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Modular Structure Assembly using Gradient Field

Modular Structure Assembly using Gradient Field

引用

2006 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Yuzuru Terada Satoshi Murata Tokyo Institute of Technology Japan

Automated construction is in high demand in many applications in the extreme environments. Fully automatic construction system is desired but difficult to realize for many reasons. We have proposed a novel concept of full-automated construction called automatic modular assembly system (AMAS), which drastically reduces the difficulty of automated construction task. In this paper, we focus on distributed control method of the assembler robots. We assume large number of modules and robots; therefore we need to organize the motion paths of these robots to avoid collision among them. Moreover, the area on which the assembler robots can move dynamically expands during the construction process. In order to optimize the complex coordinated motion among the assembler robots, we introduce a distributed algorithm based on a gradient field. The structure modules generate the gradient field by using neighbor-to-neighbor communication, and the robots are led by the field. Incorporating some additional rules for the field and robots, we can make a kind of self-organized flow on the system, and it enables collision-free and time-effective assembly. Some results of simulations give quantitative evaluation of the algorithm

关键词： Robotic assembly Robot kinematics robotics and automation Modular construction Assembly systems Orbital robotics Humans Distributed control Distributed algorithms Buildings

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EKF-based Adaptive Sampling with Mobile Robotic Sensor Nodes

EKF-based Adaptive Sampling with Mobile Robotic Sensor Nodes

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2006 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： D. O. Popa M. F. Mysorewala F. L. Lewis Automation & Robotics Research Institute (ARRI) University of Texas Arlington Fort Worth TX USA

The use of robotics in environmental monitoring applications requires distributed sensor systems optimized for effective estimation of relevant models subject to energy and environmental constraints. The mobile robot nodes are agents facilitating the repositioning of sensors in order to estimate a field distribution. This field distribution could be, for instance, water salinity in a lake, or air pollution over an industrial area. Each mobile robot node is characterized by sensor measurement noise in addition to localization uncertainty. This paper addresses an important problem for the robotic deployment of sensor networks, namely adaptive sampling (AS) by selection and repositioning of nodes in order to optimally estimate the parameters of distributed variable field models. The AS problem is posed as a sensor fusion problem within the extended Kalman filter (EKF) framework. We present simulation and experimental results of 2D deployment scenarios using low-cost mobile sensor robots developed in our lab

关键词： Sampling methods Mobile robots Robot sensing systems Sensor phenomena and characterization Monitoring Sensor systems Constraint optimization Water pollution Lakes Air pollution

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Action Selection in Robots Based on Learning Fuzzy Cognitive Map

Action Selection in Robots Based on Learning Fuzzy Cognitive...

引用

IEEE international conference on Industrial Informatics (INDIN)

作者： Seyed Koosha Golmohammadi Ali Azadeh Amirhossein Gharehgozli Department of Computer Engineering Faculty of Engineering Islamic Azad University Iran Department of Industrial Engineering Faculty of Engineering University of Tehran Iran

One of the main issues in developing automatic response systems especially autonomous robots is selecting the best action among all possible actions. Fuzzy cognitive maps (FCMs) aim to mimic the reasoning process of the human. FCMs are able to capture and imitate human behavior by describing, developing and representing models. FCMs are also popular for their simplicity and transparency while being successful in a variety of applications. We developed a novel model that could be used for action selection in robots. This model is constructed on a learning FCM which is relied on improved nonlinear Hebbian algorithm. We tested our model through a series of practical experiments on the latest version of soccer server simulation 3D environment. Our tests involved carefully defined factors to measure the team performance. Our results showed a significant improvement in overall performance.

关键词： Cognitive robotics Fuzzy cognitive maps Humans Testing Intelligent robots Failure analysis Artificial intelligence Service robots robotics and automation Automatic control

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applications of a 3D Range Camera Towards Healthcare Mobility Aids

Applications of a 3D Range Camera Towards Healthcare Mobilit...

