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Characterization of Infrared Range-Finder PBS-03JN for 2-D Mapping

Characterization of Infrared Range-Finder PBS-03JN for 2-D M...

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IEEE international conference on robotics and automation (ICRA)

作者： M. Alwan M.B. Wagner G. Wasson P. Sheth Medical Automation Research Center University of Virginia Charlottesville VA USA School of Mechanical Engineering Purdue University West Lafayette IN USA Computer Science Department University of Virginia Charlottesville VA USA AeroSpace Engineering University of Virginia Charlottesville VA USA

This paper presents a characterization study of the HOKUYO PBS-03JN Infrared range-finder and compares it to the characterization of the SICK LMS-200 laser range-finder for use in indoor 2-D mapping. Many parameters that could affect the performance of the sensor including warm-up time, divergence of the detection beam, usable detection range in the azimuth, target surface, color, and size properties, incidence angle at the target, and the mixed pixels problem have been studied. This characterization, quantification of errors, and 3-D confidence in the distance readings of the sensor is vital for practical applications. These characteristics are compared to the counterpart characteristics of the laser range-finder. The PBS-03JN is a cost effective alternative to laser range-finders in indoor environments. The sensor is attractive due to lower power consumption, and its lightweight.

关键词： Infrared sensors Sensor phenomena and characterization Costs Distance measurement Mobile robots Laser beams Azimuth Laser modes Energy consumption Power system modeling

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3-D vision sensor using relative stereo method and its application

3-D vision sensor using relative stereo method and its appli...

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IEEE international conference on Mechatronics and automation

作者： S. Hata K. Sumioka J. Hayashi S. Takahashi H. Hojyo Faculty of Engineering Kagawa University Takamatsu JAPAN Purex Company Takamatsu Japan PUREX Co. Tsuruichi-cho Takamatsu

Vision systems for robots had been widely applied at many important applications. But 3-D vision systems for industrial uses should face to many practical problems. Here, a vision system for bio-production has been introduced. Crone seedlings are one of the important applications of biotechnology. Most of the production processes of crone seedlings are highly automated, but the transplanting process of the small seedlings cannot be automated because the figures of small seedlings are not stable and to handle the seedlings it is required to observe the shapes of the small seedlings. In this research, a vision system for robot to be used for the transplanting process in a plant factory has been introduced.

关键词： Machine vision Robot vision systems Biosensors Service robots Robot sensing systems Face detection Biotechnology Production Shape robotics and automation

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Voice driven applications in non-stationary and chaotic environment

Voice driven applications in non-stationary and chaotic envi...

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IEEE international conference on robotics and Biomimetics

作者： C. Kwan X. Li D. Lao Y. Deng Z. Ren B. Raj R. Singh R. Stern Intelligent Automation Inc. Rockville MD USA Carnegie Mellon University Pittsburgh USA

Automated operations based on voice commands would become more and more important in many applications, including robotics, maintenance operations, etc. However, voice command recognition rates drop quite a lot under nonstationary and chaotic noise environments. In this research, we tried to significantly improve the speech recognition rates under non-stationary noise environments. First, 298 Navy acronyms have been selected for automatic speech recognition. Data sets were collected under 4 types of non-stationary noisy environments: factory, buccaneer jet, babble noise in a canteen, and destroyer. Within each noisy environment, 4 levels (5 dB, 15 dB, 25 dB, and clean) of signal-to-noise ratio (SNR) were introduced to corrupt the speech. Second, a new algorithm to estimate speech or no speech regions has been developed, implemented, and evaluated. Third, extensive simulations were carried out. It was found that the combination of the new algorithm, the proper selection of language model and a customized training of the speech recognizer based on clean speech yielded very high recognition rates, which are from 80% to 90% for the four different noisy conditions. Fourth, extensive comparative studies have also been carried out

关键词： Chaos Working environment noise Speech recognition Signal to noise ratio Automatic speech recognition Speech analysis robotics and automation Production facilities Noise level Natural languages

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Robot axis dynamics control using a virtual robotics environment

Robot axis dynamics control using a virtual robotics environ...

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international conference on Emerging Technologies and Factory automation (ETFA)

作者： E.R. Cassemiro J.M. Rosario D. Dumur Faculty of Mechanical Engineering State University of Campinas-UNICAMP Sao Paulo Brazil Department of Automatic Control SUPELEC Gif-sur-Yvette France

Robots are complex electromechanical systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subject to important parameters variations, with efficient control algorithms. The progress of technology and the close relationships among several sciences, such as micro-electronic, software engineering and communications, open space for a great development in the robotics area and automation process. Generalized predictive control (GPC) has shown to be an effective strategy in many fields of applications, with good time-domain and frequency properties (small overshoot, improved tracking accuracy and disturbance rejection ability, good stability and robustness margins), able to cope with important parameters variations. This paper presents an application of GPC to a robot trajectory control with a comparison between classical PID and GPC controllers within an original virtual environment

关键词： Robot control Service robots robotics and automation Orbital robotics Space technology Robust stability Electromechanical systems Control systems Electrical equipment industry Production

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A machine learning approach for automatic performance of a trumpet

A machine learning approach for automatic performance of a t...

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international conference on Computational Intelligence and Multimedia applications

作者： J. Bilitski University of Pittsburgh Johnstown USA

The artificial mouth is a robotic device that simulates a human mouth. It consists of moveable lips and an adjustable air supply. In this study the use of a genetic algorithm to compute air pressure and lip pressure values so that the artificial mouth can correctly play five notes on a trumpet was investigated. The genetic algorithm is discussed. Results from experimentation showed solutions being found in as little as two generations.

