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Multi-objective evolutionary fuzzy modeling for the docking maneuver of an automated guided vehicle

Multi-objective evolutionary fuzzy modeling for the docking ...

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IEEE international conference on Systems, Man and Cybernetics

作者： J.M. Lucas H. Martinez-Barbera F. Jimenez Department Information and Communications Engineering University of Murcia Murcia Spain

In many real-world applications, mobile robots require interacting with objects in their environments by means of performing docking tasks in a precise manner. In the application domain of this work, an automated guided vehicle (AGV), specifically, a fork-lift truck must often perform docking maneuvers to load pallets in conveyor belts. The main purpose is to improve some features of docking task as its duration, accuracy and stability. We propose a soft computing technique based on a multi-objective evolutionary algorithm in order to find multiples fuzzy logic controllers which optimize specific objectives and satisfy imposed constraints for docking task in charge of following up an online generated trajectory.

关键词： Vehicles Mobile robots Evolutionary computation Constraint optimization Belts Stability Fuzzy control robotics and automation Navigation Mobile communication

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Ubiquitous robot simulation framework and its applications

Ubiquitous robot simulation framework and its applications

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2005 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Minsu Jang Jaehong Kim Meekyoung Lee Joo-Chan Sohn Electronics and Telecommunications Research Institute Daejeon South Korea

We describe in this paper a framework, called URSF, for simulating ubiquitous computing environment and ubiquitous robots. URSF provides in/out channel with which ubiquitous robot platforms can be plugged. Once connected to the framework, ubiquitous robot platform can percept and affect the world simulated in the framework. The simulated world is built by composing a simulation space and placing in it operational components such as appliances, sensors, persons, robots etc. Each operational component continuously generates context data, which are fed to the plugged platform. The platform builds world model by interpreting the context data stream. Operational components in the simulation space expose services through semantic Web service scheme, through which plugged platform can affect the simulated world. Semantic Web service scheme enables automated discovery of services dynamically coming and going in the simulation space. The framework can be used to observe how robots interact with environment via ubiquitous network. We discuss two advanced usages of URSF: intelligent robot manipulation and mixed robot-reality manifestation.

关键词： Intelligent robots Orbital robotics Computational modeling Robot sensing systems Context modeling Semantic Web robotics and automation Ubiquitous computing Testing Temperature

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A novel distributed architecture for building Web-enabled remote robotic laboratories

A novel distributed architecture for building Web-enabled re...

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2005 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Guangming Song Aiguo Song Department of Instrument Science and Engineering South-East University Nanjing Jiangsu China

This paper describes a novel distributed architecture for building Web-enabled remote robotic laboratories. The solution presented here focuses mainly on three aspects: easy and efficient network communication in client-server applications, Internet access of networked sensors, portable architecture based on Java 2 platform. These goals have been achieved by the employment of Java 2 platform and other Web tools. The proposed architecture has been successfully implemented by a demonstration project to run a remote robotic laboratory. Experiment results of the demonstration project prove that the architecture works well and functions to be open, extensible, Web-enabled and platform independent. The original Web site of this demonstration project is offline now. But a video of the demonstration project can be downloaded from http://***/websensor/.

关键词： Buildings Robot sensing systems Java Instruments Internet Remote laboratories robotics and automation Force control IP networks Distributed control

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Analysis of system performance for robotic spray forming process

Analysis of system performance for robotic spray forming pro...

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2005 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Heping Chen Ning Xi Weihua Sheng J. Dahl Hongjun Chen Michigan State University East Lansing MI USA Kettering University Flint MI USA Ford Motor Company in Dearborn Dearborn MI USA Harbin Institute of Technology Harbin China

Automatic chopper gun trajectory generation for spray forming is highly desirable for today's automotive manufacturing. Generating chopper gun trajectories for free-form surfaces to satisfy the given requirements is still highly challenging due to the complex geometry of free-form surfaces and the spray gun model. A CAD-guided chopper gun trajectory generation system for both uniform and nonuniform material distribution of free-form surfaces has been developed in our previous work. A material distribution model is also presented. To verify the developed algorithms, experiments were performed. In this paper, the experimental results are presented and compared with the simulation results. The results demonstrate that the developed trajectory generation system can be applied to generate trajectories for free-form surfaces such that the material distribution requirements can be satisfied. Also, the material distribution model can be used to compute the material distribution for free-form surfaces. This trajectory generation method can also be applied to generate trajectories for many other CAD-guided robot trajectory planning applications.

