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Vertical movement control of quad-thrust aerial robot: Design, analysis and experimental validation

Vertical movement control of quad-thrust aerial robot: Desig...

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作者： Czyba, Roman Szafranski, Grzegorz Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice Poland

ISBN: (纸本)9789898425751

In this paper we focus on the problem of the vertical movement control and approach to control algorithm implementation for unmanned aerial vehicle (UAV), known as a quadrotor. The most important control subsystems for the VTOL (Vertical Take-Off and Landing) are the attitude stabilization and the altitude regulation. Both systems are presented in this paper. However, the vertical movement of the platform has been confined to precise operations such as taking-off and landing. These actions demand high reliability and they are very crucial for autonomous flights. The design, analysis and the validation tests have been undertaken on the experimental aerial platform.

关键词： Altitude control

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Recommender system to analyse students' learning productivity

Recommender system to analyse students' learning productivit...

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2011 3rd international asia conference on informatics in control, automation and robotics, CAR 2011

作者： Kaklauskas, Arturas Seniut, Mark Zavadskas, Edmundas Kazimieras Dzemyda, Gintautas Stankevic, Voitech Simkevicius, Ceslovas Ivanikovas, Sergejus Stankevic, Tomas Matuliauskaite, Agne Zemeckyte, Lina Vilnius Gediminas Technical University Sauletekio Ave. 11 Vilnius LT-10223 Lithuania Semiconductor Physics Institute Center for Physical Sciences and Technology Vilnius University Vilnius Lithuania Vilnius University Institute of Mathematics and Informatics Akademijos St. 4 Vilnius Lt-08663 Lithuania

ISBN: (纸本)9783642259913

A sufficient amount of studies worldwide prove an interrelation linking students' learning productivity, emotional and psychological state to physiological parameters. Emotional states and the interest in learning affect learning productivity, while physiological parameters demonstrate such changes. Since the research by the authors of the present article confirmed these interdependencies, a Recommender System to Analyse Student's Learning Productivity (Recommender System hereafter) has been developed. The Recommender System uses the Maslow's Hierarchy of Needs and the database of the best global practices to come up with recommendations for students how to improve their learning efficiency. Worldwide research includes various scientists who conducted in-depth studies on the different and very important areas in the field. We did not find any systems which would take physiological parameters of students, analyse their learning efficiency and, in turn, provide recommendations. © 2011 Springer-Verlag.

关键词： Knowledge management

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Whole body adapting behavior with muscle level stiffness control of tendon-driven multijoint robot

Whole body adapting behavior with muscle level stiffness con...

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2011 IEEE international conference on robotics and Biomimetics, ROBIO 2011

作者： Shirai, Takuma Urata, Junichi Nakanishi, Yuto Okada, Kei Inaba, Masayuki Department of Mechano-Informatics University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-8656 Japan

ISBN: (纸本)9781457721373

A tendon-driven multijoint robot is a humanlike robot which is driven by a tendon-driven actuator. One of the problems is that the complexity of the tendon-driven multijoint robot body structure. The complexity makes it difficult to control body by commonly used methods which are based on a dynamics computation of a physical robot model. We proposed a appropriate control method for tendon-driven actuators. In this control method, we defined an ideal reaction model that is based on a physical motion equation. This equation includes an elastic term, inertia term and a friction term. The control method then calculates target rotational velocity of the actuator from the motion equation. Finally, the motor driver of the actuator outputs voltage to follow the target velocity through a basic PID control. Our control method enables the tendon-driven actuator to act as a mechanical spring. Through this, the tendon-driven multijoint robot can attain the flexibility to adapt to external forces applied by collision with objects without using a precise dynamics computation. Moreover, our control method enables the tendon-driven multijoint robot to adjust its stiffness and flexibility depending on the purpose of its given tasks. We tested this control method by using KOJIRO, and showed the control method works as declared. © 2011 IEEE.

关键词： Equations of motion

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Using the microsoft kinect to model the environment of an anthropomimetic robot

Using the microsoft kinect to model the environment of an an...

