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Embodied localization in visually-guided walk of humanoid robots 11

Embodied localization in visually-guided walk of humanoid ro...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Chame, Hendry Ferreira Chevallereau, Christine Robotics Team of the IRCCyN Ecole Centrale de Nantes CNRS Nantes France

ISBN: (纸本)9789897580406

Humanoid robots are conceived to resemble the body and comportment of the human beings. Among the behavior repertoire, the possibility of executing visually-guided tasks is crucial for individual adaptation and relies on the on-board sensory system. However, the research on walk and localization is far from conclusive. Given the difficulties in the processing of the visual feedback, some studies have treated the problem by placing external sensors on the environment;thus neglecting the corporal metaphor. Others, despite exploring on-board solutions;have relied on an extensive model of the environment, thus considering the system as an information processing unit, abstracted from a body. This work presents a methodology to achieve embodied localization to serve visually-guided walk. The solution leans on robust segmentation from monocular vision, ego-cylindrical localization, and minimal knowledge about stimuli in the environment.

关键词： Computer vision

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A real-time motion data reduction and restoration compatible with robot's physical limits 11

A real-time motion data reduction and restoration compatible...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Kim, Doik Park, Jung-Min Hong, Seokmin Interaction and Robotics Research Center KIST Hwarangno 14-gil 5 Seongbuk-gu Seoul136-791 Korea Republic of

ISBN: (纸本)9789897580406

In order to control a robot, motion data obtained from various interface devices such as haptic and tele-operating interfaces, and a motion capture system, or from predefined parametric equations are needed. It is hard to store and transmit the data because of their high control frequency and synchronization problem. In addition, usually, all these data are only for one target robot system, i.e., it is hard to use them to other robot system with different hardware limits. In order to solve the problems, the reduction of the original data is conducted with two stage magnitude quantization and the restoration without violating the hardware limits, such as maximum velocity, acceleration, etc., is conducted with the convolution interpolation, in this paper. The proposed method can be used in on-line data transmission and for off-line data storage.

关键词： Restoration

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A mixed-integer mathematical programming model for integrated planning of manufacturing and remanufacturing activities 11

A mixed-integer mathematical programming model for integrate...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Giglio, Davide Paolucci, Massimo Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Genova Italy

ISBN: (纸本)9789897580406

This paper considers a hybrid remanufacturing and manufacturing system on a closed-loop supply chain. The system manufactures a set of new products characterized by a multi-level structure through multi-stage assembly operations. The required raw or basic parts can be acquired new from suppliers or provided as new by a de-manufacturing facility which performs a remanufacturing process from acquired old products returned by customers. The quality of returned products has impact on the quantity of recovered basic parts which can be assumed as good as new, and on the duration of the remanufacturing process. The considered problem is to determine the production lots for the system machines as well as the quantity of new basic parts and retuned products to be acquired in order to satisfy a deterministic demand in the time buckets of the planning period. The performance criterion to be minimized includes the acquisition costs for the new and returned items, inventory and production costs, recovering and disposal costs, and tardiness costs. A mixed-integer programming model is proposed and its effectiveness is demonstrated by experiments on a case study.

关键词： Manufacture

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Real-time people detection and mapping system for a mobile robot using a RGB-D sensor 11

Real-time people detection and mapping system for a mobile r...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Sales, Francisco F. Portugal, David Rocha, Rui P. Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)9789897580406

In this paper, we present a robotic system capable of mapping indoor, cluttered environments and, simultaneously, detecting people and localizing them with respect to the map, in real-time, using solely a Red-Green-Blue and Depth (RGB-D) sensor, the Microsoft Kinect, mounted on top of a mobile robotic platform running Robot Operating System (ROS). The system projects depth measures in a plane for mapping purposes, using a grid-based Simultaneous Localization and Mapping (SLAM) approach, and pre-processes the sensor's point cloud to lower the computational load of people detection, which is performed using a classical technique based on Histogram of Oriented Gradients (HOG) features, and a linear Support Vector Machine (SVM) classifier. Results show the effectiveness of the approach and the potential to use the Kinect in real world scenarios.

关键词： Mapping

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Application of artificial neural network state feedback controller to torque ripple minimization of PMSM 11

Application of artificial neural network state feedback cont...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Niewiara, L. Tarczewski, T. Grzesiak, L.M. Institute of Physics Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University Grudziadzka 5 Torun Poland Institute of Control and Industrial Electronics Warsaw University of Technology Koszykowa 75 Warsaw Poland

ISBN: (纸本)9789897580390

This paper deals with the problem of torque ripple minimization of permanent magnet synchronous motor. The novelty of the presented approach lays in precisely maintain the level of the voltage source inverter DC voltage demanded for proper operation of the motor. An additional voltage matching circuit with state feedback controller is introduced in order to control of the inverter DC voltage. In the proposed solution model of a plant (i.e. permanent magnet synchronous motor fed by voltage source inverter with additional voltage matching circuit) is non-linear and non-stationary. An adaptive state feedback controller is developed by using an artificial neural network, which approximates non-linear control gain surfaces. A simple adaptation algorithm based on 2 low-order low-pass filters is used. Simulation results illustrate the proposed approach in comparison to typical drive with voltage source inverter and stationary state feedback controller.

