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A model-based monocular vision system for station keeping of an underwater vehicle

A model-based monocular vision system for station keeping of...

引用

IEEE international conference on robotics and Biomimetics

作者： Qingxiao Wu Shuo Li Yingming Hao Feng Zhu Graduate School of Chinese Academy of Sciences Beijing China Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

A model-based monocular vision system for station keeping of an underwater vehicle is presented. Through such system accurate and reliable 3D pose information (roll, pitch, yaw and XYZ translations) of the vehicle relative to the model-known observed target is estimated in real time. The cooperative and observed target is placed in the working space when station keeping is demanded. The performance of the system is demonstrated in a water tank by using the underwater vehicle, which 4 degrees-of-freedom are controllable. With the pose information, the vehicle can automatically move to a desired station and maintain a fixed position and orientation with the presence of disturbance. The system is suitable for the underwater vehicles equipped with manipulators or in the structural environment, and would have a good prospect in the future applications

关键词： Machine vision Underwater vehicles Remotely operated vehicles Underwater tracking Real time systems Control systems Optical scattering Motion estimation Automatic control Optical sensors

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A scalable robotic-based laboratory automation system for medium-sized biotechnology laboratories

A scalable robotic-based laboratory automation system for me...

引用

IEEE international conference on automation Science and Engineering (CASE)

作者： P. Najmabadi A.A. Goldenberg A. Emili Department of Mechanical and Industrial Engineering University of Toronto Canada Banting and Best Department of Medical Research University of Toronto Canada

This paper presents a new approach to laboratory automation integration with applications in automatic execution of various biotechnology (genomics and proteomics) protocols. The new configuration is called "tower-based configuration". It provides a scalable workcell that also includes instrumentation for sub-processes such as vortexing, shaking, incubation etc. Tower-based automation is a robotic-based configuration that allows improving the throughput of automated system without changing the robotic workspace or increasing the footprint of the system. Tower configuration consists of two arms mounted on a common cylindrical base, and is surrounded by stackers that carry laboratory processing instruments, labwares and other accessories. The requirement of high throughput is satisfied by parallel processing. A conceptual tower-based automated system for magnetic isolation of TAP tagged protein complexes protocol is presented and compared with a traditional automated system. Our performance investigation showed that the tower-based configuration has a high throughput to footprint ratio, high scalability, and wide protocol flexibility in comparison with traditional laboratory automation approaches.

关键词： robotics and automation Laboratories Biotechnology Throughput Protocols Instruments Genomics Bioinformatics Proteomics Poles and towers

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A ground-penetrating robot for underground chemical source location

A ground-penetrating robot for underground chemical source l...

引用

2005 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： R.A. Russell Centre for Perceptive and Intelligent Machines in Complex Environments Intelligent Robotics Monash University Clayton VIC Australia

The robot mole project at Monash University aims to develop robotic systems for locating the source of volatile chemicals released underground. As part of this project, a mobile robot, MOLE I has been designed that takes readings of underground chemical concentrations by inserting a probe into the ground at a sequence of locations. The robot is guided towards regions of higher chemical concentration using the hex-path algorithm. This algorithm was developed especially for the task of locating underground chemical sources and this is the first time that it has been tested using a mobile robot. There are important economic, environmental and humanitarian applications for systems that can find the source of an odor or volatile chemical located beneath the ground. These applications range from harvesting truffles, to finding the location of leaking chemical storage tanks and unexploded ordinance. In this paper, the robot construction and hex-path algorithm are described together with experimental results that demonstrate the capabilities of the robot system.

关键词： Position measurement Robot sensing systems Robot kinematics Intelligent robots Mobile robots Probes Chemical hazards Machine intelligence Weapons Humans

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Coordination control policy for mobile sensor networks with shared heterogeneous resources

Coordination control policy for mobile sensor networks with ...

引用

international conference on Control and automation (ICCA)

作者： V. Giordano F. Lewis J. Mireles B. Turchiano Dipartimento di Elettrotecnica ed Elettronica Politecnico di Bari Bari Italy Robotics and Automation Research Institute University of Technology Arlington TX USA Universidad Autonoma de Ciudad Juarez Juarez Chiapas Mexico

This paper considers centralized coordination of cooperating heterogeneous wireless sensors with multiple shared resources. A discrete event controller (DEC) is used to sequence the most suitable tasks for stationary and mobile sensors according to the current perception of the environment, efficiently handling simultaneous missions of different priority. Its matrix formulation, apart from making the assignment of the mission planning straightforward and easily adaptable if agents or applications change, provides a powerful tool to analyze deadlock situations and implement efficient deadlock avoidance policies. It also represents a complete dynamical description of the system which allows computer simulation analysis. The matrix formulation also allows fast implementation of DEC for actual WSNs.

关键词： Wireless sensor networks System recovery Mobile robots Supervisory control Robot sensing systems Robot kinematics Switches Automatic control automation Power system planning

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Developing a service robot

Developing a service robot

引用

IEEE international conference on Mechatronics and automation

作者： S. Iwashita Y. Murase Y. Yasukawa S. Kanda N. Sawasaki T. Asada Autonomous Systems Laboratory Fujitsu Laboratories Limited Atsugi Kanagawa Japan Research & Development Group Mechanical component Division Engineering Department3 Fujitsu Frontech Limited Tokyo Japan

A service robot designed to be of practical use in offices and commercial environments has been developed. Moving on wheels, with a pair of four-degrees-of-freedom (DOF) arms and grippers, and a pan-tilt mechanism carrying eight cameras, the robot is designed to operate efficiently in public spaces. The robot houses a CPU board, two DSP boards, a vision board, and local processors, which form an internal LAN and communicate with each other. This paper presents the hardware features of the robot, outlines its typical applications and introduces its 3D vision-based navigation system, which is central to the execution of its tasks.

