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检索条件"任意字段=International Conference on Robotics and Automation for Humanitarian Applications"

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Transference of Evolved Unmanned Aerial Vehicle Controllers to a Wheeled Mobile Robot

Transference of Evolved Unmanned Aerial Vehicle Controllers ...

引用

IEEE international conference on robotics and automation (ICRA)

作者： G.J. Barlow L.S. Mattos E. Grant C.K. Oh Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA U.S. Naval Research Laboratory Washington D.C. USA

Transference of controllers evolved in simulation to real vehicles is an important issue in evolutionary robotics (ER). We have previously evolved autonomous navigation controllers for fixed wing UAV applications using multi-objective genetic programming (GP). Controllers were evolved to locate a radar source, navigate the UAV to the source efficiently using on-board sensor measurements, and circle around the emitter. We successfully tested an evolved UAV controller on a wheeled mobile robot. A passive sonar system on the robot was used in place of the radar sensor, and a speaker emitting a tone was used as the target in place of a radar. Using the evolved navigation controller, the mobile robot moved to the speaker and circled around it. The results from this experiment demonstrate that our evolved controllers are capable of transference to real vehicles. Future research will include testing the best evolved controllers by using them to fly real UAVs.

关键词： Unmanned aerial vehicles Mobile robots Sonar navigation Robot control Robot sensing systems Genetic programming Testing Passive radar Remotely operated vehicles Erbium

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Visual-based feedback control of Casting Manipulation

Visual-based feedback control of Casting Manipulation

引用

IEEE international conference on robotics and automation (ICRA)

作者： A. Fagiolini H. Arisumi A. Bicchi Interdepartmental Research Center E. Piaggio Faculty of Engineering University of Pisa Pisa Italy ISRI/AIST-STIC/CNRS Joint Japanese-French Robotics Laboratory Intelligent Systems Research Institute AIST Tsukuba Ibaraki Japan

In this paper, we present a method to control casting manipulation by means of real-time visual feedback. Casting manipulation is a technique to deploy a robotic end-effector at large distances from the robot’s base, by throwing the end-effector and controlling its ballistic flight using forces transmitted through a light tether connected to the end-effector itself. The tether cable can also be used to retrieve the end-effector and exert forces on the robot’s environment. Previous work has shown that casting manipulation is able to catch objects at a large distance, proving it viable for applications such as sample acquisition and return, rescue, etc. In previous experiments, the position of the target object was known exactly. In this paper, we present a first attempt at closing a real-time control loop on casting manipulation using visual feedback of moving targets. As accurate planning methods developed for off-line open-loop planning cannot be used in real-time, we develop a simplified model and control algorithm, whose effectiveness is demonstrated through experiments.

关键词： Feedback control Casting Robots Orbital robotics Open loop systems Manipulators Force control Lighting control Feedback loop Analytical models

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Sliding Mode Control of a Piezoelectric Actuator with Neural Network Compensating Rate-Dependent Hysteresis

Sliding Mode Control of a Piezoelectric Actuator with Neural...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Shuanghe Yu G. Alici B. Shirinzadeh J. Smith Automation Research Center Dalian Maritime University Dalian China Department of Mechanical Engineering Monash University VIC Australia Faculty of Engineering University of Wollongong NSW Australia Department of Surgery Monash University VIC Australia

Piezoelectric actuators (PEA) are the fundamental elements for high-precision high-speed positioning/tracking task in many nanotechnology applications. However, the intrinsic hysteresis observed in PEAs has impaired their potential, specially, the motion accuracy. In this paper, the complicated nonlinear dynamics of PEA including hysteresis, creep, drift and time-delay etc. are treated as a black-box system exhibited as rate-dependent hysteresis. The multi-valued hysteresis is analyzed as a single-valued function so that a neural network (NN) can be built to model the hysteresis and its inversion. A sliding mode controller (SMC) augmented with inverse hysteresis model is then developed to compensate the hysteretic behavior, modeling error and disturbance to improve the positioning/tracking stability and accuracy. The effectiveness of this algorithm experimentally verified through the actual tracking control of a PEA.

