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COTS (commercial off the shelf) distributed system for critical application

COTS (commercial off the shelf) distributed system for criti...

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international conference and Workshop on Engineering of Computer-Based Systems

作者： V. Oplustil L. Gaspar D. Svacina S. Szabo UNIS spol. s r.o. Brno Czech Republic UNIS Brno Czech Republic Dipl. Engineering Faculty of Mechanical Engineering Brno University of Technology Brno Czech Republic

This paper deals with the distributed controller area network (CAN) based control system design for experimental autonomous locomotion robot (ALR) VUTBOT-2. It also features a system of aviation modules (SAM) description for airborne applications. Distributed control system of the ALR is generated by microprocessor units, which are linked by the CAN. As a higher layer protocol (HLP) the CANAerospace protocol was chosen. CANAerospace is an extremely lightweight protocol/data format definition, which was designed for highly reliable communication with microprocessor-based systems in airborne applications via CAN. It is successfully implemented with the SAM.

关键词： Costs Control systems Communication system control Protocols Distributed control robotics and automation Robot control Mobile communication Telecommunication network reliability Automotive engineering

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Architecture of a generic vehicle for evaluating localization algorithms

Architecture of a generic vehicle for evaluating localizatio...

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

作者： A. Zakzouk A. Lambert E. Seignez S. Bouaziz T. Maurin R. Reynaud IEF UMR CNRS 8622 Université de Paris-Sud Orsay France

Development of a powerful localization system has suggested number of works. Localization is always done in a two phases process: prediction and estimation. Prediction (which integrates the odometric data) is quite similar whatever the method is. But, the estimation could be done in very different ways. Thus, we saw the emerging of several technics using probabilistic, interval analysis and Markovian methods. Depending on the chosen method, the localization can be performed in complex, dynamic or badly mapped environments. So as to compare and test some localization methods (which where never been used in real environment), we decided to design a generic mobile platform. This platform had to deal with several specificities like to be controlled by a distant operator, to give an estimation of the localization on an environment map and to provide a visual return to the user.

关键词： Vehicles Mechanical sensors Mobile robots Computer architecture Robustness Embedded computing Wireless sensor networks Actuators Robot sensing systems robotics and automation

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Supervision of multiple industrial robots: optimal and collision free work cycles

Supervision of multiple industrial robots: optimal and colli...

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IEEE conference on Control Technology and applications (CCTA)

作者： H. Flordal D. Spensieri K. Akesson M. Fabian Control and Automation Group Department of Signals and Systems Chalmers University of Technology Gothenburg Sweden

A method for automatic generation of collision free, blocking free and work cycle time optimized supervisors for industrial robot cells has been implemented. The individual robots' tasks are specified as a set of targets that the robot should visit in arbitrary order. Finite automaton models of allocation and release of critical spatial volumes that the robots share, as well as models of the robots' possible movements are automatically extracted from a 3D simulation environment. This includes explicitly calculating the intersection between the robots' work envelopes, the spatial volumes where collisions may occur, and simulating the robots' collisions with these. Each robot's different sequences of operations of factorial complexity in the number of states are efficiently represented as a set of automata using a polynomial number of states. The automatically generated system model is analyzed using the Ramadge-Wonham supervisory control theory to verify nonlocking and to synthesize supervisors. The method guarantees collision freeness, nonblocking and a flexible coordination function. The model is also used to find the time optimal work cycle for completion of the robots' tasks. To meet market demands of mass customization and shorter time to market, more flexible manufacturing systems are needed. The method presented here aims to automatize robot coordination programming which, being a tedious manual task in today's industry, is a bottleneck in the development of old and new production lines.

关键词： Service robots Robot kinematics robotics and automation Automata Optimization methods Polynomials Supervisory control Control system synthesis Mass customization Time to market

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Development of a parallel surgical robot with automatic bone drilling carriage for stereotactic neurosurgery

Development of a parallel surgical robot with automatic bone...

