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Collaborative Decision Systems Project summary of technology developments for human-robotics interactions

Collaborative Decision Systems Project summary of technology...

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IEEE international conference on Space Mission Challenges for Information technology, SMC-IT

作者： L. Pedersen R. Brummett Intelligent Systems Division NASA Ames Research Center Moffett Field CA USA

Summary form only given. Future manned exploration will involve increasingly complex missions in space and on planetary surfaces. Flight crews will need to be largely self-reliant in routine operation with ground support providing rapid expert consultation and ad hoc support. Creating and executing such control strategies requires machine intelligence, coupled tightly with human intelligence, to become an integral part of future flight systems for both manned and unmanned missions. This means that both the systems and sub-systems fielded by the exploration initiative will need to be "smarter" and that these automated systems, and the human crew, will need to function as a well-integrated robust team. The Collaborative Decision Systems (CDS) Project addressed these challenges by creating technology for automating both nominal operations and health management, and technologies for merging automated systems and human crews into functional self-reliant teams. The CDS Project performed low- to mid-TRL inter-disciplinary research and technology development integrated across multiple research groups, principal investigators, and NASA centers. The development and integration resulted in an integrated technology demonstration that modeled a 'day on the surface' that featured an astronaut, 2 autonomous rovers, and a habitat crew. Technologies developed and utilized in the integrated scenario included; instrument and Tool placement; flexible command cycles; real-time EVA monitoring and collaboration; voice commanded device control; worksite navigation and planning; and integrated data management. Numerous factors drove the design. The planner-robot-agent system must accept requests from multiple crew members and provide a mechanism for resolving conflicts between them. A single robot operator (by assumption, a crew member inside the habitat) must be able to oversee the system and provide input where necessary, but should be involved in the EVA only when needed. Space-suited cr

关键词： Collaboration Space technology robot kinematics Humans Ground support control systems Machine intelligence technology management Instruments Orbital robotics

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Design and Manufacturing of a Mobile Rescue robot

Design and Manufacturing of a Mobile Rescue Robot

引用

2006 IEEE/RSJ international conference on Intelligent robots and Systems

作者： S. Ali A. Moosavian Hesam Semsarilar Arash Kalantari Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

This paper presents design and manufacturing procedure of a tele-operative rescue robot. First, the general task to be performed by such a robot is defined, and variant kinematic mechanisms to form the basic structure of the robot are discussed. Choosing an appropriate mechanism, geometric dimensions, and mass properties are detailed to develop a dynamics model for the system. Next, the strength of each component is analyzed to finalize its shape. To complete the design procedure, Patran/Nastran was used to apply the finite element method for strength analysis of complicated parts. Also, ADAMS was used to model the mechanisms, where 3D sketch of each component of the robot was generated by means of Solidworks, and several sets of equations governing the dimensions of system were solved using Matlab. Finally, the components are fabricated and assembled together with controlling hardware. Two main processors are used within the control system of the robot. The operator's PC as the master processor and the laptop installed on the robot as the slave processor. The performance of the system was demonstrated in Rescue robot league of RoboCup 2005 in Osaka (Japan) and achieved the 2nd best design award

关键词： Mobile robots Solid modeling Mathematical model Pulp manufacturing Kinematics Mechanical factors Shape Finite element methods Equations robotic assembly

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Neural network based optimal position/force control for constrained robot manipulators

Neural network based optimal position/force control for cons...

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2nd Indian international conference on Artificial Intelligence, IICAI 2005

作者： Sukavanam, N. Panwar, Vikas Department of Mathematics Indian Institute of Technology Roorkee 247667 India

ISBN: (纸本)0972741216

In this paper the application of quadratic optimization and sliding mode approach is considered for hybrid position and force control of a robot manipulator. The dynamic model of the manipulator is transformed to a state-space model to contain two sets of state variables, where one describes the constrained motion and the other describes the unconstrained motion. The optimal feedback control law is derived solving matrix differential Riccati equation, which is obtained using Hamilton Jacobi Bellman optimization. The dynamic model uncertainties are compensated with a feedforward neural network. The FFNN requires no preliminary off-line training and is trained with on-line weight tuning algorithms that guarantee small errors and bounded control signals. The application of the derived control law is demonstrated through simulation with a two-arm robot manipulator to track a circular constrained surface while applying the desired force on the surface. Copyright © IICAI 2005.

