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Adaptive sampling for environmental robotics

Adaptive sampling for environmental robotics

引用

IEEE international conference on robotics and automation (ICRA)

作者： M. Rahimi R. Pon W.J. Kaiser G.S. Sukhatme D. Estrin M. Srivastava UCLA Center for Embedded Networked Sensing Los Angeles CA Department of Computer Science USC Los Angeles CA Department of Computer Science UCLA Los Angeles CA USA Department of Computer Science UCLA Los Angeles CA

The capabilities and distributed nature of networked sensors are uniquely suited to the characterization of distributed phenomena in the natural environment. However, environmental characterization by fixed distributed sensors encounters challenges in complex environments. In this paper we describe Networked Infomechanical Systems (NIMS), a new distributed, robotic sensor methodology developed for applications including characterization of environmental structure and phenomena. NIMS exploits deployed infrastructure that provides the benefits of precise motion, aerial suspension, and low energy sustainable operations in complex environments. NIMS nodes may explore a three-dimensional environment and enable the deployment of sensor nodes at diverse locations and viewing perspectives. NIMS characterization of phenomena in a three dimensional space must now consider the selection of sensor sampling points in both time and space. Thus, we introduce a new approach of mobile node adaptive sampling with the objective of minimizing error between the actual and reconstructed spatiotemporal behavior of environmental variables while minimizing required motion. In this approach, the NIMS node first explores as an agent, gathering a statistical description of phenomena using a nested stratified random sampling approach. By iteratively increasing sampling resolution, guided adaptively by the measurement results themselves, this NIMS sampling enables reconstruction of phenomena with a systematic method for balancing accuracy with sampling resource cost in time and motion. This adaptive sampling method is described analytically and also tested with simulated environmental data. Experimental evaluations of adaptive sampling algorithms have also been completed. Specifically, NIMS experimental systems have been developed for monitoring of spatiotemporal variation of atmospheric climate phenomena. A NIMS system has been deployed at a field biology station to map phenomena in a 50m width

关键词： Sampling methods Sensor phenomena and characterization Robot sensing systems Extraterrestrial phenomena Spatiotemporal phenomena Testing Sensor systems and applications Motion measurement Time measurement Costs

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Adjustable speed drives - future challenges and applications

Adjustable speed drives - future challenges and applications

引用

international conference on Power Electronics and Motion Control (IPEMC)

作者： F. Blaabjerg P. Thoegersen Institute of Energy Technology University of Aalborg Aalborg Denmark Danfoss Drives AS Graasten Denmark

The main trends within adjustable drives in industrial and appliance applications for the next decade are discussed based on the newest developments seen on the market and a few historical trends. Different drive configurations are presented and the general demands to adjustable speed drives are specified. Further on power architectures and motor types are discussed in a short term and long-term view. Possible drivers of the future development are identified, and the concept of an 'electronic motor' is discussed. A number of applications are presented where variable speed is attractive

关键词： Variable speed drives Home appliances robotics and automation Costs Driver circuits Power electronics Materials handling Electric vehicles Resistance heating Ventilation

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Reconfigurability and reconfigurable manufacturing systems: state-of-the-art review

Reconfigurability and reconfigurable manufacturing systems: ...

引用

IEEE international conference on Industrial Informatics (INDIN)

作者： R.M. Setchi N. Lagos Manufacturing Engineering Centre Cardiff University Cardiff UK

This paper presents a state-of-the-art review of reconfigurability and reconfigurable manufacturing systems. Reconfigurability is defined as the ability to repeatedly change and rearrange the components of a system in a cost-effective way. This concept is illustrated through its application in computing, automated assembly and robotics. Then, the evolution of manufacturing, from dedicated to flexible manufacturing systems, is briefly discussed and the need for reconfigurable manufacturing systems is outlined. These are further studied by analysing their key features (modularity, integrability, customisation, convertibility, and diagnosability) and challenges (product variability, responsiveness, nonobsolescence, cost-effectiveness, reliability and simplicity). It is shown that there are common research issues in reconfigurable computing, robotics and manufacturing such as system-module-component interfaces, design methodologies, modularity, tools and toolsuites development, strategic analysis and business modelling, training, and support. Finally, the research priorities of the I*PROMS Network of Excellence in the area of reconfigurable manufacturing are outlined

关键词： Manufacturing systems Robotic assembly Flexible manufacturing systems Computer applications robotics and automation Delay Computer aided manufacturing Computer interfaces Robots Virtual manufacturing

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Component software in robotics

Component software in robotics

引用

international IEEE conference on Intelligent Systems, IS

作者： A.C. Dominguez-Brito D. Hernandez-Sosa J. Isern-Gonzalez J. Cabrera-Gamez Edificio Central del Parque Científico Tecnológico Universidad de Las Palmas de Gran Canaria Las Palmas 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 illustrates 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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Characteristic evaluation of an underwater micro biped robot with multi DOF

Characteristic evaluation of an underwater micro biped robot...

引用

IEEE international conference on Mechatronics and automation

作者： Shuxiang Guo Y. Okuda K. Asaka Department of Intelligent Mechanical Systems Eng'g Kagawa University Takamatsu Japan Kansai Research Institute 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 Propulsion Medical robotics Medical diagnostic imaging Voltage control Service robots Intelligent robots Industry applications Frequency measurement Surgery

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Distributed form closure for convex planar objects through reinforcement learning with local information

Distributed form closure for convex planar objects through r...