关键词： Neural networks

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Enhanced physical interaction performance for compliant joint manipulators using proxy-based sliding mode control 11

Enhanced physical interaction performance for compliant join...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

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)9789897580406

The use of typical position controllers for robots working around humans can involve some risks when unintended physical human-robot interactions occur. In order to benefit from a proper tracking performance during normal operations, and a smooth and damped recovery from position errors due to contacts with external objects/agents, Proxy-based Sliding Mode control was proposed. While the efficacy of this controller in fully actuated manipulators was discussed, the employment of this controller in underactuated systems has not been studied so far. This paper introduces a control scheme to implement this controller in a class of underactuated systems. Specifically, the control of flexible joint manipulators possessing passive elastic elements in series with motors is studied. The formulation of Proxy-based Sliding Mode control is adopted according to the stability requirements of this type of dynamic systems, and a torque controller required for the regulation of the the output torque of actuation units is designed using the Feedback Linearization and the Linear Quadratic optimal control approach. The performance of the proposed scheme is demonstrated in dynamic simulation of an anthropomorphic compliant arm.

关键词： controllers

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Proceedings of 2014 IEEE international conference on automation, Quality and Testing, robotics, AQTR 2014

Proceedings of 2014 IEEE International Conference on Automat...

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2014 19th IEEE international conference on automation, Quality and Testing, robotics, AQTR 2014

ISBN: (纸本)9781479937318

The proceedings contain 87 papers. The topics discussed include: an LMI approach for observer design for Takagi-Sugeno descriptor models;fault-tolerant predictive control for Markov linear systems;synthesis of train traffic control system with evolutionary computing;optimistic planning with long sequences of identical actions for near-optimal nonlinear control;internal model control for a hydraulically driven robotic arm;linear quadratic optimal control of an inverted pendulum using the artificial bee colony algorithm;digitization of continuous interval transfer functions: a revisited method and its application on a case study;and fuzzy-based gain scheduling of exact feedforward linearization control and sliding mode control for magnetic ball levitation system: a comparative study.

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A comparison of general-purpose foss compression techniques for efficient communication in cooperative multi-robot tasks 11

A comparison of general-purpose foss compression techniques ...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Martins, Gonçalo S. Portugal, David Rocha, Rui P. Institute of Systems and Robotics University of Coimbra Coimbra3030-290 Portugal

ISBN: (纸本)9789897580406

The efficient sharing of information is a commonly overlooked problem in methods proposed for cooperative multi-robot tasks. However, in multi-robot scenarios, especially when the communication network's quality of service is less than desirable, either in bandwidth or reliability, efficient information exchange is a key aspect for the successful deployment of coordinated robotic teams with proper exchange of information. Compression is a popular, well-studied solution for transmitting data through constrained communications channels, and many general-purpose solutions are available as free and open-source software (FOSS) projects. There are various benchmarking tools capable of comparing the performance of these techniques, but none that differentiate between them in the compression of the typical data exchanged among robots in a cooperative task. Thus, choosing a compression technique to be used in this context is still a challenge. In this paper, the issue of efficiently communicating data among robots is addressed by comparing the performance of various compression techniques in a case study of multi-robot simultaneous localization and mapping (SLAM) scenarios using occupancy grids, a cooperative task usually requiring the exchange of large amounts of data.

关键词： Multipurpose robots

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High-order analytical solution of relative motion equation for satellite formation flying in elliptical orbit 11

High-order analytical solution of relative motion equation f...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Wang, Ting Lei, Hanlun Xu, Bo Guan, Tian Guo, Jun School of Astronomy and Space Science Nanjing University 22 Hankou Road Nanjing Jiangsu Province China Mudra Intelligence Home Decorating Company No. 8034 Plaza of International Home Decorating Wuxi214000 China

ISBN: (纸本)9789897580406

The paper studied relative motion equation for satellite formation flying with large separations. The configuration is traditionally designed by the periodic solutions of the C-W equation in circle reference orbit or Lawden equation in elliptic reference orbit. Hence, the linear solutions are more suitable for the configuration with small scale formation than large scale formation. However, in some specific situations, it is necessary to use satellites with large separations. Then the paper studied relative motion based on the nonlinear equations in an elliptic reference orbit. The solution is expanded as series form with respect to the eccentricity of the reference orbit, in-plane amplitude and out-of-plane amplitude. Taking the Lawden periodic solution as starting point, the high-order analytical solution is constructed by Lindstedt-Poincare method. Particularly, as the eccentricity is zero, the analytical solution degenerated to express the relative motion in circle reference orbit. Finally, the practical convergence of the analytical solution is discussed in order to examine its validity and applicability.

关键词： Nonlinear equations

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Continuum worm-like robotic mechanism with decentral control architecture

Continuum worm-like robotic mechanism with decentral control...

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2014 IEEE international conference on automation Science and Engineering, CASE 2014

作者： Eder, Martin Karl, Maximilian Knoll, Alois Riesner, Stefan Faculty of Informatics Robotics and Embedded Systems Technische Universität München Garching bei MünchenD-85748 Germany Robotics Technology Leaders GmbH MünchenD-81247 Germany

Flexible continuum robots are utilized for operational areas, in which discretely structured robots are not suitable due to their kinematic limitations. Continuum mechanisms feature adaptiveness, which is a prerequisite for constrained spaces. Furthermore, such robots can be integrated within human-robot interaction scenarios. The crucial contribution of this work is a novel intrinsic continuum worm-like robot based on a modular and decentral control architecture. It is actuated by pneumatic artificial muscles (PAMs), which result in an inherently compliant robotic system. To realize the modularity, the setup deploys a central air supply that feeds locally arranged valve cluster units, which are connected with short stub lines. Keeping the supply tubes between the valves and the PAMs short, guarantees a very direct control with good precision. This paper presents an implementation of a continuum robot with four segments comprising twelve degrees of freedom. © 2014 IEEE.

关键词： Degrees of freedom (mechanics)

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