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2nd IASTED international conference on robotics, Robo 2011

作者： Devereux, David Mitra, Bhargav Holland, Owen Diamond, Alan Department of Informatics University of Sussex Falmer Brighton BN1 9QJ United Kingdom

ISBN: (纸本)9780889869035

The control of compliantly actuated anthropomimetic robots with complex and multiarticular joints, such as those developed within the ECCEROBOT project, is extremely challenging. We are approaching the problem by using a physics engine to run a highly detailed simulation of such a robot's structure and dynamic behaviour, and then searching for sequences of motor activations that will achieve particular goals. This requires the simulated robot to be situated accurately in a physics-based representation of its environment which includes the object with which it is to interact. In this paper we present our environmental sensing and modelling scheme which uses data from a single headmounted Kinect sensor to provide and locate the environmental model, and to identify and locate the target object accurately in the presence of significant motion blur.

关键词： Computer vision

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From walking to running a natural transition in the SLIP model using the hopping gait

From walking to running a natural transition in the SLIP mod...

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2011 IEEE international conference on robotics and Biomimetics, ROBIO 2011

作者： Martinez, Harold Roberto Carbajal, Juan Pablo Artificial Intelligence Laboratory Department of Informatics University of Zurich Andreasstrasse 15 8050 Zurich Switzerland

ISBN: (纸本)9781457721373

In this paper we adopt the spring loaded inverted pendulum (SLIP) model as the mathematical framework to represent biped locomotion, but in contrast with previous studies, we redefine the conditions for valid locomotion. As a consequence we identify new ways to produce gait transitions (e.g. change from walking to running) through the control of the angle of attack, at a constant energy level. Moreover, we show that the new valid conditions of locomotion allow the representation of the hopping gait. This new gait requires two different angles of attack for its execution, hence constant angle of attack policies are not applicable. First, we show the regions of phase space where one step gait transitions exist. Next, we report the region where it is possible to generate a periodic hopping gait. Mainly, the two results imply that through the control of the angle of attack the system can exploit its passive dynamics to induce transitions between running, walking and hooping or keep the system stable in any of these gaits. Finally, we briefly discuss the relation between these findings and the use of complaints legs in robots. © 2011 IEEE.

关键词： Angle of attack

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Learning inverse kinematics with structured prediction

Learning inverse kinematics with structured prediction

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2011 IEEE/RSJ international conference on Intelligent Robots and Systems: Celebrating 50 Years of robotics, IROS'11

作者： Bócsi, Botond Nguyen-Tuong, Duy Csató, Lehel Schölkopf, Bernhard Peters, Jan Faculty of Mathematics and Informatics Babeş-Bolyai University Kogalniceanu 1 400084 Cluj-Napoca Romania Department of Empirical Inference Max Planck Institute for Intelligent Systems Spemannstraße 38 72076 Tübingen Germany Technische Universitaet Darmstadt Intelligent Autonomous Systems Group Hochschulstr. 10 64289 Darmstadt Germany

ISBN: (纸本)9781612844541

Learning inverse kinematics of robots with redundant degrees of freedom (DoF) is a difficult problem in robot learning. The difficulty lies in the non-uniqueness of the inverse kinematics function. Existing methods tackle non-uniqueness by segmenting the configuration space and building a global solution from local experts. The usage of local experts implies the definition of an oracle, which governs the global consistency of the local models;the definition of this oracle is difficult. We propose an algorithm suitable to learn the inverse kinematics function in a single global model despite its multivalued nature. Inverse kinematics is approximated from examples using structured output learning methods. Unlike most of the existing methods, which estimate inverse kinematics on velocity level, we address the learning of the direct function on position level. This problem is a significantly harder. To support the proposed method, we conducted real world experiments on a tracking control task and tested our algorithms on these models. © 2011 IEEE.

