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A method for vision-based docking of wheeled mobile robots

A method for vision-based docking of wheeled mobile robots

引用

IEEE international conference on Computer-Aided Design

作者： Emily M.P Low Ian R. Manchester Andrey V. Savkin School of Electrical and Telecommunications University of New South Wales Sydney Australia

We present a new control law for the problem of docking a wheeled robot at a certain location with a desired heading. Research into insect navigation has inspired a solution which uses just one environment sensor: a video camera. The control law is of the "behavioral" or "reactive" type, in that no attempt is made to observe the relative pose of robot and target, all control actions are based on immediate visual information. Experiments were performed for verification of docking strategy and practical realization of some aspects of insect behavior such as locating and fixation on a target

关键词： Mobile robots Robot vision systems Robot sensing systems Cameras Control systems robotics and automation Insects Navigation Orbital robotics Telecommunication control

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Intelligent Control of Powered Exoskeleton to Assist Paraplegic Patients Mobility using Hybrid Neuro-Fuzzy ANFIS Approach

Intelligent Control of Powered Exoskeleton to Assist Paraple...

引用

IEEE international conference on robotics and Biomimetics

作者： A. Selk Ghafari A. Meghdari G.R. Vossoughi Center of Excellence in Design Robotics and Automation (CEDRA) School of Mechanical Engineering Sharif University of Technology Tehran Iran

Integrating humans and robotics technology into one system offers multiple opportunities for creating assistive technologies that can be employed in biomechanical, industrial, and aerospace applications. The present study deals with employing the adaptive neuro-fuzzy inference system (ANFIS) approach in rule base derivation for powered exoskeleton intelligent control to assist paraplegic patient mobility. By employing the hybrid learning algorithm, optimal distributed membership functions to describe the mapping relation in the input and output parameters of the gait cycle were derived. As the proposed control strategy was unaffected by changing human dynamics, the reliability and robustness of the controller for safe interaction with humans were increased.

关键词： Intelligent control Exoskeletons Humans Aerospace industry Service robots Electrical equipment industry Industrial relations Adaptive systems Programmable control Adaptive control

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A Gesture Model and Its applications in Risk Assessment for Misrecognition

A Gesture Model and Its Applications in Risk Assessment for ...

引用

IEEE international conference on robotics and Biomimetics

作者： Jian Lu Wei Jiang Kyoko Hamajima National Institute for Occupational Safety and Health Tokyo Japan

Before the gesture recognition is to be widely used as a new method for human-robot interface, some measurements are required for risk assessment and for risk reduction to assure safety, especially if the interface is to be used in action control for the robot working in human-robot cooperation style. In order to assess and to reduce the risk from misrecognition of gestures, a quantitative 3D model was proposed for representing gestures, and a quantitative measurement, called gesture distance, was proposed for the evaluation about how much the difference between gestures are. As the example of using the gesture distance, the method to implement the gesture recognition based on the gesture distance was briefly described, and then the risk assessment for a gesture recognition system was given based on the anthropometric data in Japanese Anthropometric Database.

关键词： Risk management Service robots robotics and automation Occupational safety Robot control Databases Robot vision systems Man machine systems Speech recognition Image recognition

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Adaptive scanning optical microscope (ASOM) for large workspace micro-robotic applications

Adaptive scanning optical microscope (ASOM) for large worksp...

引用

IEEE international conference on robotics and automation (ICRA)

作者： B. Potsaid J.T. Wen Y. Bellouard Center for Automation Technologies and Systems Rensselaer Polytechnic Institute Troy NY USA Micro-/Nano-Scale Engineering Mechanical Engineering Eindhovan University of Technology Eindhoven Netherlands