关键词： Machine learning Mouth Instruments Lips Humans Valves Genetic algorithms Keyboards Testing robotics and automation

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Accuracy estimation of a new omnidirectional 3D vision sensor

Accuracy estimation of a new omnidirectional 3D vision senso...

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IEEE international conference on Image Processing

作者： R. Orghidan J. Salvi E.M. Mouaddib Institute of Informatics and Applications Computer Vision and Robotics Group University of Girona Catalonia Spain Centre de Robotique Électrotechnique et Automatique Université de Picardie Jules-Verne Amiens France

We present a computer vision system that associates omnidirectional vision with structured light with the aim of obtaining depth information for a 360 degrees field of view. The approach proposed in this article combines an omnidirectional camera with a panoramic laser projector. The article shows how the sensor is modelled and its accuracy is proved by means of experimental results. The proposed sensor provides useful information for robot navigation applications, pipe inspection, 3D scene modelling etc.

关键词： Cameras Robot vision systems Robot sensing systems Layout Mirrors Application software Computer vision Navigation robotics and automation Laser modes

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Motion planning for planar binary robots in a reduced workspace

Motion planning for planar binary robots in a reduced worksp...

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IEEE international conference on Mechatronics and automation

作者： R. Clysdale Q. Sun Department of Mechanical Engineering University of Calgary Calgary Canada

Binary robots have strengths including low-cost and robustness. They have a discrete workspace, and are well suited to applications that allow a tolerance for position. This article explores motion planning for planar binary robots so as to maintain a fixed end effector orientation. The discrete workspace is reduced when adopting the above condition. The smaller workspace still allows for dexterity and manipulability of the robot while reducing the computational burden of path planning. The approach is developed for planar variable geometry truss manipulators, which are introduced in detail. An actuation strategy is adopted in order to study motion between states. Methods to ensure the orientation is maintained throughout the motion are presented and illustrated.

关键词： Motion planning Actuators Robot kinematics Manipulators Robustness End effectors Computational geometry robotics and automation Robot sensing systems Mechanical engineering

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Machining with flexible manipulator: toward improving robotic machining performance

Machining with flexible manipulator: toward improving roboti...

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IEEE/ASME (AIM) international conference on Advanced Intelligent Mechatronics

作者： Hui Zhang Jianjun Wang G. Zhang Zhongxue Gan Zengxi Pan Hongliang Cui Zhenqi Zhu Robotics and Automation Group ABB Corporate Research Limited Windsor CT USA Castle Point on Hudson Stevens Institute of Technology Hoboken NJ USA

This paper presents the critical issues and methodologies to improve robotic machining performance with flexible industrial robots. Compared with CNC machines, the stiffness of industrial robots is significantly lower, resulting in unacceptable quality and lower productivity. The problem is treated with a novel methodology that consists of stiffness modeling, real-time deformation compensation for quality and controlled material removal rate for efficiency. Experimental results show that higher productivity as well as better surface accuracy can be achieved, indicating a promising and practical use of industrial robots for machining applications that is not possible at present

关键词： Machining Manipulators Service robots North America Computer numerical control Feeds Materials handling Robotic assembly robotics and automation Robot programming

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A New Facial Features and Face Detection Method for Human-Robot Interaction

A New Facial Features and Face Detection Method for Human-Ro...

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IEEE international conference on robotics and automation (ICRA)

作者： Taigun Lee Sung-Kee Park Mignon Park Intelligent Robotics Research Centers Korea Institute of Science and Technology Seoul South Korea Department of Electrical and Electronic Engineering Yonsei University Seoul South Korea

We propose an effective facial features detection method for human– robot interaction (HRI) with indoor mobile robot. In case of human-robot interaction, its vision system has to manage such difficult problems as pose variations, illumination changes, and complex backgrounds, which is caused by the mobility of robot. In this paper, in order to overcome such difficult problems, we suggest a facial feature detection method based on local image area and direct pixel-intensity distributions, in which we propose two novel concepts; the directional template for evaluating intensity distributions and the edge-like blob map with multiple strength intensity. Using this proposed blob map, we show that the locations of major facial features – two eyes and a mouth – can be successfully estimated. Without the information of facial area boundary, final candidate face region is determined by both obtained locations of facial features and weighted correlations with stored facial templates. Our approach is also a flexible algorithm that can be applicable to both color and gray image. In case of color image, faster detection of both facial features and face is feasible by using the chromatic property of facial color. Experimental results from many color images and well-known gray level face database images prove the usefulness of proposed algorithm in human– robot interaction applications.

关键词： Facial features Face detection Mobile robots Human robot interaction Image edge detection Color Machine vision Lighting Robot vision systems Pixel

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"RoboPress" - An Automated Mobile Press for Manufacturing Concrete Products

"RoboPress" - An Automated Mobile Press for Manufacturing Co...

引用

international conference on Information Technology and applications, ICITA

作者： G. Adam E. Grant G. Lee Department of IT Telecom Higher Technology Educational Institute of Larissa Larissa Greece Center for Robotics and Intelligent Machines North Carolina State University Raleigh NC USA ECE Department San Diego State University San Diego CA USA

This paper presents innovative manufacturing and control procedures applied in the design, construction and operation, of a mobile hydraulic press machine (RoboPress). The research demonstrates how the design of an automated mobile manufacturing system can be optimized through using qualitative modeling and simulation from artificial intelligence

关键词： Manufacturing automation Concrete Automatic control Mechanical sensors Gas detectors Production Manufacturing systems Engine cylinders Intelligent robots Control systems

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