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sensor fusion and decentralized control in robotic systems IV Conference

作者： Mori, T Noguchi, H Sato, T Univ Tokyo Grad Sch Informat Sci & Technol Dept Mechanoinformat Bunkyo Ku Tokyo 1138656 Japan

ISBN: (纸本)0819442992

This paper describes construction of sensor network system for human behavior measurement and accumulation in a room. The network system consists of three layers: a sensing layer, a process layer and integration layer. It is capable of distributed processing in each module which is a group of several sensors. The implemented system of "robotic Room 2" based on distributed objects allows not only easy integration and accumulation of sensor information but also parallel execution of both integrated measurement and accumulation system.

关键词： human behavior measurement sensor network distributed objects

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Virtual reality hardware for use in interactive 3D data fusion and visualization

Virtual reality hardware for use in interactive 3D data fusi...

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Conference on sensor fusion and decentralized control in autonomous robotic systems

作者： Gourley, CS Abidi, MA Univ. of Tennessee/Knoxville (United States)

ISBN: (纸本)0819426415

Virtual Reality has become a tool for use in many areas of research. We have designed and built a VR system for use in range data fusion and visualization. One major VR tool is the CAVE. This is the ultimate visualization tool, but comes with a large price tag. Our design uses a unique CAVE whose graphics are powered by a desktop computer instead of a larger rack machine making it much less costly. The system consists of a screen eight feet tall by twenty-seven feet wide giving a variable field-of-view currently set at 160 degrees. A Silicon Graphics Indigo2 MaxImpact with the Impact Channel Option is used for display. This gives the capability to drive three projectors at a resolution of 640x480 for use in displaying the virtual environment and one 640x480 display for a user control interface. This machine is also the first desktop package which has built-in hardware texture mapping. This feature allows us to quickly fuse the range and intensity data and other multi-sensory data. The final goal is a complete 3D texture mapped model of the environment. A dataglove, magnetic tracker, and spaceball are to be used for manipulation of the data and navigation through the virtual environment. This system gives several users the ability to interactively create 3D models from multiple range images.

关键词： virtual reality laser range scanner CAVE visualization

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Pause-and-Go Self-Balancing Formation control of autonomous Vehicles Using Vision and Ultrasound sensors

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IEEE TRANSACTIONS ON control systems TECHNOLOGY 2021年第6期29卷 2299-2311页

作者： Mwaffo, Violet Curry, Jackson Skeen Lo Iudice, Francesco De Lellis, Pietro Univ Colorado Boulder Dept Mech Engn Boulder CO 80309 USA US Naval Acad Weap Robot & Control Engn Dept Annapolis MD 21402 USA Univ Naples Federico II Dept Elect Engn & Informat Technol I-80125 Naples Italy

In this work, we implement a decentralized and noncooperative state estimation and control algorithm to autonomously balance a team of robots in a circular formation pattern. The group of robots includes a leader periodically moving at a constant steering angle and a set of followers that, by only leveraging intermittent and noisy proximity measurements, independently implement a fully decentralized state estimation control algorithm to determine and adjust their relative position with closest neighbors. The algorithm is conducted in a pause-and-go sequence, where, during the pause, each robot stops to gather and process the information coming from the measurements, estimate the relative phase with respect to the others, and identify its closest pursuant. During the go, each robot accelerates to space from its closest pursuant and then to move at a constant speed when the desired spacing is achieved. The algorithm is tested in an unprecedented experiment on a custom-made low-cost caster-wheeled robotic framework featuring sonar and vision sensors mounted on a rotating platform to estimate the proximity distance to closer neighbors. The control scheme, which does not necessitate cooperation and is capable of coping with uncertain and intermittent sensor feedback data, is shown to be effective in balancing the robot on the circle even when, at a steady state, no feedback sensor data are available.