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IEEE international conference on Systems, Man and Cybernetics

作者： Tzung-Cheng Tsai Yeh-Liang Hsu Mechanical Engineering Department Yuan-Ze University Taiwan

ISBN: (纸本)0780385675

Robot-assisted surgery is an active interdisciplinary field, which has applications in stereotactic neurosurgical operation, orthopedics surgery, and total knee replacements surgery etc. The conventional surgical robots are almost serial architectures, and the performances are restricted. This paper presents an ongoing research in developing a parallel surgical robot for precise skull drilling in stereotactic neurosurgical operations. We are currently developing a small occupancy surgical robot based on parallel mechanisms that has enough stiffness and accuracy. This surgical robot dimensions are 35/spl times/35/spl times/45 cm/sup 3/, and its weight is 6 kg. This surgical robot has six degree-of-freedom. The feed carnage of the bone drilling device, which has one translational degree of freedom, is mounted directly on the parallel surgical robot. The workspace of this parallel surgical robot based on the tip of drill is calculated. In pose control, we have designed a master to slave microcontroller-based fuzzy control system. The possibility of asymmetric workspace design is discussed.

关键词： Medical robotics Bones Drilling Neurosurgery Orthopedic surgery robotics and automation Knee Skull Feeds Control systems

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Response knowledge learning of autonomous agent

Response knowledge learning of autonomous agent

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international Joint conference on Neural Networks (IJCNN)

作者： Chi-Kin Chow Hung-Tat Tsui Visual Signal Processing and Communications Laboratory Department of Electronic Engineering Chinese University of Hong Kong Hong Kong China

ISBN: (纸本)0780383591

In robot applications, the performance of a robot agent is measured by the award received from its response. A lot of literature defines the response as either a state diagram or a neural network. Due to the absence of a desired response, neither is applicable to an unstructured environment. In this paper, a novel response knowledge learning algorithm is proposed to handle this domain. By using a set of experiences, the algorithm can extract the contributed experiences to construct the response function. Two sets of environments are provided to illustrate the performance of the proposed algorithm. The results show that it can effectively construct a response function that receives an award which is very close to the true maximum.

关键词： Autonomous agents Neural networks Signal processing algorithms Hidden Markov models Robots Signal processing Laboratories Automatic control Control systems robotics and automation

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A Biomimetic Flying Silicon Microchip: Feasibility Study

A Biomimetic Flying Silicon Microchip: Feasibility Study

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IEEE international conference on robotics and Biomimetics

作者： Ho-Yin Chan J.H.M. Lam Wen J. Li Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong China Shenyang Institute of Automation Chinese Chinese Academy and Sciences Liaoning China

This paper presents a feasibility analysis of developing an ultra-small biomimetic flying machine using the most advanced engineering technologies that exist today. Without regard for the cost and potential applications of such a machine, our motivation is driven entirely by a curiosity to know if it is possible to built a controllable flying machine using very leading-edge but available technologies such as MEMS, IC, and wireless technologies. Such machine would require biomimetic wings, since insects and bugs are the only ultra-small flying "machines" which offer clues as to how things should fly when governed by physical laws, i.e., aerodynamic forces that dictate how things should fly according to their characteristic length scale. We have also demonstrated in our laboratory that MEMS actuators can be made in the same scale of insect wings and "flap" at >100Hz at very low power input. This flapping frequency is well within the range of wing flapping frequency of many common insects in the millimeter dimensions. Hence, we argue in this paper that if a micro battery, simple CPU, wireless receiver, and MEMS actuators can all be fitted onto a Si chip of ~1mm 2 area, which weight around ~1mg, which is the typical weight of millimeter scale insects, a biomimetic flying machine can be realized. In fact, all these requirements are realizable by many advanced engineering facilities now. A flying insect robot can certainly be realized if sufficient funding is available

关键词： Biomimetics Silicon Insects Micromechanical devices Actuators Frequency Costs Application specific integrated circuits Computer bugs Aerodynamics

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Cartesian-based planar contour following with automatic hybrid force and visual feedback

Cartesian-based planar contour following with automatic hybr...

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： Wen-Chung Chang Department of Electrical Engineering National Taipei University of Technology Taipei Taiwan

The paper deals with hybrid control of a planar robot employing Cartesian-based force and visual servoing. The proposed robotic system is capable of autonomously controlling the pose of an instrument mounted on the end-effector of a planar robotic manipulator using force and visual data. The goal of the autonomous task is to drive the instrument to a visually determined planar contour and continue tracking the contour in desired pose and contact force with precision. The proposed control architecture is suitable for applications that require simultaneous force and pose control in unknown environments. Our approach has been successfully validated in a real task environment by performing experiments with an industrial robotic manipulator equipped with force and visual sensors.