关键词： Dynamic models

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Real time vision-based control of a carom playing robot

Real time vision-based control of a carom playing robot

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2nd Indian international conference on Artificial Intelligence, IICAI 2005

作者： Somasundarani, Guruprasad Krislmakiimar, Karrhik Shanmugam, Karrhikeyan Rajendran, Vinoclh Kumar India

ISBN: (纸本)0972741216

Visual perception is being used increasingly in mobile robot naviga tion and the control of robot manipulators. This paper discusses the system de sign aspects of a carom playing robot using visual perception. Images of the carom board are captured using a low cost camera. These images are processed to identify the features of the carom board and the positions of the corns hi pixel coordinates. These coordinates are given as inputs for an algorithm that by exhaustively computing straight line paths determines the position and ori entation required for the robot to execute the shot. control signals are accord ingly generated to acmate an ami with 4 Degrees of Freedom. The whole sys-tem has been built around low cost components. After integrating the complete system, detailed trials were earned out to determine performance and the re sults have been presented. Copyright © IICAI 2005.

关键词： Degrees of freedom (mechanics)

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Partial feedback linearization control of a single flexible link robot manipulator

Partial feedback linearization control of a single flexible ...

引用

RAST 2005 - 2nd international conference on Recent Advances in Space Technologies

作者： Arisoy, A. Gökaşan, M. Bogosyan, O.S. Turkish Air Force Academy Department of Electronics Engineering Istanbul Turkey Istanbul Technical University Electrical and Electronics Engineering Faculty Istanbul Turkey ECE Dept. University of Alaska Fairbanks

ISBN: (纸本)0780389778

In this study, a control approach based on a partial feedback linearization is developed for the tracking of stationary and moving targets with robotic structures. To address the high speed, high accuracy requirements of lightweight robotic systems for such applications, the control of a single link flexible arm is taken into consideration. Flexible Link robot manipulators are classified among underactuated systems due to their structural flexibilities and resulting high number of passive degrees-of-freedom. Underactuated systems cannot be decoupled due to the highly nonlinear structure and exact feedback linearization control methods cannot be applied to these systems. Therefore partial feedback linearization control methods are suitable to the entire class of underactuated systems. In this study, classical PD based collocated Partial Feedback Linearization is applied for positioning and tracking control. For set point control, collocated and non-collocated control algorithms are applied consecutively using switching action to improve the position precision as demonstrated by simulations. The proposed control strategy has proven to be effective for the control of a single flexible link arm and therefore, could meet the control requirement of high speed, lightweight structures used in space. Numerical simulations of a single flexible link robot manipulator successfully demonstrate the effectiveness of the proposed method. ©2005 IEEE.

关键词： Feedback control

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Omnidirectional adaptive behavior control for autonomous mobile robot

引用

2nd international conference Modeling Decisions for Artificial Intelligence

作者： Maeda, Y Shimizuhira, W Univ Fukui Dept Human & Artificial Intelligent Syst Fac Engn Fukui 9108507 Japan

ISBN: (纸本)3540278710

We propose a multiple omnidirectional vision system with three omnidirectional cameras and its calculation method for the measurement of the object position and the self-localization in RoboCup soccer robots. On the identification of the self-position, we try to improve the accuracy of the measurement by correcting the absolute position based on the measurement error of landmarks in the origin of the absolute coordinate. Furthermore, we propose the omnidirectional behavior control method for collision avoidance and object chasing motion by using fuzzy reasoning in an autonomous mobile robot with MOVIS. In this paper, we also report some experimental results to confirm the efficiency of the proposed method by using a soccer robot in dynamic environment.