关键词： Robots sensors Robot sensing systems sensor systems Process control Uncertainty Position measurement autonomous vehicles formation control ground robots interval uncertainty multiagent systems noncooperative control ultrasound sensors vision sensors

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sensor-based autonomous control for telerobotic system

Sensor-based autonomous control for telerobotic system

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4th World Congress on Intelligent control and Automation

作者： Chou, WS Wang, TM You, S Beijing Univ Aeronaut & Astronaut Robarts Res Inst Beijing 100083 Peoples R China

ISBN: (纸本)0780372689

Teleoperation is a alternative to enhance the ability of robotic system. In teleoperated robotic system, human operator's intelligence is projected into remote robotic system. However, due to the propagation time delay of forward and backward information in teleoperated robotic system, human operator is not easy to control the remote robotic system stably. So it is crucial of enhancing robot autonomous control ability to adapt to the change of environments. This paper presents a new intelligent autonomous control method for teleoperated robotic system. In this control method, the controller is organized into three layers which imitates the information processing of human being. Mutisensor are adopted in teleoperated robotic system to obtain the environment states, and the sensory information are fused into deferent level of autonomous controller to meet the need of the change of environment. Experimental results demonstrate the effectiveness of the proposed sensor based autonomous control method.

关键词： telerobotics intelligent control sensor fusion knowledge based systems inference mechanisms man-machine systems intelligent control teleoperated arm hand system teleoperation sensor-based control knowledge based reasoning telerobotics inference engine sensor fusion

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Dual-sensor fusion based attitude holding of a fin-actuated robotic fish

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BIOINSPIRATION & BIOMIMETICS 2020年第4期15卷 046003-046003页

作者： Zheng, Junzheng Zheng, Xingwen Zhang, Tianhao Xiong, Minglei Xie, Guangming Peking Univ State Key Lab Turbulence & Complex Syst Intelligent Biomimet Design Lab Coll Engn Beijing 100871 Peoples R China Boya Gongdao Beijing Robot Technol Co Ltd Beijing 100084 Peoples R China Peking Univ Ocean Res Inst Beijing 100871 Peoples R China Peng Cheng Lab Shenzhen 518055 Peoples R China

In nature, the lateral line system (LLS) is a critical sensor organ of fish for rheotaxis in complex environments. Inspired by the LLS, numbers of artificial lateral line systems (ALLSs) have been designed to the fish-like robots for flow field perception, assisting the robots to be stable in the face of flow disturbances. However, almost all pressure sensor based ALLSs face the challenge of the low signal to noise ratio (SNR), resulting in inaccurate perception information. To solve this problem, this paper describes a dual-sensor fusion method by integrating the ALLSs with the inertial measurement unit (IMU), and shows the excellent performance by a higher precision and lower latency attitude holding of robotic fish. First, low-pass filtering is performed on ALLS data with low-SNR. Second, the ALLS data is mapped to the angle of attack based on an artificial neural network. Finally, a fusion perception method is established based on the time correlation between ALLS and IMU. To demonstrate the efficacy of our proposed method, we compare the result of attitude holding by three methods (dual-sensor fusion method, IMU based method, and ALLS based method). Furthermore, dual-sensor fusion method is tested at varied flow velocities and varied desired angles of attack, indicating that the algorithm can enable the robotic fish to perform dynamic movements in the incoming flow. This work provides a method for the attitude control of autonomous underwater vehicles (AUVs) by fusing the sensory data of ALLS and IMU, which is also applicable to other flow sensors and IMU.

关键词： robotic fish dual-sensor fusion artificial lateral line system attitude holding high-precision low-latency

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Estimating the surface temperature profile from a sequence of partial thermal images

Estimating the surface temperature profile from a sequence o...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Jones, PDA Duncan, SR Univ Oxford Dept Engn Sci Oxford OX1 3PJ England

ISBN: (纸本)0819442992

This paper considers the processing of thermal images taken during an arc spraying process. It describes a filtering method for reconstructing an estimate of the required surface temperature from a sequence of images that contain unpredictable amounts of blurring and obscuration. A practical use of the filtering to control average surface temperature during metal arc spraying is also described.

关键词： partial images thermal imaging electric arc spraying temperature control

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People tracking using omnidirectional vision and range information

People tracking using omnidirectional vision and range infor...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Illmann, J Kluge, B Prassler, E Res Inst Appl Knowledge Proc D-89081 Ulm Germany

ISBN: (纸本)0819442992

In this paper we present two approaches for tracking of people in dynamic environments with a moving sensor system. The trajectories of persons are used to extract simple motion patterns. Object detection and tracking is based on range and color information which is provided by a laser range finder and a onmidirectional color camera. Without any predefined person-model the system acquires an internal representation of the person at an initialization phase. This representation is tracked in real-time in dynamic environments. During the tracking procedure illumination conditions axe continously monitored. The tracking approaches were implemented on a robotic wheelchair and evaluated experimentally in different dynamic environments.

