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A novel type of underwater micro biped robot with multi DOF

A novel type of underwater micro biped robot with multi DOF

引用

IEEE international conference on robotics and automation (ICRA)

作者： Shuxiang Guo Y. Okuda K. Asaka Department of Intelligent Mechanical Systems Eng'g Kagawa Uiniversity Takamatsu Japan AIST 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 an underwater microrobot using ICPF actuator, and discusses the swimming 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： Actuators Polymer films Medical robotics Medical diagnostic imaging Voltage control Service robots Intelligent robots Industry applications Frequency measurement Surgery

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Towards automatic nanomanipulation: drift compensation in scanning probe microscopes

Towards automatic nanomanipulation: drift compensation in sc...

引用

IEEE international conference on robotics and automation (ICRA)

作者： B. Mokaberi A.A.G. Requicha Laboratory for Molecular Robotics University of Southern California Los Angeles CA USA

Manipulation of nanoparticles with atomic force microscopes (AFM) has been under development for a decade, and is now well established as a technique for prototyping nanodevices and for other applications. The manipulation process tends to be labor-intensive because a user is needed in the loop to compensate for the numerous uncertainties associated with AFM operation. This work addresses thermal drift, which is the major cause of errors for AFM operated in ambient conditions. It is shown that drift can be estimated efficiently by using Kalman filtering techniques. Preliminary results indicate that drift compensation enables manipulation of groups of particles under program control, without human intervention, in ambient air and at room temperature. This is a first step towards fully automatic nanomanipulation, which would permit assembling, from the bottom up, nanostructures much more complex than those being built today with AFM.

关键词： Probes Atomic force microscopy Nanoparticles Prototypes Uncertainty Kalman filters Filtering Automatic control Temperature control Humans

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Robotic neurosurgery and clinical applications

Robotic neurosurgery and clinical applications

引用

IEEE international conference on Mechatronics and automation

作者： Weimin Shen J. Gu E. Milios Department of Electrical & Computer Engineering Dalhousie University Halifax NS Canada Faculty of Computer Science Dalhousie University Halifax NS Canada

This paper presents robotic neurosurgery and clinical applications. Firstly, background, objective, motivation and distinct properties of this kind of surgical robots are introduced. Secondly, by analysing current main classifications for surgical robots, neurosurgical robots are divided into two groups, namely, neurosurgical robots anid tele-neurosurgical robots. Then, after the history of surgical robots is briefly reviewed, several prototypes of neurosurgical robots currently used in clinics are discussed in details. As a branch of surgical robots, the design issues about neurosurgical robots not only have the common part as surgical robots, but this field has its special issues, such as high complex image modeling and analysis, high accuracy, and high safety. Therefore, current research challenges are provided and consideratialn about tele-robotic neurosurgical design is put forward. Finally, this paper is concluded with future directions.

关键词： Neurosurgery Medical robotics Intelligent robots robotics and automation Brain injuries Application software Medical services Head Surgery Humans

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Bacterium-inspired robots for environmental monitoring

Bacterium-inspired robots for environmental monitoring

引用

IEEE international conference on robotics and automation (ICRA)

作者： A. Dhariwal G.S. Sukhatme A.A.G. Requicha Depanment of Computer Science. Center for Robotics and Embedded Systems University of Southern California Los Angeles CA USA

Locating gradient sources and tracking them over time has important applications to environmental monitoring and studies of the ecosystem. We present an approach, inspired by bacterial chemotaxis, for robots to navigate to sources using gradient measurements and a simple actuation strategy (biasing a random walk). Extensive simulations show the efficacy of the approach in varied conditions including multiple sources, dissipative sources, and noisy sensors and actuators. We also show how such an approach could be used for boundary finding. We validate our approach by testing it on a small robot (the robomote) in a phototaxis experiment. A comparison of our approach with gradient descent shows that while gradient descent is faster, our approach is better suited for boundary coverage, and performs better in the presence of multiple and dissipative sources.

关键词： Microorganisms Computerized monitoring Ecosystems Robot sensing systems Sensor arrays Navigation Petroleum Minerals Mobile robots Computer science

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Path planning for minimal energy curves of constant length

Path planning for minimal energy curves of constant length

引用

IEEE international conference on robotics and automation (ICRA)

作者： M. Moll L.E. Kavraki Department of Computer Science Rice University Houston TX USA

In this paper we present a new path planning technique for a flexible wire. We first introduce a new parametrization designed to represent low-energy configurations. Based on this parametrization we can find curves that satisfy endpoint constraints. Next, we present three different techniques for minimizing energy within the self-motion manifold of the curve. We introduce a local planner to find smooth minimal energy deformations for these curves that can be used by a general path planning algorithm. Using a simplified model for obstacles, we can find minimal energy curves of fixed length that pass through specified tangents at given control points. Finally, we show that the parametrization introduced in this paper is a good approximation of true minimal energy curves. Our work has applications in surgical suturing and snake-like robots.