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IEEE international conference on Networking, Sensing and Control

作者： R. Bostelman P. Russo J. Albus T. Hong R. Madhavan National Institute of Standards and Technology (NIST) Gaithersburg MD U.S.A. University of Maryland NIST USA

The National Institute of Standards and Technology (NIST) has recently studied a new 3D range camera for use on mobile robots. These robots have potential applications in manufacturing, healthcare and perhaps several other service related areas beyond the scope of this paper. In manufacturing, the 3D range camera shows promise for standard size obstacle detection possibly augmenting existing safety systems on automated guided vehicles. We studied the use of this new 3D range imaging camera for advancing safety standards for automated guided vehicles. In healthcare, these cameras show promise for guiding the blind and assisting the disabled who are wheelchair dependent. Further development beyond standards efforts allowed NIST to combine the 3D camera with stereo audio feedback to help the blind or visually impaired to stereophonically hear where a clear path is from room to room as objects were detected with the camera. This paper describes the 3D range camera and the control algorithm that combines the camera with stereo audio to help guide people around objects, including the detection of low hanging objects typically undetected by a white cane

关键词： Cameras Medical services Vehicle safety Robot vision systems NIST Object detection Mobile robots robotics and automation Pulp manufacturing Manufacturing automation

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Scene Analysis for Mobile Robot Based on Multi-Sonar-Ranger Data

Scene Analysis for Mobile Robot Based on Multi-Sonar-Ranger ...

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international conference on Information and automation (ICIA)

作者： Xiuqing Wang Zengguang Hou Yongqian Zhang Min Tan Anmin Zou Hongming Wang Vocational & Technical Institute Hebei Normal University Shijiazhuang China Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China

The ability of cognition and recognition for complex environment is very important for a real autonomous robot. A new scene analysis method using kernel principal component analysis (PCA) for mobile robot based on multi-sonar-ranger data is put forward. The principle of classification by principal component analysis (PCA), Kernel-PCA, and the BP neural network approach to extract the largest k eigenvectors are introduced briefly. Next PCA, Kernel-PCA and the BP neural network methods are applied in the corridor scene analysis and classification for the mobile robots based on sonar data. At last the experimental results using PCA, Kernel-PCA and the BP neural network are compared and such conclusions are drawn: in common corridor scene classification, the Kernel-PCA method has advantage over the ordinary PCA, and the BP neural network approach can also get satisfactory result.

关键词： Image analysis Mobile robots Principal component analysis Neural networks Cognition Cognitive robotics Kernel Data mining Sonar applications Layout

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LineScout Technology: Development of an Inspection Robot Capable of Clearing Obstacles While Operating on a Live Line

LineScout Technology: Development of an Inspection Robot Cap...

引用

IEEE international conference on Transmission and Distribution Construction, Operation and Live-Line Maintenance (ESMO)

作者： Serge Montambault Nicolas Pouliot Hydro-Québec (IREQ) Canada

Robotic systems are used in a range of applications to carry out inspection and repair tasks in hostile environments and in otherwise inaccessible locations. Applied robotics has found several niche applications in Hydro-Quebec operations. One example of a recently developed robotic solution for power line applications is the LineROVer Technology. Now that the technology has proven its worth for power system applications, the next logical step in the project is to develop a vehicle capable of clearing such obstacles as insulator strings, vibration dampers, aircraft warning spheres and corona rings. It must also clear spacer dampers and insulator strings as it travels along conductor bundles. The LineScout robot developed meets this requirement and can clear obstacles as it travels down a line. It can move along several axes, allowing it to adjust its shape in real time to various line configurations and to a wide range of obstacles while remaining as light and compact as possible. The robot's geometry was engineered to give it at least six possible obstacle-clearing sequences, making it versatile in unforeseen situations. The robot can operate on an energized line, has one-day battery life and can be remotely controlled 5 km away. The control approach and electronics allow intuitive human operation of the robot. Moreover, it can operate semi-autonomously, learning to clear obstacles by means of automated sequences. The LineScout Technology described in this paper is a versatile moving platform that extends live-line inspection capabilities and lends itself to future power line repair work

关键词： Inspection Robots Space technology Insulation robotics and automation Automatic control Power systems Vehicles Shock absorbers Damping

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Improved bacterial foraging strategy for controller optimization applied to robotic manipulator system

Improved bacterial foraging strategy for controller optimiza...