关键词： omnidirectional vision color vision and range fusion people tracking

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Cooperative robotic sentry vehicles

Cooperative robotic sentry vehicles

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sensor fusion and decentralized control in robotic systems II Conference

作者： Feddema, J Lewis, C Klarer, P Eisler, R Caprihan, R Sandia Natl Labs Intelligent Syst & Robot Ctr Albuquerque NM 87185 USA

ISBN: (纸本)0819434329

As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories' Intelligent systems & robotics Center is developing and testing the feasibility of a cooperative team of robotic sentry vehicles to guard a perimeter and to perform a surround task. This paper describes on-going activities in the development of these robotic sentry vehicles. To date, we have developed a robotic perimeter detection system which consists of eight "Roving All Terrain Lunar Explorer Rovers" (RATLER(TM)), a laptop-based base-station, and several Miniature Intrusion Detection sensors (MIDS). A radio frequency receiver on each of the RATLER vehicles alerts the sentry vehicles of alarms from the hidden MIDS. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm For the surround task both potential field and A* search path planners have been added to the base-station and vehicles. At the base-station, the operator specifies goal and exclusion regions on a GIS map. The path planner generates vehicle paths that are previewed by the operator. Once the operator has validated the path, the appropriate information is downloaded to the vehicles. For the potential field path planner, the polygons and line segments that represent the obstacles and goals are downloaded to the vehicles, instead of the simulated paths. On board the vehicles, the same potential field path planner generates the path except that it uses the true location of itself and the nearest neighboring vehicle. For the A* path planner, the actual path is downloaded to the vehicles because of limited on-board computational power.

关键词： mobile robots cooperative control distributed autonomous systems

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sensor fusion and decentralized coutral in robotic systems IV

Sensor fusion and decentralized coutral in robotic systems I...

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sensor fusion and decentralized control in robotic systems IV

The proceedings contains 24 papers from the conference on sensor fusion and decentralized control in robotic systems IV. The topics discussed include: delayed and asequent data in decentralized sensing networks;rover localization results for the FIDO rover;performance of a distributed robotic system using shared communications channels;people tracking using omnidirectional vision and range information;development of PetRo: a modular robot for petlike applications;integrated virtual space control system utilizing hand gesture for intelligent house.

关键词： sensor data fusion

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Application of a model of instrumental conditioning to mobile robot control

Application of a model of instrumental conditioning to mobil...

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Conference on sensor fusion and decentralized control in autonomous robotic systems

作者： Saksida, LM Touretzky, DS Carnegie Mellon Univ. (United States)

ISBN: (纸本)0819426415

Instrumental conditioning is a psychological process whereby an animal learns to associate its actions with their consequences. This type of learning is exploited in animal training techniques such as ''shaping by successive approximations'', which enables trainers to gradually adjust the animal's behavior by giving strategically timed reinforcements. While this is similar in principle to reinforcement learning, the real phenomenon includes many subtle effects not considered in the machine learning literature, In addition, a good deal of domain information is utilized by an animal learning a new task;it does not start from scratch every time it learns a new behavior. For these reasons, it is not surprising that mobile robot learning algorithms have yet to approach the sophistication and robustness of animal learning. A serious attempt to model instrumental learning could prove fruitful for improving machine learning techniques. In the present paper, we develop a computational theory of shaping at a level appropriate for controlling mobile robots. The theory is based on a series of mechanisms for ''behavior editing'', in which pre-existing behaviors, either innate or previously learned, can be dramatically changed in magnitude, shifted in direction, or otherwise manipulated so as to produce new behavioral routines. We have implemented our theory on Amelia, an RWI B21 mobile robot equipped with a gripper and color video camera. We provide results from training Amelia on several tasks, all of which were constructed as variations of one innate behavior, object-pursuit.

关键词： autonomous mobile robots instrumental learning operant conditioning reinforcement learning shaping

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