Manipulation and assembly tasks associated with micro-systems, biotechnology, and product miniaturization demand that robots increasingly operate at microscopic dimensions. This paper discusses a new microscope design, called the adaptive scanning optical microscope (ASOM), that is particularly suitable for observing robotic activities at the micron scale. The ASOM combines a custom designed scanner lens, high speed steering mirror, and MEMS deformable mirror to offer the advantages of a greatly expanded field of view, rapid image acquisition, and no agitation to the workspace or specimen. After briefly discussing the challenges of micro assembly and micro manipulation, we present the ASOM theory of operation and include simulated performance results. A low cost proof-of-concept experimental prototype of the ASOM is then described and used to demonstrate shape optimization of the MEMS deformable mirror for different field positions. Realtime tracking of multiple micromanipulators in a workspace and full area coverage are experimentally demonstrated. These results validate the ASOM concept and serve as a crucial step towards realizing a fully operational and high performance ASOM to enable the observation of micro-robotic activities over a large workspace

关键词： Optical microscopy Adaptive optics Mirrors Biomedical optical imaging High speed optical techniques Robotic assembly Optical design Micromechanical devices Biotechnology Robots

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Combinatorial Fusion Criteria for Real-Time Tracking

Combinatorial Fusion Criteria for Real-Time Tracking

引用

international conference on Advanced Information Networking and applications (AINA)

作者： D.F. Hsu D.M. Lyons J. Ai Computer Vision & Robotics Laboratory Department of Computer & Information Science Fordham University Bronx NY USA

We address the problem of automated video tracking of targets when targets undergo multiple mutual occlusions. Our approach is based on the idea that as targets are occluded, selection of feature subsets and combinations of those features are effective in identifying the target and improving tracking performance. We use combinatorial fusion analysis to develop a metric to select which subset of features will produce the most accurate tracking. In particular we show that the combination of a pair of features A and B will improve the accuracy only if (a) A and B have relative high performance, and (b) A and B are diverse. We present experimental results to illustrate the performance of the proposed metric

关键词： Target tracking Target recognition Computer vision robotics and automation Diversity reception Robot vision systems Laboratories Information science Surveillance Robot sensing systems

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Modeling and Control of Teleoperated Manipulator System Based on Hybrid Control Method

Modeling and Control of Teleoperated Manipulator System Base...

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international conference on Intelligent Systems Design and applications (ISDA)

作者： Jianning Hua Ning Xi Yuechao Wang Xiuhui Fu Shenyang Institute of Automation SIARobotics Laboratory Chinese Academy and Sciences Shenyang Liaoning China Information Engineering Institute Shenyang institute of chemical technology Shenyang Liaoning China

A method based on hybrid control theory for modeling and control of teleoperated manipulator system is presented in this paper. In telerobotic systems, human operator plays the role of a command generator which produces commands in real time according to information fed back. However, telerobotic system is a heterogeneous system and the heterogeneity can be characterized by the fact that humans are intelligent while robots are fast, powerful and accurate. Human operator is different from autonomous planner in robotic systems in that he can not generate continuous control inputs to the remote robot. As a result, telerobotic system is a typical hybrid system which contains both continuous-time and discrete event dynamics. Specifically, the robot can be considered as a continuous-time system described customarily by differential equations or difference equations, and the human operator can be modeled by an automaton. A hybrid framework is of key importance for the study of such a system. The problems to be discussed in this paper include developing a framework in which both the robotic system and the human operator can be modeled simultaneously, and introducing how to implement this framework in a real teleoperated manipulator system

关键词： Humans Telerobotics robotics and automation Intelligent robots Control theory Real time systems Control systems Differential equations Difference equations Automata

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A Compliant Miniature Parallel Manipulator with Shape Memory Alloy Actuators

A Compliant Miniature Parallel Manipulator with Shape Memory...