关键词： Force feedback Force control robotics and automation Force sensors Automatic control Instruments Manipulators Visual servoing Control systems Service robots

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Text detection from natural scene images: towards a system for visually impaired persons

Text detection from natural scene images: towards a system f...

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international conference on Pattern Recognition

作者： N. Ezaki M. Bulacu L. Schomaker Toba National College of Maritime Technology Toba Mie Japan AI Institute Groningen University Groningen Netherlands

We propose a system that reads the text encountered in natural scenes with the aim to provide assistance to the visually impaired persons. This paper describes the system design and evaluates several character extraction methods. 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. However, 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. 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. In the present paper, we propose four character-extraction methods based on connected components. We tested the effectiveness of our methods on the ICDAR 2003 Robust Reading Competition data. The performance of the different methods depends on character size. In the data, bigger characters are more prevalent and the most effective extraction method proves to be the sequence: Sobel edge detection, Otsu binarization, connected component extraction and rule-based connected component filtering.

关键词： Layout Intelligent robots Data mining System analysis and design Text recognition Image retrieval robotics and automation Intelligent systems Text analysis Availability

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Automatic clustering of generalized regression neural network by similarity index based fuzzy c-means clustering

Automatic clustering of generalized regression neural networ...

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IEEE Region 10 international conference TENCON

作者： H. Husain M. Khalid R. Yusof Department of Electrical Electronics and Systems Faculty of Engineering Universiti Kebangsaan Malaysia Bangi Selangor Darul Ehsan Malaysia Center For Artificial Intelligence and Robotics (CAIRO) Faculty of Electrical Engineering Universiti Teknologi Malaysia Kuala Lumpur Malaysia

In general regression neural networks (GRNN), one drawback is that the number of training vectors is proportional to the number of hidden nodes, thus a large number of training vectors produce a larger architecture, which is a major disadvantage for many applications. In this paper we proposed an efficient clustering technique referred to as 'similarity index fuzzy c-means clustering'. This technique uses the conventional fuzzy c-means clustering preceded by a technique based on similarity indexing to automatically cluster input data which are relevant to the system. The technique employs a one-pass similarity measures on the data to calculate the similarity index. This index indicates the degree of similarity in which data is clustered. Similar data then undergoes fuzzy c-means iterative process to determine their cluster centers. We applied the technique for system identification and modeling and found the results to be encouraging and efficient.

关键词： Neural networks Fuzzy neural networks Artificial neural networks Fuzzy systems System identification Feedforward neural networks Probability density function Artificial intelligence Intelligent robots robotics and automation

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Hough transform based correction of mobile robot orientation

Hough transform based correction of mobile robot orientation

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IEEE international conference on Industrial Technology (ICIT)

作者： L. Banjanovic-Mehmedovic I. Petrovic E. Ivanjko Faculty of Electrical Engineering University of Tuzla Tuzla Bosnia and Herzegovina Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

In most applications, a mobile robot must be able to determine its position and orientation in the environment using only own sensors. The problem of pose tracking can be seen as a constituent part of the more general navigation problem. Our proposed approach is able to track the mobile robot pose without environment model. It is based on combining histograms and Hough transform (HHT). While histograms for position tracking (x and y histograms) are extracted directly from local occupancy grid maps, angle histogram is obtained indirectly via Hough transformation combined with a non-iterative algorithm for determination of end points and length of straight-line parts contained in obtained histograms. Histograms obtained at the actual mobile robot pose are compared to histograms saved at previous mobile robot poses to compute position displacement and orientation correction. Orientation estimation accuracy greatly influences the position estimation accuracy and is crucial for a reliable mobile robot pose tracking. Sensors used for local occupancy grid generation are sonars but other exteroceptive sensors like a laser range finder can also be used. Test results with mobile robot Pioneer 2DX simulator show the capacity of this method.

关键词： Mobile robots Histograms Magnetic noise Robot kinematics Dead reckoning Control engineering computing robotics and automation Robot sensing systems Motion planning Mesh generation

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