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Design, modeling, and control of a wheel-legged locomotion system for the environmental hybrid robot

Design, modeling, and control of a wheel-legged locomotion s...

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2nd IASTED international conference on robotics, Robo 2011

作者： Freitas, Gustavo Lizarralde, Fernando Hsu, Liu Paranhos, Vitor Salvi Dos Reis, Ney R. Bergerman, Marcel Dept. of Electrical Eng. COPPE/Federal University Rio de Janeiro Brazil CENPES Petrobras S.A. Rio de Janeiro Brazil Field Robotics Center Robotics Institute Carnegie Mellon University Pittsburgh United States

ISBN: (纸本)9780889869035

Urucu, deep in the Amazon forest, is the largest in-land natural gas and oil producing site in Brazil. The oil and gas extracted in Urucu travel some 700 km in a pipeline through the jungle until they reach Manaus, where they are refined and consumed. Exploration of the site is conditioned on the Brazilian oil company Petrobras monitoring a 400 km section of the pipeline for any signs of water contamination. The Environmental Hybrid robot (EHR) was conceived to automate this humongous monitoring task, currently executed in extremely small scale by scientists and locals on foot and small boats. This paper describes the design, analysis, and testing of the EHR's second-generation locomotion mechanism, based on a two-DOF parallel mechanism. The new mechanism allows for independent control of wheel position and orientation relative to the terrain, thus significantly increasing the robot's mobility. Additionally, it allows for control of the vehicle's velocity-torque curve by adjusting the radius of curvature of the wheel at the point of contact with the soil. We present the forward and differential kinematic models of the new mechanism and, based on them, a differential kinematics-based position and orientation control method. We illustrate the methodology with experimental results.

关键词： Kinematics

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An Enhanced Formation of Multi-robot Based on A* Algorithm for Data Relay Transmission

An Enhanced Formation of Multi-robot Based on A* Algorithm f...

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2nd international conference on Swarm Intelligence (ICSI)

作者： Xu, Zhiguang Choi, Kyung-Sik Kim, Yoon-Gu An, Jinung Lee, Suk-Gyu Yeugnam Univ Dept Elect Eng Gyongsan Gyongbuk South Korea Daegu Gyeongbuk Inst Sci & Technol daegu South Korea

ISBN: (纸本)9783642215230

This paper presents a formation control method of multi-robot based on A* algorithm for data relay transmission. In our system, we choose Nanotron sensor and compass sensor to execute the tasks of distance measurement, communication and obtaining moving direction. Since there exists data disturbance from Nanotron sensor when there is an obstacle between two robots. Therefore, we embed path planning algorithm information control. The leader robot (LR) knows the whole information of environment, and sends its moving information and corner information as a node to FRs. The FRs regard the node information which received from LR as temporary target to increase the efficiency of multi-robot formation by optimal path. From the simulations and experiments, we will show desirable results of our method.

关键词： multi-robot formation path planning data relay transmission

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2nd international conference on Autonomous and Intelligent Systems, AIS 2011

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2nd international conference on Autonomous and Intelligent Systems, AIS 2011

ISBN: (纸本)9783642215377

The proceedings contain 40 papers. The special focus in this conference is on Autonomous and Intelligent Systems. The topics include: Thermal dynamic modeling and control of injection moulding process;analysis of future measurement incorporation into unscented predictive motion planning;Nonlinear maneuvering control of rigid formations of fixed wing UAVs;intelligent control system design for a class of nonlinear mechanical systems;trends in the control schemes for bilateral teleoperation with time delay;bilateral teleoperation system with time varying communication delay: Stability and convergence;online incremental learning of inverse dynamics incorporating prior knowledge;experimental comparison of model-based and model-free output feedback control system for robot manipulators;P-map: An intuitive plot to visualize, understand, and compare variable-gain PI controllers;small tree probabilistic roadmap planner for hyper-redundant manipulators;sufficient conditions for global synchronization of continuous piecewise affine systems;question type classification using a part-of-speech hierarchy;exploring wikipedia’s category graph for query classification;combination of error detection techniques in automatic speech transcription;Developing a secure distributed OSGi cloud computing infrastructure for sharing health records;extreme learning machine with adaptive growth of hidden nodes and incremental updating of output weights;face recognition based on kernelized extreme learning machine;detection and tracking of multiple similar objects based on color-pattern;Argo Vehicle Simulation of Motion Driven 3D LIDAR Detection and Environment Awareness;signal processing and pattern recognition for eddy current sensors, used for effective land-mine detection;A fuzzy logic approach for indoor mobile robot navigation using UKF and customized RFID Communication;human-machine learning for intelligent aircraft systems.