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2004 IEEE/RSJ international conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

作者： A.H. Elahibakhsh M.N. Ahmadabadi F.J. Sharifi B.N. Araabi School of Cognitive Sciences Institute for Studies on Theoretical Physics and Mathematics Tehran Iran Dept. of Electrical and Computer Eng. AI & Robotics Lab. Center of Excellence for Control and Intelligent Processing University of Tehran Tehran Iran

Many real world applications would involve grasp of large objects in unstructured environments. Agent-based approach to multi-robot grasp of objects would prove useful under the above circumstances. In this paper, the problem of form closure grasp for planar convex objects by multiple robots is tackled. Contrary to the previous approaches, no a priori information about the shape of the object is assumed, and the robots are not allowed to fully communicate among themselves. A distributed multi-agent based approach using Q-learning is proposed. The state space, action set and learning algorithm are formulated. The results are verified through simulations using a developed Q-learning test bed.

关键词： Learning Orbital robotics Intelligent robots Shape control Robot sensing systems Testing Artificial intelligence Cognitive robotics robotics and automation Automatic control

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Remote laboratories: new technology and standard based architecture

Remote laboratories: new technology and standard based archi...

引用

international conference on Information and Communication Technologies: From Theory to applications, ICTTA

作者： H. Benmohamed A. Leleve P. Prevot INSA-Lyon France

E-Laboratories development appears to be more complex than other e-learning contexts such as online courses, virtual classrooms, e-projects, role-playing, etc. However, this kind of training is essential for scientific and technical disciplines and fits a real need. Recently we initiated a project [A. Leleve et al., (2003)] whose main goal is to build a complete remote laboratory system with an open, extensible and reusable architecture. This paper gives a global context of electronic, remote and virtual laboratories. Concerning e-lab scenario structure, our works are currently focusing on IMS learning design appropriateness.

关键词： Remote laboratories Collaborative work Electronic learning robotics and automation Manufacturing industries Production Communication standards Process control Humans Communication system control

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Locating underground chemical sources by tracking chemical gradients in 3 dimensions

Locating underground chemical sources by tracking chemical g...

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

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

This paper describes current progress in a project to develop a robot for locating underground chemical sources. 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 cover the spectrum from harvesting truffles, to finding the location of leaking gas pipes and land mines. In previous work the feasibility of detecting vapor percolating through the ground was demonstrated. An algorithm was then developed to control a robot enabling it to gather information about the location of the source and to guide the robot towards it. This algorithm was limited to searching in two dimensions (depth was held constant). In this paper the original algorithm is extended to 3-dimensions allowing variations in depth to be included. The 3-dimensional search algorithm involves following a path through the ground that corresponds to the edges of closely packed dodecahedra. Simulations and physical experiments both confirm the capabilities of this search algorithm.

关键词： Robot sensing systems Intelligent robots Chemical hazards Soil Machine intelligence Environmental economics Leak detection Animals Weapons Underwater tracking

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Novel micro gripping, probing, and sensing devices for single-cell surgery

Novel micro gripping, probing, and sensing devices for singl...

引用

Annual international conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： W.J. Li Ning Xi Centre for Micro and Nano Systems Chinese University of Hong Kong New Territories Hong Kong China Micro/Nano Robotics and Automations Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China Robotics and Automation Laboratory Department of Electrical Engineering Michigan State University East Lansing MI USA

Several novel devices under development in our laboratories to ultimately realize a micro robotic system for single cell nanoscale probing, injection, imaging and surgery is described in this paper. Thus far, we have 1) developed MEMS polymer grippers that can be actuated under water with very large deflection and are capable of gripping 500/spl mu/m embryonic cells in water with /spl sim/2 V input; 2) developed a probe-etching technique to controllably shape fiber probes into various tip geometries, i.e., fibers with initial diameter of 125 /spl mu/m were sharpened into tips with angles ranging from <2.7-9.7/spl deg/ and with nanoscale tip diameters of <1/spl mu/m; 3) developed a novel PVDF force sensing system with resolution in the sub-/spl mu/N range for applications in bio-manipulation, bio-injection, and potentially single cell surgery. Details of these technologies are discussed in this paper.

关键词： Surgery Shape control Laboratories Robot sensing systems Nanoscale devices Micromechanical devices Polymers Grippers Embryo Force control

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Multimedia transmission strategy in Web-based robotic system

Multimedia transmission strategy in Web-based robotic system

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： Dongyao Wang Xudong Ma Xianzhong Dai Department of Automatic Control South-East University Nanjing China

Multimedia transmission is an important component of the Web-based robotic applications which often serve multiple users concurrently. However, the multimedia transmission in large networks such as Internet is suffered from the hugeness and heterogeneity of the users. In this paper, an adaptive transmission strategy based on MLDA is designed to accommodate with the multicast environment. Improvement to MLDA is proposed for applications of the Web-based robotic system, as in the behaviors of the multimedia sender and receiver, synchronization mechanism and estimation of TCP-friendly transmission rate. Finally, a preliminary simulation for the estimation of TCP-friendly transmission rate is demonstrated.

关键词： Multimedia systems Internet Intelligent robots Feedback robotics and automation Educational robots Bandwidth TCPIP Remote monitoring Quality of service

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