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Evaluation of methods for robotic mapping of cultural heritage sites 2

Evaluation of methods for robotic mapping of cultural herita...

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2nd IFAC conference on Embedded Systems, Computer Intelligence and Telematics, CESCIT 2015

作者： Borrmann, Dorit Hess, Robin Eck, Daniel Houislnar, Hamidreza Nüchter, Andreas Schilling, Klaus Informatics VII: Robotics and Telematics University of Würzburg Am Hubland Würzburg97074 Germany

In archaeological studies the use of new technologies has moved into focus in the past years creating new challenges such as the processing of the massive amounts of data. In this paper we present steps and processes for smart 3D modelling of environments by use of the mobile robot Irma3D. A robot that is equipped with multiple sensors, most importantly a photo camera and a laser scanner, enables the automation of most of the processes, including data acquisition and registration. The robot was tested in the Würzburg Residence. Methods for automatic 3D color reconstructions of cultural heritage sites are evaluated in this paper. © 2015, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Data acquisition

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9th international conference on informatics in control automation and robotics, ICINCO 2012

9th International Conference on Informatics in Control Autom...

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9th international conference on informatics in control automation and robotics, ICINCO 2012

ISBN: (纸本)9783319034997

The proceedings contain 24 papers. The special focus in this conference is on Intelligent control systems and optimization, robotics and automation and Signal processing, Sensors, systems modeling and control. The topics include: Adaptive flux observers and rotor speed sensor fault detection in induction motors;on visual analytics in plant monitoring;global optimization for 2D SLAM problem;stochastic models and optimization algorithms for decision support in spacecraft control systems preliminary design;a heuristic control algorithm for robust internal model control with arbitrary reference model;a multi-signal variant for the GPU - based parallelization of growing self - organizing networks;office delivery robot controlled by modular behavior selection networks with planning capability;visual SLAM based on single omnidirectional views;metrics for path planning of reconfigurable robots in uneven terrain;a combined direct and indirect adaptive control scheme for a wheeled mobile robot using multiple models;real - time visual servoing based on new global visual features;compliance error compensation in robotic - based milling;a modified LGMD based neural network for automatic collision detection;vision based motion estimation of obstacles in dynamic unstructured environments;real - time vision-based pedestrian detection in a truck's blind spot zone using a warping window approach and a proposal of risk indexes at signalised intersections for ADAS aimed to road safety;a component-oriented model for wastewater pumping plants and a system identification framework for modeling complex combustion dynamics using support vector machines.

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Cloud based VR System with Immersive Interfaces to Collect Human Gaze and Body Motion Behaviors 10

Cloud based VR System with Immersive Interfaces to Collect H...

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10th Annual ACM/IEEE international conference on Human-Robot Interaction, HRI 2015

作者： Hagiwara, Yoshinobu Mizuchi, Yoshiaki Choi, Yongwoon Inamura, Tetsunari National Institute of Informatics 2-1-2 Hitotsubashi Chiyoda-ku Tokyo101-8430 Japan Soka University 1-236 Tangi-machi Hachioji Tokyo192-8577 Japan

ISBN: (纸本)9781450333184

In this study, we present a cloud VR system with immersive interfaces to collect human gaze and body behaviors. Human beings can log in to a VR space and communicate with a robot by the proposed system. Oculus Rift and Kinect provide immersive visualization and motion control, respectively. Human gaze and body behaviors are collected to database during the human-robot interaction. An application experiment to share object concept demonstrates the availability of the proposed system. © 2015 Authors.

关键词： Human robot interaction

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Proxy-based sliding mode control of compliant joint manipulators 12th

Proxy-based sliding mode control of compliant joint manipula...

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12th international conference on informatics in control, automation and robotics, ICINCO 2015

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)9783319264516

The use of traditional position controllers in robots working in close proximity to people can lead to risks that result from the unexpected physical humanrobot interactions (pHRI). To obtain effective tracking during normal operations, and retain the ability to recover from position errors in a smooth and damped manner, following contacts with external objects/agents, Proxy-based Sliding Mode control (PSMC) has been proposed. While the efficacy of this controller in fully actuated manipulators has been studied, its use in underactuated systems has not yet been considered. This paper introduces PSMC for a class of underactuated systems. Specifically it considers the control of flexible jointmanipulators with passive elastic elements in series with the motors. The Proxy-based Sliding Mode control i developed to address the stability requirements of this type of dynamic system, while a torque controller to regulate the output torque of the actuation units is designed using Feedback Linearization and Linear Quadratic optimal control approaches. The performance of the proposed scheme is demonstrated in dynamic simulation of an anthropomorphic compliant robot arm. © Springer international Publishing Switzerland 2016.

关键词： Position control

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Impedance control based force-tracking algorithm for interaction robotics tasks: An analytically force overshoots-free approach

Impedance control based force-tracking algorithm for interac...

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international conference on informatics in control, automation and robotics (ICINCO)

作者： Loris Roveda Federico Vicentini Nicola Pedrocchi Lorenzo Molinari Tosatti Institute of Industrial Technologies and Automation (ITIA) of Italian National Research Council (CNR) Milan Italy

In the presented paper an analytically force overshoots-free approach is described for the execution of robotics interaction tasks involving a compliant (of unknown geometrical and mechanical properties) environment. Based on the impedance control, the aim of the work is to perform force-tracking applications avoiding force overshoots that may result in task failures. The developed algorithm shapes the equivalent stiffness and damping of the closed-loop manipulator to regulate the interaction dynamics deforming the impedance control set-point. The force-tracking performance are obtained defining the control gains analytically based on the estimation of the interacting environment stiffness (performed using an Extended Kalman Filter). The method has been validated in a probing task, showing the avoidance of force overshoots and the achieved target dynamic performance.