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IEEE international conference on Computer-Aided Design

作者： Leandro dos Santos Coelho Camila da Costa Silveira Automation and System Laboratory Pontifical Catholic University of Parana Curitiba Parana Brazil

During the course of evolution, colonies of ants, bees, wasps, bacteria and termites have developed sophisticated behavior, intricate communication capabilities, decentralized colony control, group foraging strategies and a high degree of worker cooperation when tackling tasks. Utilizing these capabilities, any bio-inspired optimization techniques using analogy of swarming principles and social behavior in nature — swarm intelligence — have been adopted to solve a variety of engineering and robotics problems. In this paper, new approaches of bacterial colony optimization method with variable speed based on uniform, Gaussian, and Cauchy probability distribution were tested. Bacterial colony, a swarm intelligence methodology, is evaluated for a problem of optimization of a PID (proportional-integral-derivative) multivariable controller. The simulation results are compared with classical bacterial colony approach with constant velocity for a case study of control of a robotic manipulator system with two degree of freedom.

关键词： Microorganisms Control systems Manipulators Communication system control Ant colony optimization Particle swarm optimization Optimization methods Intelligent robots Probability distribution Testing

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A Generic Methodology for Image Segmentation Evaluation

A Generic Methodology for Image Segmentation Evaluation

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international conference on Information and Communication Technologies: From Theory to applications, ICTTA

作者： F. Hachouf Z.A. Seghir A. Zeggari Department of electronics Automatic and Robotic laboratory Mentouri Constantine University Constantine Algeria Department of Exact Science and Technology Academic Center of LARBI BENM'HIDI Oum El Bouaghi Algeria Department of Exact Science and Technology Academic Center of Tebessa Algeria

In this paper, we present a new methodology to evaluate image segmentation algorithms in a supervised context. The suggested measure is built according to defined quality criteria as shape parameters and homogeneity criterion between regions. This new methodology has been tested to evaluate some usual segmentation algorithms by comparing the resulting segmented image against a manually segmented reference image (ground truth). The results have been compared to those given by existing measures. Experimental results show that the suggested approach performs better than existing methods

关键词： Image segmentation Pixel Shape measurement robotics and automation Laboratories Testing Computer vision Image analysis Object detection Humans

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pneumatic Muscle Actuators for Humanoid applications - Sensor and Valve Integration

pneumatic Muscle Actuators for Humanoid applications - Senso...

引用

IEEE-RAS international conference on Humanoid Robots

作者： S. Davis Darwin G. Caldwell Centre for Robotics and Automation University of Sanford Manchester UK

ISBN: (纸本)1424401992

The development of humanoid robots places demands on designers unlike those of traditional robots. The close operation of such systems with humans means safety is a primary concern. As a result biomimetic actuators that duplicate the safe interaction between organic life forms are becoming increasingly popular. The pneumatic muscle actuator is one such system having performance characteristics equal to or better than that of organic muscle. One drawback of the actuator is the quantity of external hardware needed to drive it, particularly valves and sensors. This paper examines how this hardware affects actuator power/weight, force/weight, volume/weight and electrical power consumption. It is shown that by redesigning the valve system these factors can be improved and by integrating sensors into the pMA a 'plug and play' actuator which can easily be mounted to robotic structures can be produced

关键词： Muscles Pneumatic actuators Valves Humanoid robots Robot sensing systems Hardware Biosensors Humans Safety Biomimetics

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Evolutionary Morphology for Real Cubic Modular Robots

Evolutionary Morphology for Real Cubic Modular Robots

引用

Congress on Evolutionary Computation

作者： T. Tohge K. Shimada H. Iba Department of Frontier Informatics Graduate School of Frontier Science University of Tokyo Bunkyo Tokyo Japan

Recently modular robots have become more capable of practical applications with the recent improvement of sensors and actuators. Among them, a robot has been developed which can change its pattern according to the landscape or for its own purpose. However, deciding the appropriate pattern and controller manually is not easy with the increased number of modules. In this paper, we propose a new approach to automatically building patterns of block-type robots by means of artificial-life morphogenesis. We empirically show the emergence of the effective patterns in both virtual and real worlds, some of which seem to be surprisingly counter-intuitive.

关键词： Morphology robotics and automation Robot sensing systems Robotic assembly Insects Biological system modeling Informatics Actuators Automatic control Fault tolerance

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