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A visual servoing approach for tracking features in urban areas using an autonomous helicopter

A visual servoing approach for tracking features in urban ar...

引用

IEEE international conference on robotics and automation (ICRA)

作者： L. Mejias P. Campoy S. Saripalli G.S. Sukhatme Computer Vision Group Universidad Politécnica de Madrid Madrid Spain Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los Angeles CA USA

The use of unmanned aerial vehicles (UAVs) in civilian and domestic applications is highly demanding, requiring a high-level of capability from the vehicles. This work addresses the design and implementation of a vision-based feature tracker for an autonomous helicopter. Using vision in the control loop allows estimating the position and velocity of a set of features with respect to the helicopter. The helicopter is then autonomously guided to track these features (in this case windows in an urban environment) in real time. The results obtained from flight trials in a real world scenario demonstrate that the algorithm for tracking features in an urban environment, used for visual servoing of an autonomous helicopter is reliable and robust

关键词： Visual servoing Urban areas Helicopters Aircraft navigation Machine vision Control systems Unmanned aerial vehicles Global Positioning System Computer vision Robot vision systems

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Generalized Predictive Control for a Pneumatic System Based on an Optimized ARMAX Model with an Artificial Neural Network

Generalized Predictive Control for a Pneumatic System Based ...

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international conference on Computational Intelligence for Modelling, Control and automation, and international conference on Intelligent Agents, Web Technologies and Internet Commerce

作者： Qiang Song Fang Liu Raymond D. Findlay Hangzhou Dianzi University Hangzhou China McMaster University Hamilton ONT Canada

Pneumatic systems play an important role in applications of robotics, industrial automation, and manufacturing fields. However, accurate control performance on such systems is very difficult to be achieved due to nonlinearity of the system, dead time and parameter variations in the control process. This paper has developed an effective approach to the precise control on a pneumatic system through the combination of an artificial neural network and generalized predictive control (GPC) algorithm. An ARMAX model of the pneumatic system is derived from the weights of a multilayer feed-forward neural network trained with Levenberg-Marquardt method. Nelder-Mead downhill simplex method was applied in this paper to optimize the built ARMAX model, and the better results were obtained through the generalized predictive control for this pneumatic system. The performance of the designed GPC controller is very impressive for the fast response and high accuracy tracking.

关键词： Predictive control Pneumatic systems Predictive models Artificial neural networks Automatic control Control systems robotics and automation Manufacturing automation Nonlinear control systems Multi-layer neural network

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Geckobot: a gecko inspired climbing robot using elastomer adhesives

Geckobot: a gecko inspired climbing robot using elastomer ad...

引用

IEEE international conference on robotics and automation (ICRA)

作者： O. Unver A. Uneri A. Aydemir M. Sitti Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA Mechatronics Department Sabanci University Istanbul Turkey

In this paper, the design, analysis, and fabrication of a gecko-inspired climbing robot are discussed. The robot has kinematics similar to a gecko's climbing gait. It uses peeling and steering mechanisms and an active tail for robust and agile climbing as a novelty. The advantage of this legged robot is that it can explore irregular terrains more robustly. Novel peeling mechanism of the elastomer adhesive pads, as well as steering and stable climbing using an active tail are explored. The design, fabrication, analysis and test of the robot are reported. Experimental results of walking and climbing up to 85deg sloped acrylic surfaces as well as successful steering and peeling mechanism tests are demonstrated. The potential applications foreseen for this kind of robots are inspection, repair, cleaning, and exploration

关键词： Climbing robots Adhesives Magnetosphere Robustness Orbital robotics Tail Rough surfaces Surface roughness Mechanical engineering Fabrication

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Improving Clustering Algorithms for Image Segmentation using Contour and Region Information

Improving Clustering Algorithms for Image Segmentation using...