关键词： Performance analysis System performance Robots Spraying Choppers Trajectory robotics and automation Automotive engineering Manufacturing automation Computational geometry

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Matrix Computational Framework for Discrete Event Control of Wireless Sensor Networks with Some Mobile Agents

Matrix Computational Framework for Discrete Event Control of...

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IEEE international Symposium on Intelligent Control (ISIC)

作者： V. Giordano F.L. Lewis B. Turchiano P. Ballal V. Yeshala Dipartimento di Elettrotecnica Elettronica Politecnico di Bari Bari Italy Robotics and Automation Research Institute University of Texas Arlington Fort Worth TX USA

This paper presents a discrete-event controller (DEC) for the coordination of cooperating heterogeneous wireless sensors, namely unattended ground sensors and mobile robots. It describes a new method for efficient computer aided control design of a wireless sensor network. The DEC sequences the most suitable tasks for each agent according to the current perception of the environment. A novel matrix formulation makes the assignment of the mission planning straightforward and easily adaptable if agents or applications change. The matrices are direct to write down given the sequence rules for a given task. Priority rules for efficiently dispatching shared resources and handling simultaneous missions can also be easily taken into account. This architecture holds out the hope to endow a wireless sensor network with efficient self-organization mechanisms in order to accomplish a broad range of different missions in a variety of scenarios. The matrix formulation also provides a straightforward technique for computer simulation of DE systems. Simulation examples are presented to show the effectiveness and versatility of the proposed control architecture

关键词： Computer networks Wireless sensor networks Mobile agents Computer architecture Mobile robots Control design Application software Dispatching Computer simulation Computational modeling

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Towards co-operative autonomous 1cm/sup 3/ robots for micro and nanomanipulation applications: MICRON

Towards co-operative autonomous 1cm/sup 3/ robots for micro ...

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2005 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： R. Casanova A. Saiz J. Lacort J. Brufau A. Arbat A. Dieguez P. Miribel M. Puig-Vidal J. Samitier Instrumentation and Communication Systems Laboratory (SiC). Electronics Department University Autònoma de Barcelona Barcelona Spain

The micro and nanomanipulation is one of the main challenges in our days. One approach is based on the use of a limited cluster of microrobots working in a cooperative way. For the development of the activity each robot of the cluster has assigned a different task. This implies that each robot has a different specialization. Our objective is to present in this paper the design of the electronics developed for these robots, taking into account the important challenges regarding the available area, and that the robot should possess enough autonomy. The most versatile solution is pursued because a particular electronics is not to be developed for each specialized robot. In function of the robot's specialty it will receive the necessary orders, being permeable the electronics to any case. In this paper is presented in a general way these different specializations.

关键词： Robots Atomic force microscopy Needles Communication system control Cells (biology) Instruments Silicon carbide robotics and automation Mixed analog digital integrated circuits Microactuators

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A vision/position/force control approach for performing assembly tasks with a humanoid robot

A vision/position/force control approach for performing asse...

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IEEE-RAS international conference on Humanoid Robots

作者： P. Dauchez P. Fraisse F. Pierrot LESIA/INSA Toulouse-EA 1687 du MENESR France LIRMM UMR 5506 CNRS/Université Montpellier II Montpellier France

Humanoid robots are currently widely studied because of the many future applications they could be used for. Many researchers are working on the locomotion aspects. We are more interested in dual-arm manipulation tasks, because of our long experience on this topic. In this paper, we consider the task consisting in assembling two objects, each of them being held by one of the humanoid arms, as human beings often do. In this framework, we briefly recall methods that we have developed in the past for (i) hybrid position/force control of a two-arm robot and (ii) relative positioning of the end-effectors of two manipulators. We propose to combine these approaches with a solution using the vision system of the humanoid in order to fully automatize the assembly task. Tests have successfully been performed with the OpenHRP simulator of the HRP2 humanoid but they only represent preliminary work. Therefore, this short paper should be considered as an introduction to the research activities we would like to focus on in the future

关键词： Force control Robotic assembly Humanoid robots Arm Humans robotics and automation Manipulators Machine vision Assembly systems Testing

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Implementation of active direction-pass filter on dynamically reconfigurable processor

Implementation of active direction-pass filter on dynamicall...