引用

IEEE international conference on Industrial Technology (ICIT)

作者： M. Sreekumar M. Singaperumal T. Nagarajan M. Zoppi R. Molfino Precision Engineering and Instrumentation Laboratory Indian Institute of Technology Madras Chennai India DIMEC University of Genova Genoa Italy

Light weight parallel manipulators are most desirable for aerospace, medical applications etc., where flexibility, low inertia, simplicity in operation, low stowed volume are important parameters. This paper presents the design and simulation of a flexible parallel manipulator with central elastic column that is made of superelastic nitinol. The actuators are shape memory SMA wires of 300 mum diameter. Unlike conventional rigid link parallel manipulators, the proposed manipulator does not have any joints, which is the major advantage. The proposed manipulator is investigated for its degree of freedom with virtual rigid segment concept and its large deflection is analyzed based on elastica approach. Its control aspect is briefly described and numerical simulation results are presented.

关键词： Shape memory alloys Actuators Manipulators Laboratories robotics and automation Wires Aerospace industry Design engineering Design automation Medical robotics

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Finding Efficient Robot Path for the Complete Coverage of A Known Space

Finding Efficient Robot Path for the Complete Coverage of A ...

引用

2006 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Zhiyang Yao Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

In robot planning problems, the complete coverage path planning refers to the problem of determining a path that a robot must take in order to pass over each point in an environment and avoid obstacles. applications include demining, sweeping, cleaning, vacuuming, inspection robots. For this kind of problem, not only the complete coverage should be performed, but an efficient path is highly desired. Using traditional sweeping line strategy often requires several relocation moves, leading to poor efficiency. In this paper we describe a geometric algorithm for generating paths by using a modified sweeping line strategy that attempts to minimize extra relocation moves. Several examples are used in the paper to show the advantage of our algorithm over traditional approaches

关键词： Orbital robotics Path planning Intelligent robots robotics and automation Parallel robots Cleaning Inspection Application software Milling Shape

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Desktop Micro Machining System by Multiple Micro Robots

Desktop Micro Machining System by Multiple Micro Robots

引用

IEEE conference on robotics, automation and Mechatronics

作者： Hisayuki Aoyama Ohmi Fuchiwaki Daigo Misaki Takashi Usuda Department of Mechanical Engineering & Intel. System University of Electro-Communications Chofu Tokyo Japan Department of Mechanical Engineering Shizuoka Institute of Science and Technology Fukuroi Shizuoka Japan A.I.T Tsukuba Centra National Metrology Institute of Japan Tsukuba Ibaraki Japan

This paper describes the unique micro machining system performed by mutiple microrobots. These microrobots, which are composed of piezo elements and electromagnets, can move precisely with the manner of an inchworm on the steel plate. And these robots are equipped with the micro tools such micro drill and micro indentor to provide various micro works with much of flexible layout on the desktop. In this report, two typical applications are to be demonstrated. One of them is that two small robots can collaborate to make thin through-hole of 50 micron under the combination of global and local path control. Here the sample plate attached on the small robot can be positioned precisely to the other robot with micro drill tool, and the relative position between the sample and the tool can be controlled under the local navigation system to get such micro hole. The other application is that the small robot with micro hopping indentor can make array of micro indentation on the sample plate and automatically convey them under the microscope to inspect it

关键词： Machining Robots Electromagnets Steel Collaborative work international collaboration Automatic control Control systems Navigation robotics and automation

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A New Method for Automatic Calibration of an Active Vision System in Dynamic applications

A New Method for Automatic Calibration of an Active Vision S...

引用

IEEE international conference on robotics and Biomimetics

作者： B. Zhang Y. F. Li Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

In this paper, we talk about a technique for dynamic calibration of the relative pose in our structured light system with possibly varying intrinsic parameters. Assuming that there is an arbitrary planar structure in the scene, we suggest a two-step method for dynamic calibrating the relative pose between the camera and the projector. First, the translation vector is computed geometrically from the plane- induced parallax. Then the rotation matrix can be obtained using the plane-based Homography. We also show that some of the intrinsic parameters of the camera, e.g. the focal length and aspect ratio, can be calibrated in this system without any further constraints. Finally, some experiments have been carried out to validate this method.

关键词： Calibration Machine vision Cameras Transmission line matrix methods Robot vision systems Matrix decomposition Layout robotics and automation Biomimetics Research and development management

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