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A mini forklift robot

A mini forklift robot

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作者： Liawatimena, S. Felix, B.T. Nugraha, A. Evans, R. Computer Engineering Department Computer Science Faculty Bina Nusantara University 9 KH Syahdan Street Jakarta 11480 Indonesia

ISBN: (纸本)9788988678381

This paper presents the design of a mini forklift robot that can store and pick up object to/ from specified storage slot from/ to a base using line follower and RFID. Currently, in warehouse storage systems are mainly still done in a traditional way using human operator to store and pick goods into specified location. This project is intended to construct an autonomous mini forklift robot that use using Radio Frequency Identification Devices (RFID) technology to find the coordinates of targeted storage slot and goods identification. The control of movement consist of DC Motor with Pulse Width Modulation and infrared sensors for the line follower. The programming operation was performed by C language using Visual Studio 2005, CodeVisionAVR 2.05, and SQL 2005 as database. The program on the computer can serve two purposes. Firstly, program can check, read, write, and erase data on RFID Tags. Secondly, program can ask a mini forklift robot to store and pick goods at specified location. The robot can recognize two sides (A and B), 128 lines, 16 columns and 16 rows cabinets. The total of success achieved was 100% in storing goods but 58.33% in retrieving goods, because robot fails parking correctly to the base. © 2011 AICIT.

关键词： robots

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Cognitive audio-visual infocommunication applied in remote support for industrial robot systems

Cognitive audio-visual infocommunication applied in remote s...

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作者： Thomessen, Trygve Kosicki, Tomasz PPM AS Norwegian University of Science and Technology Trondheim Norway

ISBN: (纸本)9781457718069

Recently industrial robot systems are widely introduced in SMEs. An inexpensive and immediate support for the systems must be provided, therefore. The paper quantitatively evaluates whether the support can be provided remotely by means of cognitive audio-visual infocommunication. The evaluations are made up with an aid of experimental system that consists of local and remote rooms, which are physically separatedan industrial robot system is situated in the local room, whereas the operator, who exercises control over the system, is situated in the remote room. The results show that cognitive infocommunication is an efficient mean to provide the support remotely, not only for industrial robot systems, but most likely for any multivariable dynamic systems. © 2011 Scientific Assoc Infocomm.

关键词： Industrial robots

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A fully automatic hand gesture recognition system for human-robot interaction

A fully automatic hand gesture recognition system for human-...

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2nd Symposium on Information and Communication technology, SoICT 2011

作者： Nguyen, Thi Thanh Mai Pham, Ngoc Hai Dong, Van Thai Nguyen, Viet Son Tran, Thi Thanh Hai MICA Center HUST - CNRS/UMI 2954 - Grenoble INP Hanoi University of Science and Technology 1 Dai Co Viet St. Hanoi Viet Nam

ISBN: (纸本)9781450308809

Recently, human - machine interaction (HMI) becomes a hot research topic because of its wide applications, ranging from automatic device control to designing and development of assistant robot or even smart building at sparser scale. One of the most important questions in this research field is finding out an efficient and natural method of HMI. Among several channels of communication, hand gestures have been shown to be an intuitive and efficient mean to express an idea or to control something. For a successful hand gesture based interaction between human and robot, a vocabulary of hand gestures needs to be defined. To resolve this problem, in this paper, we propose a framework to study the behavior of Vietnamese in using of hand gesture in communication with robot. This study allows designing a hand gesture vocabulary for human - robot interaction (HRI) applications. In the literature, there are no works similar to ours. This makes our twofold contributions: (1) a proposed framework for hand gesture recognition: hand gesture vocabulary design, feature extraction for hand posture representation, hand posture classification, and hand gesture database construction;(2) some experimentations are realized to evaluate the defined hand gesture set that can be used in general situation of HRI. The experiment results show that the defined hand gesture set satisfies the both criteria: intuitiveness and recognisability. © 2011 ACM.

关键词： Adaptive boosting

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Remote control of industrial robot systems using cognitive info communication

Remote control of industrial robot systems using cognitive i...