关键词： Inverse kinematics

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Convergent iterative feedback tuning of state feedback-controlled servo systems 1

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6th international conference on informatics in control automation and robotics, ICINCO 2009

作者： RǍdac, Mircea-Bogdan Precup, Radu-Emil Petriu, Emil M. Preitl, Stefan Dragoş, Claudia-Adina Politehnica University of Timisoara Dept. of Automation and Applied Informatics Bd. V. Parvan 2 300223 Timisoara Romania University of Ottawa School of Information Technology and Engineering 800 King Edward Ottawa ON K1N 6N5 Canada

ISBN: (数字)9783642197307

ISBN: (纸本)9783642197291

This paper presents a new Iterative Feedback Tuning (IFT)-based optimal state feedback control solution dedicated to a class of second-order servo systems with integral component. The state feedback controllers for these controlled plants are extended with an integrator to ensure the rejection of constant load type disturbances. Original IFT algorithms are suggested for the accepted state feedback controllers such that to set the step size in order to guarantee the convergence. An attractive convergence theorem based on the application of Popov's hypertability theory to the parameter update law in the IFT algorithms is offered. The theoretical results are validated by a case study concerning the position control of a DC servo system with backlash. Implementation issues are discussed and exemplified by real-time experimental results. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Servomechanisms

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Kornati bathymetry survey data-set for navigation and mapping

Kornati bathymetry survey data-set for navigation and mappin...

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Mediterranean conference on control and automation

作者： Zandara, Simone Ridao, Pere Ribas, David Campos, Ricard Mallios, Angelos Institute of Informatics and Applications Universitat de Girona Spain

ISBN: (纸本)9781457701252

This paper reports a navigation and mapping data-set collected in the Croatian Kornati Archipielago during the "Breaking the Surface 2010" international Interdisciplinary Field Training of Marine robotics and Applications event. A sensor ridge including a navigation and mapping sensor suite, to be later installed in the GIRONA500 AUV being developed a the university of Girona, was attached to a motor boat to collect geo-referenced data. The sensor suite includes a Multibeam sonar profiler, an AHRS, a DGPS, a sound-speed profiler including a depth cell, a video camera and a mechanical scanning sonar profiler. The paper reports the experiment performed as well as the navigation and mapping results using: 1) GPS only (used as a ground truth), 2) Dead Reckoning only, and 3) a preliminary method fusing dead reckoning with surface registration based on a simple modification of the well known ICP algorithm. Preliminary, but promising, results show that a better performance may be achieved using the last method. © 2011 IEEE.

关键词： Navigation

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Detection of overload generated faults in robot manipulators with friction

Detection of overload generated faults in robot manipulators...

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作者： Márton, Lorinc Institute of Robotics and Mechatronics DLR - German Aerospace Center Münchenerstr. 20 D-82234 Weßling Germany

ISBN: (纸本)9789898425751

This work proposes a detection method for faults that can appear in the actuators or gear transmissions of robot manipulators due to increased resistance in joint movement or mechanical jamming. It is assumed that the robot system is controlled using a computed torque-like algorithm. The fault detector is formulated as a disturbance observer and it can also isolate the location of the fault, namely in which joint of the robot the fault appears. The detector is based on a disturbance observer which is designed such that it is insensible to high frequency additive disturbances and model uncertainties. Simulation results are presented to show the applicability of the proposed fault detection method.

关键词： Friction

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Development of a low-pressure fluidic servo-valve for wearable haptic interfaces and lightweight robotic systems

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7th international conference on informatics in control, automation and robotics, ICINCO 2010

作者： Folgheraiter, Michele Jordan, Mathias Benitez, Luis M. Vaca Grimminger, Felix Schmidt, Steffen Albiez, Jan Kirchner, Frank Robotics Innovation Center Robert-Hooke-Strasse 5 Bremen D-28359 Germany

ISBN: (纸本)9783642195389

This document presents a low-pressure servo-valve specifically designed for haptic interfaces and lightweight robotic applications. The device is able to work with hydraulic and pneumatic fluidic sources, operating within a pressure range of (0-50 •105 Pa). All sensors and electronics were integrated inside the body of the valve, reducing the need for external circuits. Positioning repeatability as well as the capability to fine modulate the hydraulic flow were measured and verified. Furthermore, the static and dynamic behavior of the valve were evaluated for different working conditions, and a non-linear model identified using a recursive Hammerstein-Wiener parameter adaptation algorithm. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Haptic interfaces

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