关键词： Service robots Robot vision systems Orbital robotics Mobile robots Wheels Manipulators Grippers Cameras Digital signal processing Local area networks

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Research of a novel xy-table based on error compensation

Research of a novel xy-table based on error compensation

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IEEE international conference on Mechatronics and automation

作者： Zugen Yan Lining Sun Bo Huang Robotics Institute Harbin Institute of Technology Harbin Heilongjiang China

With the increasing demand of high-speed high-precision positioners in industrial applications, a novel high-speed high-precision xy-table based on error compensation is presented in the paper. According to the theory of yaw error compensation, four inductive sensors were used to measure the yaw error and a micro-table used to compensate the error while the macro-table moving in high speed mode. Based on theoretical calculation and finite element analysis, the micro-table based on piezoelectric actuator (PZT) drive was designed. The cross-coupling controller (CCC) took the whole system as the control target to reduce contour error. Experimental results proved that the contour accuracy of the xy-table was improved by applying the error compensation combined with CCC.

关键词： Error compensation Surface-mount technology Optimal control Mathematical model Sensor systems Finite element methods Control systems Error correction Integrated circuit technology Application specific integrated circuits

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Efficient Localized Localization Algorithm for Wireless Sensor Networks

Efficient Localized Localization Algorithm for Wireless Sens...

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Computer and Information Technology, 2005. CIT 2005. The Fifth international conference on

作者： Kezhong Liu Shu Wang Fan Zhang Fuping Hu Changchun Xu Department of Electronics and Information Huazhong University of Science and Technology Hubei China Research Center for Traffic and Environment Wuhan University of Technology Hubei China General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania PA USA

ISBN: (纸本)076952432X

The location of sensor nodes in wireless sensor networks plays an important role in most applications. In this paper, we address the localization problem by characterizing some sufficient conditions such that technical convenience for the collection of local information used for network localization can be enabled. The main contribution of this paper is as follows. Some latest research results on the graph rigidity theory are introduced and incorporated, and a feasible node localization scheme is presented. More specifically, a tree structure termed BN-tree is introduced to construct a localizable collaborative body. Especially, the localizable collaborative body can be constructed dynamically with the variety of the network topology. Simulation results, which show that the quality of localization is well bounded by the range of communication, are also provided to validate the proposed algorithm.

关键词： Wireless sensor networks Sensor phenomena and characterization Acoustic sensors robotics and automation Collaboration Global Positioning System Computer vision Telecommunication traffic Robot sensing systems Sufficient conditions

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Hybrid type of underwater micro biped robot with walking and swimming motions

Hybrid type of underwater micro biped robot with walking and...

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IEEE international conference on Mechatronics and automation

作者： Shuxiang Guo Y. Okuda K. Asaka Faculty of Engineering Kagawa University Takamatsu Japan Kansai Research Institute AIST National Institute for Advanced Industrial Science and Technology Osaka Japan

In the medical field and in industry application, a new type of A Novel type of micro biped robot with multi DOF that can swim smoothly in water or aqueous medium has urgently been demanded. The fish-like microrobot is one of the micro and miniature devices, which is installed with sensing and actuating elements. This paper describes the new structure and motion mechanism of a hybrid type of underwater microrobot using ICPF actuator, and discusses the swimming and floating possibility of the microrobot in water. Characteristic of the underwater microrobot is measured by changing the frequency and the amplitude of input voltage. The experimental results indicate that the swimming speed of proposed underwater micro robot can be controlled by changing the frequency of input voltage; the moving direction (upward or downward) can be controlled by changing the amplitude and the frequency of input voltage.

关键词： Legged locomotion Actuators Frequency Propulsion robotics and automation Medical diagnostic imaging Voltage control Service robots Biomedical engineering Industry applications

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Algorithm for Robot Writing Using Character Segmentation

Algorithm for Robot Writing Using Character Segmentation

引用

international conference on Information Technology and applications, ICITA

作者： S. Yussof A. Anuar K. Fernandez Universiti Tenaga Malaysia (UNITEN) Kajang Selangor Darul Ehsan Malaysia

Currently, there are many ongoing researches that are targeted at making robots more human-like. One of the tasks that can be done by humans easily but is difficult to be done by robots is writing. In this paper, we are presenting a flexible algorithm that can allow a robot to write. This algorithm is based on character segmentation, where the main idea is to store character information as segments and the segment information can then be used by the robot to write. We have also developed a sample application using the proposed algorithm to allow a Mitsubishi RV-2AJ robotic arm to write English characters and numbers. Through our experiment, it has been proven that the algorithm developed is able to allow the robotic arm to write

关键词： Writing Humans robotics and automation Grippers Humanoid robots Continuous production Character recognition Pattern recognition Shape Automatic control

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Cellular automata model of pedestrian dynamics for normal and evacuation conditions

Cellular automata model of pedestrian dynamics for normal an...

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international conference on Intelligent Systems Design and applications (ISDA)

作者： J. Was Katedra Automatyki AGH University of Science and Technology Poland

The knowledge of the issues connected with pedestrian can be very helpful in the proper desing of buildings or other facilities. A simulation should take into consideration both, normal as well as evacuation conditions. Over the recent years several models of pedestrian movement have been created. The first part of the article contains a brief review of some available models. Then, the author propose a model of pedestrians group dynamics in normal and evacuation situations. A 2D cellular automata, multi-agent model is created. The model proposed takes into account some strategic abilities of each agent/pedestrian. In the model, all decisions are made by an agent in correlation with other agents.

关键词： Microscopy Physics robotics and automation Collision avoidance Floors Hybrid intelligent systems Buildings Safety

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