引用

IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： Arnau Oliver Xavier Munoz Joan Batlle Lluis Pacheco Jordi Freixenet Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Spain

In image segmentation, clustering algorithms are very popular because they are intuitive and, some of them, easy to implement. For instance, the k-means is one of the most used in the literature, and many authors successfully compare their new proposal with the results achieved by the k-means. However, it is well known that clustering image segmentation has many problems. For instance, the number of regions of the image has to be known a priori, as well as different initial seed placement (initial clusters) could produce different segmentation results. Most of these algorithms could be slightly improved by considering the coordinates of the image as features in the clustering process (to take spatial region information into account). In this paper we propose a significant improvement of clustering algorithms for image segmentation. The method is qualitatively and quantitative evaluated over a set of synthetic and real images, and compared with classical clustering approaches. Results demonstrate the validity of this new approach

关键词： Clustering algorithms Image segmentation Partitioning algorithms Proposals Clustering methods Computer vision Robot kinematics Robot vision systems Informatics Application software

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Cutting, 'by pressing and slicing', applied to the robotic cut of bio-materials. II. Force during slicing and pressing cuts

Cutting, 'by pressing and slicing', applied to the robotic c...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Debao Zhou M.R. Claffee Kok-Meng Lee G.V. McMurray Food Processing Technology Division Georgia Tech Research Institute Atlanta GA USA George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA USA

The applications of robotics are becoming more and more common in non-traditional industries such as the medical industry including robotic surgery and sample microtoming as well as food industry that include the processing of meats, fruits and vegetables. In this paper, the influence of the blade edge-shape and its slicing angle on the cutting of biomaterials are formulated and discussed based on the stress analysis that has been presented in part I. Through modeling the cutting force, an optimal slicing angle can be formulated to maximize the feed rate while minimizing the cutting forces. Moreover, the method offers a means to predict cutting forces between the blade and the biomaterials, and a basis for design of robust force control algorithms for automating the cutting of biomaterials

关键词： Pressing Service robots Medical robotics Food industry Blades Surgery Stress Feeds Algorithm design and analysis Robust control

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A Soft Sensor Based on Multiple Neural Networks Combined with Two Information Fusion Methods

A Soft Sensor Based on Multiple Neural Networks Combined wit...

引用

international conference on Control, automation, robotics and Vision (ICARCV)

作者： Tao Ye Xuefeng Zhu Xiangyang Li Yan Li Jun Zeng College of Automation Science and Engineering South China University of Technology Guangzhou China

Soft sensors are especially required in lots of advanced process control applications. The ANN based soft sensor are widely studied recently. But the ANN is an uncertain method in nature. In view of the complexity of the industrial processes, the robustness is an important criterion to evaluate a model. The generalization capability is another factor to affect the applicability of a model. Aiming at improving the robustness and generalization capability of a system, a two-level architecture MNN model is proposed for soft sensor modeling. In our model, multiple networks are combined with the Bayesian and fuzzy C-means (FCM) clustering combination methods at different levels. Two experiments are conducted to validate the effectiveness of our model. The results reveal that the proposed model exceeds other three models indeed

关键词： Sensor fusion Neural networks Multi-layer neural network Artificial neural networks Robustness Process control Bayesian methods Electrical equipment industry Artificial intelligence Predictive models

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Anytime dynamic path-planning with flexible probabilistic roadmaps

Anytime dynamic path-planning with flexible probabilistic ro...

引用

IEEE international conference on robotics and automation (ICRA)

作者： K. Belghith F. Kabanza L. Hartman R. Nkambou Université de Sherbrook Canada Canadian Space Agency Canada Université du Québec ÀMontréal Canada

Probabilistic roadmaps (PRM) have been demonstrated to be very promising for planning paths for robots with high degrees of freedom in complex 3D workspaces. In this paper we describe a PRM path-planning method presenting three novel features that are useful in various real-world applications. First, it handles zones in the robot workspace with different degrees of desirability. Given the random quality of paths that are calculated by traditional PRM approaches, this provides a mean to specify a sampling strategy that controls the search process to generate better paths by simply annotating regions in the free workspace with degrees of desirability. Second, our approach can efficiently re-compute paths in dynamic environments where obstacles and zones can change shape or move concurrently with the robot. Third, it can incrementally improve the quality of a generated path, so that a suboptimal solution is available when required for immediate action, but get improved as more planning time is affordable

关键词： Path planning Robots Sampling methods Medical robotics Orbital robotics Military computing Joining processes Process control Shape Animation

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A modular robotic system with applications to space exploration

A modular robotic system with applications to space explorat...