关键词： Sliding mode control Piezoelectric actuators Neural networks Hysteresis Nanotechnology Nonlinear dynamical systems Creep Inverse problems Error correction Stability

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MICRON: Small Autonomous Robot for Cell Manipulation applications

MICRON: Small Autonomous Robot for Cell Manipulation Applica...

引用

IEEE international conference on robotics and automation (ICRA)

作者： J. Brufau M. Puig-Vidal J. Lopez-Sanchez J. Samitier N. Snis U. Simu S. Johansson W. Driesen J.-M. Breguet J. Gao T. Velten J. Seyfried R. Estana H. Woern Instrumentation and Communication Systems Laboratory Universitat de Barcelona Barcelona Spain Laboratoir de Systèmes Robotiques Swiss Federal Institute of Technology Lausanne Switzerland Department of Engineering Sciences Uppsala University Uppsala Fraunhofer Institute of Biomedical Engineering Saint Ingbert Germany Inst. for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

Manipulating in the micro- or even nano world still poses a great challenge to robotics. Conventional (stationary) systems suffer from drawbacks regarding integration into process supervision and multi-robot approaches, which become highly relevant to fight scaling effects. This paper describes work currently being carried out which aims to make automated manipulation of micrometer-scaled objects possible by robots with nanometer precision. The goal is to establish a small cluster of (up to five) micro robots equipped with on-board electronics, sensors and wireless power supply. Power autonomy has been reached using inductive energy transmission from an external wireless power supply system or a battery based system. Electronics requirements are fulfilled in the electronic module with the full custom integrated circuit design for the robot locomotion control and the closed loop force control for AFM tool in cell manipulation applications. The maximum velocity obtained is about 0.4 mm/s with a saw tooth voltage signals of 20Vpp and 2500 Hz. In order to keep a AFM tool on micro-robot a specific tip with integrated piezoresistance, instead of the classical laser beam methodology, is validated for force measurement.

关键词： robotics and automation Robot sensing systems Wireless sensor networks Power supplies Force control Batteries Application specific integrated circuits Robot control Teeth Voltage

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Information architecture for sensor and mobile robotic systems facing the humanitarian demining problem

Information architecture for sensor and mobile robotic syste...

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ITI international conference on Information and Communications Technology (ICICT)

作者： Y. Baudoin Royale Military Academy Brussels Belgium

The development of a robotics system not only depends on the technical aspects and modular components allowing the correct design of the remote controlled platforms(s); the application related constraints have also to be carefully analysed in order to achieve the success of the whole system. The constraints related to the humanitarian demining, and more generally to outdoor applications, may be summarised as follows: a high level of protection against the environmental conditions (dust, humidity, temperature, etc), protection and resistance against vibration and mechanical shocks, long and continuous operation time between battery charging/changing or refuelling, wireless communication range depending on the terrain and minefield location, low cost, affordable prices by use of off-the-shelf components (typical constraint for HUDEM due to the lack of a real commercial market), high reliability, fail-safeness, easy maintenance, easy to use, application of matured technology

关键词： Sensor systems Mobile robots Robot sensing systems Protection Control systems Humidity Temperature dependence Temperature distribution Vibrations Electric shock

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Planar homography: accuracy analysis and applications

Planar homography: accuracy analysis and applications

引用

IEEE international conference on Image Processing

作者： S. Negahdaripour R. Prados R. Garcia Department Electrical and Computer Engineering University of Miami Coral Gables FL USA Computer Vision and Robotics Group Department of Electronics Informatics and Automation University of Girona Spain

Projective homography sits at the heart of many problems in image registration. In addition to many methods for estimating the homography parameters (R.I. Hartley and A. Zisserman, 2000), analytical expressions to assess the accuracy of the transformation parameters have been proposed (A. Criminisi et al., 1999). We show that these expressions provide less accurate bounds than those based on the earlier results of Weng et al. (1989). The discrepancy becomes more critical in applications involving the integration of frame-to-frame homographies and their uncertainties, as in the reconstruction of terrain mosaics and the camera trajectory from flyover imagery. We demonstrate these issues through selected examples.

关键词： Cameras robotics and automation Image reconstruction Layout Equations Application software Computer vision Robot vision systems Informatics Heart

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A dynamic pruning and feature selection strategy for real-time tracking

A dynamic pruning and feature selection strategy for real-ti...

