable using our model even when the robots stand as far as 150 cm away. ©2009 IEEE.

关键词： Anthropomorphic robots

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Development of backdrivable hydraulic joint mechanism for knee joint of humanoid robots

Development of backdrivable hydraulic joint mechanism for kn...

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IEEE international conference on robotics and automation (ICRA)

作者： Hiroshi Kaminaga Junya Ono Yusuke Nakashima Yoshihiko Nakamura Department of Mechano-Informatics University of Tokyo Tokyo Japan

Robots must have similar mechanical impedance characteristics to humans in order to make safe and efficient contact. This impedance requirement applies not only to the surface but also to the actuation mechanisms. The objective of this research is to develop inherently flexible actuator by realizing backdrivability. A class of hydraulic actuation called electro-hydrostatic actuator was applied to knee joint in humanoid robots to satisfy flexibility and large torque output simultaneously. This paper explains the methodology of performance evaluation of actuators and design concept of joint mechanism. Mathematical model of electro-hydrostatic transmission is also presented. Evaluation of backdrivability, inertia modification control, and compliance control of developed mechanism are performed.

关键词： Knee Humanoid robots Robot kinematics Torque Hydraulic actuators Prototypes robotics and automation Surface impedance Humans Servomechanisms

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Mobile robot teleoperation via wireless multihop networks - Parameter tuning of protocols and real world application scenarios

Mobile robot teleoperation via wireless multihop networks - ...

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5th international conference on informatics in control automation and robotics, ICINCO 2008

作者： Zeiger, Florian Krämer, Nikolaus Sauer, Markus Schilling, Klaus University of Wuerzburg Department of Robotics and Telematics Am Hubland Wuerzburg Germany

ISBN: (纸本)9783642002700

Currently, the use of wireless networks is very common in the field of networked robotics and can be considered as a key issue for capable multi robot systems with a high grade of mobility. Nevertheless, this mobility requests for special features of the communication infrastructure, which leads to the integration of mobile robots into wireless ad-hoc networks. Since the late nineties, more than 80 ad-hoc routing protocols were developed and nowadays some of them are implemented and ready to use in real world applications. A comparison of four ad-hoc routing protocols (AODV, DSR, OLSR, and BATMAN) showed shortfalls of the default parameter settings not allowing a reliable teleoperation of mobile robots while using AODV, OLSR, or BATMAN. This work is focused on the parameter tuning of the routing protocols to use them in wireless ad-hoc networks of mobile robots. The time required for route reestablishing, as well as the packet loss during rerouting is investigated in hardware tests of a network with dynamic network topology consisting of mobile robots. It could be demonstrated, that an appropriate parameter setting of OLSR and BATMAN allow the teleoperation of mobile robots in outdoor environments via a wireless ad-hoc network. Finally a small application is presented to show the interaction of the different protocol layers in order to provide a communication network for services and applications to increase the capabilities of networked mobile robots. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Mobile robots

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Adaptive and rReconfigurable control framework for the responsive factory

Adaptive and rReconfigurable control framework for the respo...

引用

IEEE international conference on Industrial informatics (INDIN)

作者： M. N. Rooker T. Strasser A. Pichler G. Stubl A. Zoitl I. Terzic Robotics and Adaptive Systems PROFACTOR GmbH Steyr Austria Automation and Control Institute (ACIN) University of Technology Vienna Vienna Austria

Adaptive manufacturing is one of the most important objectives of the MANUFUTURE technology platform. To realize the vision of zero downtime, automation and control systems that react robust on system faults and changes by reconfiguration need improvements, mainly on the control and software level. A reconfigurable manufacturing system has the ability to easily and repeatedly change its structure by adding or removing hardware and/or software components in order to optimally adapt to fast changes in product requirements. This paper presents an adaptive and reconfigurable control framework which enables production systems to react more flexible on changes in the product demands. Concepts and requirements that will be needed for such a framework will be highlighted. Furthermore, a first approach for a control framework will be presented.

关键词： Programmable control Adaptive control Production facilities Automatic control control systems Manufacturing automation Robust control Manufacturing systems Hardware Production systems

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Entropy-based visual homing

Entropy-based visual homing

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IEEE international conference on Mechatronics and automation

作者： Piljae Kim Matthew D. Szenher Barbara Webb Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan School of Informatics University of Edinburgh Edinburgh UK

Visual homing allows a robot to navigate towards a previously visited goal relying on visual input. In this study, the robot homes by optimising the difference surface produced from the mutual image information between a snapshot image taken at the goal and the current image. This study proposes a new homing method with automatic gain tuning inspired by entropy distance. We also present experimental results using omni-directional image sets, which demonstrate not only the feasibility of the proposed idea for visual homing but also adaptive and robust homing performance for both static and dynamic environments.

关键词： robotics and automation Navigation Robots Entropy Image databases Mechatronics control engineering informatics Robustness Mutual information

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