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IEEE international conference on Space Mission Challenges for Information Technology, SMC-IT

作者： M.D. Hancher G.S. Hornby NASA Ames Research Center Moffett Field CA USA University of California Santa Cruz Moffett Field CA USA

Modular robotic systems offer potential advantages as versatile, fault-tolerant, cost-effective platforms for space exploration, but a sufficiently mature system is not yet available. We describe the possible applications of such a system, and present prototype hardware intended as a step in the right direction. We also present elements of an automated design and optimization framework aimed at making modular robots easier to design and use, and discuss the results of applying the system to a gait optimization problem. Finally, we discuss the potential near-term applications of modular robotics to terrestrial robotics research

关键词： Orbital robotics Space exploration robotics and automation Robots Design optimization Hardware Space missions Robotic assembly Prototypes Costs

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Towards programming robots by gestures, test-case: programming bore inspection for small lotsizes

Towards programming robots by gestures, test-case: programmi...

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IEEE international conference on robotics and automation (ICRA)

作者： C. Eberst H. Nohmayer G. Umgeher M. Takagi Profactor Produktionsforschungs GmbH Steyr Austria Profactor Produktionsforschungs GmbH Steyr Shibaura Institute of Technology Saitama Japan Shibaura Institute of Technology Saitama-city Japan

Rapid programming of applications with down-times near zero is a key to automation of small lotsize production. This paper proposes an approach to program by gestures. It combines the visual observation and interpretation of human activities and gestures, mapping to technical tasks and autonomous execution. Automated planning/generation of the robot motion combined with automated correction of pose deviations (induced from the visual observation) allows an execution which is independent of the observation accuracy. The industrial application: bores and internal threads play a critical role as integral parts of connections, bearings, engines, hydraulic and pneumatic systems. The increased industrial requirement for high quality components demands 100% surface inspection of bores (here with diameters from 4 to 50 mm) at small lotsizes. Since state-of-the-art automation is limited to high volumes, the main target is to develop a semi-autonomous system for rapid and flexible inspection featuring new programming. The main focus is on rapid and intuitive programming of robotic systems. The paper describes the implementation and techniques in case of a bore inspection system

关键词： Robot programming Testing Boring Inspection robotics and automation Automatic programming Production Humans Motion planning Robot motion

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Exergy and irreversible entropy production thermodynamic concepts for control system design: robotic servo applications

Exergy and irreversible entropy production thermodynamic con...

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IEEE international conference on robotics and automation (ICRA)

作者： R.D. Robinett D.G. Wilson Energy Infrastructure and Knowledge Systems Sandia National Laboratories Albuquerque NM USA Intelligent Systems and Robotics Center Sandia National Laboratories Albuquerque NM USA

This paper develops a novel control system design methodology that uniquely combines: concepts from thermodynamic exergy and entropy; Hamiltonian systems; Lyapunov's direct method and Lyapunov optimal analysis; electric AC power concepts; and power flow analysis. Relationships are derived between exergy/entropy and Lyapunov optimal functions for Hamiltonian systems. The methodology is demonstrated with a few fundamental numerical simulation examples: 1) a Duffing oscillator/Coulomb friction nonlinear model that employs PID regulator control; and 2) a linear PID tracking servo control design for a translational single robot link system. The control system performances are partitioned and evaluated based on exergy generation and exergy dissipation terms. This novel nonlinear control methodology results in both necessary and sufficient conditions for stability of nonlinear systems

关键词： Entropy Production systems Thermodynamics Robot control Control systems Servomechanisms System analysis and design Three-term control Nonlinear control systems Optimal control

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