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international conference on Advanced Information Networking and applications (AINA)

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

Automated video tracking is useful in a number of applications such as surveillance, multisensor networks, robotics and virtual reality. In this paper we investigate an approach to tracking based on fusing the output of a collection of video trackers, each attending to a different feature or cue on the target. We show both theoretically and experimentally that the method used to prune the growth of target hypotheses can have a great impact on the trackers performance, and indirectly, change the benefit of using linear score combination as opposed to a non-linear rank combination for fusion. We also show that the rank-score graph defined by Hsu and Taksa can be used to select a subset of features to fuse to reduce classification error.

关键词： Target tracking robotics and automation Fuses Computer vision Surveillance Virtual reality Time measurement Robot vision systems Laboratories Information science

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Micro Manipulators for Intrauterine Fetal Surgery in an Open MRI

Micro Manipulators for Intrauterine Fetal Surgery in an Open...

引用

IEEE international conference on robotics and automation (ICRA)

作者： K. Harada K. Tsubouchi M.G. Fujie T. Chiba Graduate School of Science and Engineering Waseda University Shinjuku Tokyo Japan Department of Strategic Medicine National Center for Child Health and Development Setagaya Tokyo Japan

We propose a new surgical robotic system for intrauterine fetal surgery in an Open MRI. The target disease of the fetal surgery is spina bifida or myelomeningocele that is incomplete closure in the spinal column and one of the common fetal diseases. In the proposed surgical process, the abdominal wall and uterine wall would not widely be opened but rather surgical instruments inserted through the small holes in both walls to perform minimally invasive surgery. In this paper, a prototype of the micro manipulator of diameter is 2.4mm and bending radius 2.45 mm is presented. The diameter and bending radius of this manipulator is one of the smallest ever developed among surgical robots to the best of the knowledge of the investigating authors. The mechanism of the manipulator includes two ball joints and is driven using four wires able to bend through 90 degrees in any direction. The features of the mechanism include a small diameter, small bending radius, ease of fabrication, high rigidity and applicability for other surgical applications. Although the manipulator is not yet MRI compatible, the feature of the prototype demonstrated the feasibility of robotic intrauterine fetal surgery.

关键词： Magnetic resonance imaging Manipulators Minimally invasive surgery Robots Diseases Prototypes Birth disorders Abdomen Surgical instruments Medical robotics

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Pose recognition by using neural networks and ultrasounds for a robotic picking up application

Pose recognition by using neural networks and ultrasounds fo...

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IEEE international conference on Computational Intelligence for Measurement Systems and applications (CIMSA)

作者： E.G. Sarabia J.R. Llata C. Torre S. Robla J.P. Oria Electronic Technology and Automatic Systems Department E.T.S.I. Industriales y Telecomunicación University of Cantabria Spain

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Design of an Adaptive Scanning Optical Microscope for Simultaneous Large Field of View and High Resolution

Design of an Adaptive Scanning Optical Microscope for Simult...

引用

IEEE international conference on robotics and automation (ICRA)

作者： B. Potsaid Y. Bellouard J.T. Wen Center for Automation Technologies Rensselaer Polytechnic Institute Troy NY USA

In microsystems applications from micro-assembly to biological observation and manipulation, the optical microscope remains one of the most important tools. However, it suffers from the well known trade-off between resolution and field of view. Traditional solutions involve moving the sample under the microscope using a moving stage or moving the microscope itself, and switching between low and high magnification objective lenses. In this paper, we present a new optical microscope design that uses a 2-dimensional high speed, high precision steering mirror system to scan the sample. By stitching the images together as a mosaic, we have the potential to achieve both high resolution and large field of view. Working in coordination with a deformable mirror, this arrangement offers certain advantages over the current state of the art in demanding spatial-temporal observations. We describe the theory of operation, our design methodology, and present a preliminary simulated design. A reduced functionality experimental prototype has been constructed to demonstrate the basic efficacy of the concept and we demonstrate with both biological and micro-assembly examples.

关键词： Optical microscopy Optical design Adaptive optics Biomedical optical imaging High speed optical techniques Mirrors Lenses Spatial resolution Image resolution Design methodology

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