关键词： Force Impedance Dynamics Manipulator dynamics Damping

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New approach to the artificial force concept for skid-steering mobile platform

New approach to the artificial force concept for skid-steeri...

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international conference on informatics in control, automation and robotics (ICINCO)

作者： Alicja Mazur Wojciech Domski Mirela Kaczmarek Mateusz Cholewiński Chair of Cybernetics and Robotics Electronics Faculty Wroclaw University of Technology Wroclaw Poland

In the paper control algorithm for skid-steering mobile platform is presented. For mathematical model of such an object, expressed in auxiliary coordinates, control law based on the idea of artificial force is introduced. A skid-steering mobile platform is an underactuated control system with a rectangular input matrix. In the approach explored in the paper it was assumed that there exists an additional control input, giving an additional column in input matrix and causing this matrix invertible. Because such an actuator does not exist in reality, this input was kept equal to zero equivalently. Simulations have proved proper work of this method.

关键词： Mathematical model Wheels Mobile communication Force Kinematics Vehicle dynamics Heuristic algorithms

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Bio-inspired morphing caudal fin using shape memory alloy composites for a fish-like robot: Design, fabrication and analysis

Bio-inspired morphing caudal fin using shape memory alloy co...

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international conference on informatics in control, automation and robotics (ICINCO)

作者： William Coral Claudio Rossi Irene Perrino Martin Branch Politécnica de Madrid Centre for Automation and Robotics Madrid Spain

In this paper, we present the design and fabrication of a bio-inspired caudal fin actuator for propulsion and maneuvering purposes in a fish-like robot. Shape memory alloy (SMA) composite actuator is customized to provide the necessary work out for the caudal fin. The pocket holes guide, electrical wiring and attachment pads for SMA actuators are all embedded in a single layer of cellulose acetate film, sandwiched between two layers of silicone rubber. Instead of using joints, four SMAs are fixed along the soft structure of the caudal fin and bend this to a certain mode shape. The caudal fin actuator was inspired by Largemouth Bass, which uses sub-carangiform mode swimming and the caudal fin during steady swimming and maneuvering.

关键词： Wires Robots Actuators Shape memory alloys Shape Force Polymers

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Rough terrain mobile robotics from design to motion control and planning

Rough terrain mobile robotics from design to motion control ...

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international conference on informatics in control, automation and robotics (ICINCO)

作者： Faïz Ben Amar Université Pierre et Marie Curie Institut Systèmes Intelligents et de Robotique France

Rough terrain robotics is a new emerging research field that has stimulated a high number of works during recent years with the aim to provide more autonomy for outdoor vehicles. The talk will discuss the critical role of design and control in the development of autonomous off-road mobile robot. We will focus on articulated wheeled structure and particularly hybrid wheeled-legged locomotion, and show how they can be useful for autonomous outdoor applications, because articulated wheeled rovers offers both advantages of wheels and legs i.e. velocity for the first and obstacles crossing for the second. Their legs kinematics and compliance will be optimized for ensuring both reactive obstacle crossing and postural balance. High-level control will be also addressed by presenting recent advances in path planning and motion generation for mobile robots navigating autonomously over rough terrain. The main issue here is how we can obtain efficient prediction of rover stability and mobility for on-line path and motion planning.

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FPGA-SOPC based motion controller with ACC/DEC using digital convolution

FPGA-SOPC based motion controller with ACC/DEC using digital...

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international conference on informatics in control, automation and robotics (ICINCO)

作者： Haiming Huang Guangsheng Li Wusheng Chou Robotics Institute Beihang University Beijing China

Acceleration/deceleration (ACC/DEC) motion planning is used to generate smooth motion command. This study focuses on realizing trapezoidal, S-curve and fourth-order ACC/DEC planning using digital convolution. To test and verify the proposed ACC/DEC method, a motion controller is designed and implemented. The FPGA (Field Programmable Gate Array) is used to implement the measurement unit and pulse generator, while the SOPC (System on a Programmable Chip) is used to realize the trajectory generator and PID controller. The FPGA-SOPC based motion controller can improve the integration level of the motion control system and meet the real-time requests. Simulation and experiment results verify that the digital convolution method is effective and the FPGA-SOPC based motion controller is feasible.

关键词： Convolution Trajectory Planning Generators Pulse generation Acceleration Measurement units

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Robust control of linear MIMO systems in conditions of parametric uncertainties, external disturbances and signal quantization

Robust control of linear MIMO systems in conditions of param...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Alexey Margun Igor Furtat Control Systems and Informatics Department ITMO University St. Petersburg Russia Control Systems and Informatics Department Laboratory “Control of Complex Systems” IPME RAS St. Petersburg Russia

The paper is aimed to control design of uncertain linear multivariable plants in conditions of quantized output and external disturbances. control law synthesis is based on the consecutive compensator method. Obtained algorithm provides tracking error of quantized output for the reference signal with fixed accuracy. Accuracy range depends on the quantization step and disturbances bounds. There are simulation results confirming performance of proposed method in the paper.

关键词： control systems Quantization (signal) Accuracy Mathematical model Uncertainty Robustness Algorithm design and analysis

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