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Remote robot execution through WWW simulation

Remote robot execution through WWW simulation

引用

international conference on Pattern Recognition

作者： S.T. Puente F. Torres F. Ortiz F.A. Candelas Automatics and Computer Vision Group Department of Physics Systems Engineering and Signal Theory University of Alicante Spain

ISBN: (纸本)0769507506

This paper shows the state of art teleoperation and simulation systems and proposes some possible network architectures devoted to the development of such systems. A method for the optimization of robot tasks is also suggested. The application proposed can teleoperate a robot arm with five degrees of freedom through Internet by using a previous simulation system and visual feedback. This simulation can be accessed simultaneously by different workers. As a result, the number of robots required can be reduced on new applications or dangerous environments.

关键词： World Wide Web Computational modeling robotics and automation Feedback Computer simulation Service robots Art Virtual environment Production Orbital robotics

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Extension of Petri nets and its applications to model systems with imprecise task duration

Extension of Petri nets and its applications to model system...

引用

IEEE international conference on Fuzzy Systems (FUZZ-IEEE)

作者： S. Kurkovsky R. Loganantharaj Department of Computer Science Columbus State University USA Automated Reasoning Laboratory Center for Advanced Computer Studies University of Louisiana Lafayette USA

The framework of Petri nets is extended with imprecise temporal properties. Possibility theory is applied to model imprecise time by time stamping tokens and assigning durations to firing of the transitions.

关键词： Petri nets Clocks Synchronization robotics and automation Application software Robots Electronic mail Laboratories Possibility theory Assembly

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The Cycab robot: a differentially flat system

The Cycab robot: a differentially flat system

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： S. Sekhavat J. Hermosillo INRIA Montbonnot Saint Martin France

The Cycab robot is a new mobile platform already used in several research labs and meant for different applications such as public transportation in airport terminals, self-service cars in pedestrian zones, etc. From a kinematic point of view, the Cycab specificity is the turning of its rear wheels as a linear function of the steering angle of the front wheels. This feature enhances the maneuverability of the Cycab in cluttered environments. However, the associated kinematic model is new and different from the ones commonly treated in the robotics literature (such as the car-like, tractor-trailer, etc). To our knowledge such a system has not yet been studied and especially, there is no existing motion planner for this system. We tackle the study of this new nonholonomic system, by establishing its kinematic model and proving its differential flatness property. From this study we deduce a first motion planner for the system.

关键词： Mobile robots Wheels Kinematics Motion planning robotics and automation Orbital robotics Airports Parallel robots Air transportation Road transportation

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Use of decision trees in colour feature selection. Application to object recognition in outdoor scenes

Use of decision trees in colour feature selection. Applicati...

引用

IEEE international conference on Image Processing

作者： J. Freixenet X. Llado J. Marti X. Cufi Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Catalonia Spain

A new method for the automated selection of colour features is described. The algorithm consists of two stages of processing. In the first, a complete set of colour features is calculated for every object of interest in an image. In the second stage, each object is mapped into several n-dimensional feature spaces in order to select the feature set with the smallest variables able to discriminate the remaining objects. The evaluation of the discrimination power for each concrete subset of features is performed by means of decision trees composed of linear discrimination functions. This method can provide valuable help in outdoor scene analysis where no colour space has been demonstrated as being the most suitable. Experiment results recognizing objects in outdoor scenes are reported.

关键词： Decision trees Object recognition Layout Application software Geometry Computer vision Robot vision systems robotics and automation Informatics Concrete

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Coordinated control for free-flyer space robots

Coordinated control for free-flyer space robots

引用

IEEE international conference on Systems, Man and Cybernetics

作者： M. Marchesi F. Angrilli R. Venezia CISAS G. C olombo-Università di Padova Padova Italy

Robots exploitation for hazardous space environment is challenging the planetary missions, and will have a special role in the assembly and maintenance of international Space Station. In orbit support of extra vehicular activities (EVA), automatic object recognition and manipulation on planets, will enable space robots more and more to substitute astronauts and time delayed teleoperation. Robust and reliable applications of free-flyer space robots are mainly characterized by the dynamic coupling between the motion of the arm and the drift of the spacecraft. Attitude modification is highly undesirable for tracking or manipulation tasks with accuracy, for directional antennas misalignment and for EVA performed close to manned space vehicles. In order to compensate the spacecraft attitude induced motions or to regulate the attitude at a fixed value, the proposed coordinated control exploits both coupled dynamics of the spacecraft-manipulator system and nonholonomic constraint due to angular momentum.

关键词： Robot kinematics Orbital robotics robotics and automation Space vehicles Robotic assembly Vehicle dynamics Attitude control Automatic control Space missions Space stations

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Model based fusion of laser and camera: range discontinuities and motion consistency

Model based fusion of laser and camera: range discontinuitie...