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2005 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： S. Kurotaki N. Suzuki K. Nakadai H.G. Okuno H. Amano Graduate School of Science and Technology Keio University Yokohama Japan Honda Research Institute Japan Company Limited Saitama Japan Graduate School of Informatics Kyoto University Kyoto Japan

In this paper, we report the design and implementation of a sound source separation system using a dynamically reconfigurable device. A robot in real-world environments should have an ability to treat a mixture of multiple sound signals. Active direction-pass filter (ADPF) which extracts sound from a specific direction by using a pair of microphones has been developed as such a method of sound source separation. The ADPF was used as a front-end for an automatic speech recognition system, and recognition of three simultaneous speech signals has been reported. The ADPF, however, requires a lot of computational power, while the battery capacity and the physical size of the robot are limited. To reduce the power consumption and the size of the system, we adopted the dynamically reconfigurable device, DRP developed by NEC Electronics. We implemented the ADPF on DRP, and investigated the effectiveness of dynamically reconfigurable device for these applications. The preliminary experiment shows that ADPF on DRP separates a mixture of sound sources in real-time with practical accuracy.

关键词： Active filters Source separation Automatic speech recognition Robots Microphones Physics computing Batteries robotics and automation Energy consumption National electric code

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Improved text-detection methods for a camera-based text reading system for blind persons

Improved text-detection methods for a camera-based text read...

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international conference on Document Analysis and Recognition

作者： N. Ezaki K. Kiyota B.T. Minh M. Bulacu L. Schomaker Toba National College of Maritime Technology Mie Japan Kumamoto National College of Technology Kumamoto Japan Tokyo Institute of Technology Tokyo Japan University of Groningam Groningen Netherlands

Automatic text recognition from natural images receives a growing attention because of potential applications in image retrieval, robotics and intelligent transport system. Camera-based document analysis becomes a real possibility with the increasing resolution and availability of digital cameras. Our research objective is a system that reads the text encountered in natural scenes with the aim to provide assistance to visually impaired persons. In the case of a blind person, finding the text region is the first important problem that must be addressed, because it cannot be assumed that the acquired image contains only characters. In a previous paper (N. Ezaki et al., 2004), we propose four text-detection methods based on connected components. Finding small characters needed significant improvement. This paper describes a new text-detection method geared for small text characters. This method uses Fisher's discriminant rate (FDR) to decide whether an image area should be binarized using local or global thresholds. Fusing the new method with a previous morphology-based one yields improved results. Using a controllable Webcam and a laptop PC, we developed a prototype that works in real time. At first, our system tries to find in the image areas with small characters. Then it zooms into the found areas to retake higher resolution images necessary for character recognition. Going from this proof-of-concept to a complete system requires further research effort.

关键词： Intelligent robots Text recognition Image retrieval robotics and automation Intelligent systems Text analysis Availability Digital cameras Layout Portable computers

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Modeling human intelligence and application to space object capturing

Modeling human intelligence and application to space object ...

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international conference on Information and automation (ICIA)

作者： Panfeng Huang Yangsheng Xu Bin Liang Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China Shenzhen Space Technology Center Harbin Institute of Technology China

It is a great challenge for a robot in space to track and capture a free-flying object in the future space operations. In previous research, most of them employed model-based method which requires robot model in advance. However, it is difficult and time-consuming to obtain the precise mathematical model of robots. Moreover, the computer installed on the space robot is usually not so powerful due to the restriction of weight and volume, thus it is infeasible to computer dynamics parameters for real-time control. To facilitate the computation complexity, we present an approach based on human learning skill for tracking and catching objects. With human-teaching demonstration, the space robot is able to learn and abstract human tracking and capturing skill using an efficient neural-network learning architecture that combines flexible cascade neural networks with node-decoupled extended kalman filtering (CNN-NDEKF). The goal of skill learning is to obtain the most likely human performance from all the training examples and to transfer this skill to the space robot system by trained cascade neural network. We investigate the learning position trajectory in Cartesian space and position trajectory in Joint space respectively. Especially, learning position trajectory in joint space is useful to avoid the complex inverse kinematics of space robot and to lower the computation cost. The simulation results attest that this approach is useful and feasible in tracking trajectory planning and capturing of space robot. The proposed approach provides a feasible way to plan the tracking trajectory of space robot by learning human demonstration skill. The learning is significant in eliminating sluggish motion planning and correcting a motion command that the operator may mistakenly generate. It would be found useful in various other applications, such as human action recognition in man-machine interfaces, real-time training, and agile manufacturing.

关键词： Humans Orbital robotics Neural networks Trajectory Motion planning Intelligent robots Mathematical model Computer architecture Kalman filters Filtering

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