关键词： Path planning Shape Capacitive sensors Surgery Computer science Wire Orbital robotics Cables Robot sensing systems

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Integrating robotics software

Integrating robotics software

引用

IEEE international conference on robotics and automation (ICRA)

作者： A.C. Dominguez-Brito D. Hernandez-Sosa J. Isern-Gonzalez J. Cabrera-Gamez IUSIANI (Instituto Universitario de Sistemas lnteligentes y Aplicaciones Numéricas en IngenieríaEdi cio Central del Parque Cienti CO Tecnológico Universidad de Las Palmas de Gran Canaria Las Palmas Spain IUSIANI (Instituto Universitario de Sistemas Inteligentes y Aplicaciones Numéricas en Ingeniería) Edi cio Central del Parque Cientí co Tecnológico Las Palmas de Gran Canaria Spain

Developing software for controlling robotic systems is costly due to the complexity inherent in these systems. There is a need for tools that permit a reduction in the programming efforts, aiming at the generation of modular and robust applications, and promoting software reuse. The techniques which are of common use today in other areas are not adequate to deal with the complexity associated with these systems. In this work we present CoolBOT, a component oriented framework for programming robotic systems, based on the Port Automata model that fosters controllability and observability of software components. A simple demonstrator outlines the benefits of using the proposed approach in the development of a robotic application.

关键词： Robot programming Application software robotics and automation Robot control Control systems Robustness Software tools Automatic programming Automata Controllability

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Automated pipe inspection using ANN and laser data fusion

Automated pipe inspection using ANN and laser data fusion

引用

IEEE international conference on robotics and automation (ICRA)

作者： O. Duran K. Althoefer L.D. Seneviratne Department of Mechanical Engineering King''s College London UK

Standard CCTV (close circuit television) is currently used in many pipe inspection applications, such as sewers. This human-based approach is prone to error because of the exorbitant amount of data to be assessed, and smaller anomalies or defects are likely to be overlooked reducing the chance of detection of faults at an early stage. Laser profilers for pipe inspection have been recently proposed to overcome CCTV problems. Positional as well as intensity information, related to potential defects, can be extracted from the laser-camera acquired images. While most of these systems are based on the geometrical analysis of pipes, here the intensity distribution of the reflected light is also exploited. This paper describes the strategies developed for the automation of defect classification in pipes and explores new methods to fuse intensity and positional information and shows how they can be used to improve multi-variable defect classification. A neural network-based classification method is presented. Experimental results are provided.

关键词： Inspection Laser fusion Artificial neural networks TV Electrical fault detection Fault detection Circuit faults Data mining automation Fuses

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Human-Robot Interaction

Human-Robot Interaction

引用

IEEE international conference on robotics and Biomimetics

作者： K. Kosuge Y. Hirata Department of Bioengineering and Robotics University of Tohoku Japan

This article introduces several types of robots having physical interactions among a human/humans and a robot/robots, which we have developed so far. MR Helper (mobile robot helper) is a mobile robot with dual manipulators, which could manipulate an object in cooperation with a human. DR Helpers (distributed robot helpers) are multiple small mobile robots which transport an object in cooperation with a human/humans. MS DanceR (mobile smart dance robot) could dance the waltz as a female dance partner with a male dancer. These examples inspire possible applications of the human-robot interaction in near future

关键词： Human robot interaction Mobile robots Robot kinematics Service robots Intelligent robots robotics and automation Medical robotics Control systems Biomedical engineering Robotic assembly

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A robust doorplate recognition system

A robust doorplate recognition system

引用

international conference on Control, automation, robotics and Vision (ICARCV)

作者： Y. Hong J. Yi D. Zhao X. Li Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China

In real applications, captured doorplate images often contain unexpected noise from irregular illumination conditions, various imaging angles, different imaging distances, etc. In this paper, a robust doorplate recognition system is presented. First, an efficient method based on Sobel operator, region splitting and merging is applied to extract doorplate. Then, according to the doorplate shape and the character position in the doorplate, the character region is determined. If the candidate of some doorplate characters extracted from the character region cannot be determined at the segmentation step, a speculation based on known knowledge about geometrical relations between each doorplate character is executed. The threshold for character extraction from candidates is adjusted when the corresponding character is rejected after classification. The data set and the images in experiments all come from practical applications. Experimental results indicate that the proposed doorplate recognition system effectively improves the recognition result.

关键词： Character recognition Noise robustness Image segmentation Feature extraction Lighting Merging Data mining Laboratories Intelligent systems automation

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Intelligent diagnosis in electromechanical operation systems

Intelligent diagnosis in electromechanical operation systems

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IEEE international conference on robotics and automation (ICRA)

作者： Shui Yuan Ming Ge Hai Qiu J. Lee Yangsheng Xu NSF Center for Intelligent Maintenance Systems University of Wisconsin Milwaukee Milwaukee WI USA Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Sha Tin Hong Kong China

The real-time fault detection and diagnosis are critical for healthy operation of electromechanical systems, of which the complex characteristics affect the performance of current shop floor fault diagnosis methods. Aiming to overcome the drawbacks, this paper presents a new fault diagnosis method using a newly developed method, support vector machines (SVM). First, the basic theory of SVM is briefly introduced and new intelligent fault diagnosis system is presented. Next, three common SVM algorithms - v-SV, Lagrangian, and hyper-kernel - are employed for the proposed multiple faults diagnosis system. In comparison, the trade-offs among these three methods are discussed resulting in a general guideline of selecting appropriate learning algorithm for various applications. Then, the methods are applied for diagnosing vibration signals of a typical electromechanical system, elevator door. The real-time tests on 10 faulty conditions demonstrate that the proposed method is effective and efficient. In addition, the method requires only few training samples and permits fast calculation, giving it a big potential in real-world applications.

关键词： Fault diagnosis Support vector machines Electromechanical systems Real time systems Fault detection Intelligent systems Learning systems Lagrangian functions Guidelines Elevators

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