引用

international conference on Information Fusion

作者： J. Nygards A. Wernersson Robotics/Autonomous Mech. Syst. Linkoping Univ. Sweden Robotics & Automation Luleå University of Technology Lulea Sweden Swedish Defence Research Establishment Linkoping Sweden

Consider a robot to measure or operate on man made objects randomly located in the workspace. The optronic sensing onboard the robot are a scanning range measuring time-of-flight laser and a CCD camera. The plane surfaces are modeled and parameters extracted using the Radon/Hough transform. This extraction is very robust and motion is also included in a natural way. This paper gives additional results for range discontinuities. A multiple model framework for fusion of sensor information from laser and camera using parametric models of planar and cylindrical surfaces is suggested. An important issue is the mutual consistency between the motion, the range discontinuing, occlusion and properties of the sensor combination. Typical applications are; Robust features for use during navigation in cluttered areas. Model for verification and updating of CAD-models when navigating inside buildings and industrial plants. Accumulating sensor readings into a map during operation of a telecommanded robot.

关键词： Laser fusion Laser modes Cameras Robot sensing systems Robot vision systems Data mining Robustness Navigation Charge coupled devices Charge-coupled image sensors

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Constant torque walking

Constant torque walking

引用

IEEE conference on Control Technology and applications (CCTA)

作者： K. Uchida K. Furuta Department of Mechanical and Control Engineering Tokyo Institute of Technology Meguro Tokyo Japan Department of Computcrs and Systems Engineering Tokyo Denki University Hiki Saitama Japan

Describes constant torque walking which is realized by constantly applying torques to all joints of a 2-DOF or 3-DOF biped robot. Constant joint torques on the support leg base makes stable biped walking possible. Simulations and experiments reveal the existence of continuous walking. Walking on level ground has some similar properties to that of passive dynamic walking in the following aspects; the walker yields specific stable gait starting from proper initial conditions, the gait can be generated automatically without any gait planning, the walking speed varies with respect to certain parameter values, and the step period often exhibits period doubling or chaos phenomena. Analyzing such primitive walking may help us understand the mechanism of human locomotion much better.

关键词： Torque Legged locomotion Robot kinematics Leg robotics and automation Automatic control Equations Control engineering Chaos Humans

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Dynamic registration for augmented reality in telerobotics applications

Dynamic registration for augmented reality in telerobotics a...

引用

IEEE international conference on Systems, Man and Cybernetics

作者： J.-Y. Herve C. Duchesne V. Pradines Groupe de Recherche en Perception et Robotique École Polytechnj que de Montréal Montreal QUE Canada

The paper presents a solution to the dynamic registration problem in augmented reality for telerobotics applications. The objective is to align the virtual camera used to render a 3D graphical replica of a robot manipulator with the real camera, providing images from the work site. We proceed in two steps: first, a static registration process requiring the intervention of the operator; next, a dynamic registration process that continuously and automatically updates the registration data. Our dynamic algorithm relies on feature tracking and an extended Kalman filter for state estimation. We present experimental results for the dynamic registration algorithm and discuss possible extensions and improvements of the method.

关键词： Augmented reality Telerobotics Cameras Robot vision systems Layout Intelligent robots Calibration robotics and automation Humans Rendering (computer graphics)

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Control of a hybrid pneumatic/electric motor

Control of a hybrid pneumatic/electric motor

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： F. Takemura S.R. Pandian Y. Nagase H. Mizutani Y. Hayakawa S. Kawamura Department of Robotics Ritsumeikan University Shiga Japan Department of Control Engineering Nara National College of Techonology Nara Japan

Pneumatic motors have many advantages over electric motors, conventionally used for robotics and automation applications. However, the control performance of pneumatic motors is quite unsatisfactory, mainly due to the compressibility of air. We have recently proposed the development of hybrid pneumatic/electric motors where a small electric motor is used in conjunction with vane-type pneumatic motors, so that the hybrid actuator has better damping and ease of control than the pneumatic motor. In the present work, we consider the switching control of the hybrid actuator system, and, propose control algorithms for position, and trajectory control of the system. The performance improvement of the new actuator is illustrated by results of experimental implementation.

关键词： Electric motors Pneumatic actuators Sliding mode control Robots Control systems Hydraulic actuators Automatic control Friction Damping Costs

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Real-time scheduling on multithreaded processors

Real-time scheduling on multithreaded processors

引用

IEEE international conference on Embedded and Real-Time Computing Systems and applications (RTCSA)

作者： J. Kreuzinger A. Schulz M. Pfeffer T. Ungerer U. Brinkschulte C. Krakowski Institute for Computer Design and Fault Tolerance University of Karlsruhe Karlsruhe Germany Institute for Process Control Automation and Robotics University of Karlsruhe Karlsruhe Germany

This paper investigates real-time scheduling algorithms on upcoming multithreaded processors. As evaluation testbed we introduce a multithreaded processor kernel which is specifically designed as core processor of a micro-controller or system-on-a-chip. Handling of external real-time events is performed through multithreading. Real-time threads are used as interrupt service threads (ISTs) instead of interrupt service routines (ISRs). Our proposed micro-controller supports multiple ISTs with zero-cycle context switching overhead. We investigate the behavior of fixed priority preemptive, earliest deadline first, least laxity first and guaranteed percentage scheduling with respect to multithreaded processors. Our finding is that the strategies GP and LLF result in a good blending of instructions of different threads thus enabling a multithreaded processor to utilize latencies best. Assuming a zero-cycle context switch LLF performs best, however implementation cost context, are prohibitive.

关键词： Processor scheduling Yarn Switches Scheduling algorithm System testing Kernel Process design System-on-a-chip Multithreading Delay

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