关键词： Mobile robots

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Feedback control of humanoid robot locomotion

Feedback control of humanoid robot locomotion

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2nd international conference on Fuzzy Systems and Knowledge Discovery

作者： Lei, XS Su, JB Shanghai Jiao Tong Univ Dept Automat & Res Ctr Intelligent Robot Shanghai 200030 Peoples R China

ISBN: (纸本)3540283129

As an assistant tool for human beings, humanoid robot is expected to cooperate with people to do certain jobs. Therefore, it must have high intelligence to adapt to common working condition. The objective of this paper is to propose an adaptive fuzzy logic control (FLC) method to improve system adaptability and stability, which can adjust hip and ankle joint based on sensor information. Furthermore, it can real time adjust controller parameters to improve FLC performance. Based on sensor information, humanoid robot can get environment and inherent situation and use the adaptive-FLC to realize stable locomotion. The effectiveness of the proposed method is shown with simulations based on the parameters of the "IHR-1" humanoid robot.

关键词： Feedback control

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Self-localization of a mobile robot by local map matching using fuzzy logic

引用

2nd international conference on Fuzzy Systems and Knowledge Discovery

作者： Yu, JX Cai, ZX Zou, XB Duan, ZH Cent S Univ Coll Informat Sci & Engn Changsha 410083 Peoples R China Henan Polytech Univ Dept Comp Sci & Technol Jiaozuo Henan 454003 Peoples R China Shaoguan Univ Dept Comp Sci Shaoguan Guangdong 512003 Peoples R China

ISBN: (纸本)3540283315

Reliable localization is a fundamental issue in robot navigation techniques. This paper describes an apporach for realizing self-localization of mobile robot by matching the local map generated from a 2D laser scanner. Environment map is represented by occupancy grids and it fuses the information of the robot's pose using dead-reckoning method and the range to obstacles by laser scanner using maximum likehood estimation. After a current laser scan, the positon of mobile robot, in relation to a previous scan and pose estimates, is computed by matching the local map using fuzzy logic method. The effectiveness of this method is demonstrated by experiments.

关键词： Mobile robots

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Fuzzy model based environmental stiffness identification in stable force control of a robot manipulator

引用

2nd international conference on Modeling Decisions for Artificial Intelligence, MDAI 2005

作者： Park, Chang-Woo Lee, Jongbae Park, Minkee Park, Mignon Precision Machinery Research Center Korea Electronics Technology Institute 401-402 B/D 193Yakdae-Dong Puchon-Si Kyunggi-Do 420-734 Korea Republic of Dept. of Electrical and Electronic Eng. Yonsei Univ. Korea Republic of

ISBN: (纸本)3540278710

In this paper, we propose a new force control method in contact tasks using a fuzzy model. The contact force that is exerted on the environment by the link is some general function of the displacement, and not necessarily linear. First, a new identification method of a fuzzy model is proposed and then a nonlinear function of contact force is modeled by a proposed identification algorithm of a fuzzy model. The system stability for the proposed force control method is proved theoretically using a Lyapunov direct method. Finally it is shown that the proposed method is useful for the force control of manipulator by simulation. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Manipulators

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Large-Scale Neural Interface technology: Directly Connecting the Brain To the Real World

Large-Scale Neural Interface Technology: Directly Connecting...

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international IEEE/EMBS conference on Neural Engineering, CNE

作者： J.K. Chapin SUNY Downstate School of Medicine USA

Electronic advances over the last two decades have enabled the development of large-scale neural interface technology. Thus we can now use multielectrode arrays to transmit information out of the brain to directly control computers and robotic devices. More recently we have developed multi-electrode stimulating arrays to input information directly into sensory system of the brain. Since these devices provide direct access to individual neural circuits, one can now study neural information processing with greater precision. This technology also enables a new generation of bidirectional neural prosthetic systems that may alleviate paralysis and other neurological diseases. Finally, we have demonstrated the ability to use simple brain interfaces to remotely guide rodents through inaccessible spaces in order to perform surveillance and sensory detection functions

关键词： Large-scale systems Sensor arrays Space technology robot control Brain computer interfaces robot sensing systems Information processing Prosthetics

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