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作者： Thomessen, Trygve Nagy, Laszlo Olah, Karoly PPM AS Norwegian University of Science and Technology Trondheim Norway Cognitive Informatics Research Group MTA SZTAKI Budapest Hungary

ISBN: (纸本)9781457718069

The robotization of small and medium sized companies put new challenges on the support and knowledge transfer. To be able to fulfil their requirements to instant support of their industrial robot systems, remote solutions are needed. However, remote control of a complex industrial robot system, put challenges onto the communication between the remote operator and the industrial robot system due to the fact that there are numerous states and data to be instantly transferred to the operator. This paper is intended to show one important industrial aspect of cognitive info communication. It deals with remote control of industrial robot systems by using cognitive info communication between the remote operator and the industrial robot system. The remote operator system utilizes the combination of sound and video in addition to animation using the VirCa software. The system is implemented as on a standard PC to remote operate a seven axes NACHI MR20 robot. Experimental results show that sound in combination of video, represents an efficient approach to communicate the complex state of an industrial robot system to a remote operator. © 2011 Scientific Assoc Infocomm.

关键词： Industrial robots

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Subsumption architecture for enabling strategic coordination of robot swarms in a gaming scenario

Subsumption architecture for enabling strategic coordination...

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2nd international conference on Adaptive and Intelligent Systems, ICAIS 2011

作者： Hristoskova, Anna Junqué De Fortuny, Enric De Turck, Filip Department of Information Technology Ghent University - IBBT Gaston Crommenlaan 8 bus 201 9050 Ghent Belgium

ISBN: (纸本)9783642238567

The field of swarm robotics breaks away from traditional research by maximizing the performance of a group - swarm - of limited robots instead of optimizing the intelligence of a single robot. Similar to current-generation strategy video games, the player controls groups of units - squads - instead of the individual participants. These individuals are rather unintelligent robots, capable of little more than navigating and using their weapons. However, clever control of the squads of autonomous robots by the game players can make for intense, strategic matches. The gaming framework presented in this article provides players with strategic coordination of robot squads. The developed swarm intelligence techniques break up complex squad commands into several commands for each robot using robot formations and path finding while avoiding obstacles. These algorithms are validated through a 'Capture the Flag' gaming scenario where a complex squad command is split up into several robot commands in a matter of milliseconds. © 2011 Springer-Verlag.

关键词： Swarm intelligence

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WPAN Communication Distance Expansion Method Based on Multi-robot Cooperation Navigation

WPAN Communication Distance Expansion Method Based on Multi-...

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2nd international conference on Swarm Intelligence (ICSI)

作者： Kim, Yoon-Gu An, Jinung Kim, Kyoung-Dong Xu, Zhi-Guang Lee, Suk-Gyu Daegu Gyeongbuk Inst Sci & Technol 50-1 Sang Ri Dalseong Gun Daegu South Korea Yeungnam Univ Dept Elect Engn Gyongsan Gyongbuk South Korea

ISBN: (纸本)9783642215230

Over the past decade, an increasing number of researches and developments for personal or professional service robots are attracting considerable attention and interest in industry and academia. Furthermore, the development of intelligent robots is strongly promoted as a strategic industry. To date, most of the practical and commercial service robots are controlled remotely. The most important technical issue of remote control is wireless communication, especially in indoor and unstructured environments where communication infrastructure may be hampered. Therefore, we propose a multi-robot cooperation navigation method for securing the communication distance extension of the remote control based on wireless personal area networks (WPANs). The concept and implementation of following navigation are introduced, and performance verification is carried out through navigation experiments in real or test-bed environments.

关键词： WPAN Communication distance expansion Multi-robots Remote control

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Information Processing in Computer-Assisted Interventions - Second international conference, IPCAI 2011, proceedings

Information Processing in Computer-Assisted Interventions - ...

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2nd international conference on Information Processing in Computer-Assisted Interventions, IPCAI 2011

ISBN: (纸本)9783642215032

The proceedings contain 17 papers. The topics discussed include: the tumor therapy manager - design, refinement and clinical use of a software product for ENT surgery planning and documentation;an image-guided surgery system to aid endovascular treatment of complex aortic aneurysms: description and initial clinical experience;or specific domain model for usability evaluations of intra-operative systems;a multi-view active contour method for bone cement reconstruction from C-arm X-ray images;biomechanically constrained groupwise statistical shape model to ultrasound registration of the lumbar spine;DOF minimization for optimized shape control under active constraints for a hyper-redundant flexible robot;hand-held force magnifier for surgical instruments;PS-GANS: a patient-specific, gravity assisted navigation system for acetabular cup placement;and correlating clinical scores with anatomical electrodes locations for assessing deep brain stimulation.

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