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检索条件"主题词=Control Engineering Computing"

共 1551 条记录，以下是701-710 订阅

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Pushing the limits of the CyberGrasp™ for haptic rendering

Pushing the limits of the CyberGrasp™ for haptic rendering

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Aiple, Manuel Schiele, Andre European Space Agcy NL-2201 AZ Noordwijk Netherlands

ISBN: (纸本)9781467356411;9781467356435

The CyberGrasp (TM) is a well known dataglove-exoskeleton device combination that allows to render haptic feedback to the human fingers. Its design, however, restricts its usability for teleoperation through a limited control bandwidth and position sensor resolution. Therefore the system is restricted to low achievable contact stiffness and feedback gain magnitudes in haptic rendering. Moreover, the system prohibits simple adaption of its controller implementation. In this paper, the ExHand Box is presented, a newly designed back-end to widen the CyberGrasp (TM)'s bandwidth restrictions and to open it up for fully customized controller implementations. The ExHand Box provides a new computer, interface electronics and motor controllers for the otherwise unmodified CyberGlove (R) and CyberGrasp (TM) hand systems. The loop frequency of the new system can be freely varied up to 2 kHz and custom controllers can be implemented through an automatic code generation interface. System performance identification experiments are presented that demonstrate improved behavior in hard contact situations over a range of sampling periods. Maximum contact stiffnesses of up to 50kN/m in a stable condition are demonstrated, which is significantly higher than what could be achieved with the non-customized original system version. Moreover, a bilateral control experiment is conducted to demonstrate the new system's usability for generic teleoperation research. In this experiment a raycasting algorithm is introduced for pre-contact detection in order to compensate for high delay and jitter communication links between master and slave as they appear in an Ethernet network. It is demonstrated that the contact stiffness can be maintained in the order of magnitude of the system performance identification with a demonstrated stiffness of 41kN/m in a stable condition.

关键词： control engineering computing data gloves local area networks program compilers ray tracing telecontrol

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Demo Abstract: Synthesis of Platform-aware Attack-Resilient Vehicular Systems

Demo Abstract: Synthesis of Platform-aware Attack-Resilient ...

引用

4th IEEE/ACM International Conference on Cyber-Physical Systems (ICCPS)

作者： Pajic, Miroslav Bezzo, Nicola Weimer, James Sokolsky, Oleg Michael, Nathan Pappas, George J. Tabuada, Paulo Lee, Insup Univ Penn Sch Engn & Appl Sci Philadelphia PA 19104 USA Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA Univ Calif Los Angeles Dept Elect Engn Los Angeles CA 90095 USA

""Over the past decade, the design process in the automotive industry has gone through a period of significant changes. Modern vehicles present a complex interaction of a large number of embedded Electronic ... 详细信息

ISBN: (纸本)9781450319966

关键词： automobiles automotive electrics control engineering computing control system synthesis formal specification program compilers security of data

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Toward A User-Guided Manipulation Framework for High-DOF Robots with Limited Communication

Toward A User-Guided Manipulation Framework for High-DOF Rob...

引用

IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Alunni, Nicholas Phillips-Grafftin, Calder Suay, Halit Bener Lofaro, Daniel Berenson, Dmitry Chernova, Sonia Lindeman, Robert W. Oh, Paul Worcester Polytech Inst Worcester MA 01609 USA

ISBN: (纸本)9781467362252;9781467362238

This paper presents our progress toward a user-guided manipulation framework for High Degree-of-Freedom robots operating in environments with limited communication. The system we propose consists of three components: (1) a user-guided perception interface which assists the user to provide task level commands to the robot, (2) planning algorithms that autonomously generate robot motion while obeying relevant constraints, and (3) a trajectory execution and monitoring system which detects errors in execution. We have performed quantitative experiments on these three components and qualitative experiments of the entire pipeline with the PR2 robot turning a valve for the DARPA Robotics Challenge. We ran 20 tests of the entire framework with an average run time of two minutes. We also report results for tests of each individual component.

关键词： control engineering computing graphical user interfaces human-robot interaction humanoid robots mobile robots path planning valves

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Designing Hardware and Software Systems Toward Very Compact and Fully Autonomous Quadrotors

Designing Hardware and Software Systems Toward Very Compact ...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) - Mechatronics for Human Wellbeing

作者： Konomura, Ryo Hori, Koichi Univ Tokyo Dept Aeronaut & Astronaut Tokyo 1138654 Japan

ISBN: (纸本)9781467353205

In this paper, we describe the design and performance of hardware and software systems toward very compact and fully autonomous quadrotors, where they can complete rescue or surveillance missions without external assistance systems like ground station computers, high-performance wireless communication devices or motion capture system. In the experiments, we assess the performance of on-board image processing with a monocular camera while the vehicle is hovering. And we also describe the vision necessary for on-board applications in the real environment including automatic hovering and self-position estimation with a map using low-end hardware system.

关键词： aerospace computing autonomous aerial vehicles cameras control engineering computing robot vision

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Autonomous Mission Operations

Autonomous Mission Operations

引用

IEEE Aerospace Conference

作者： Frank, Jeremy Spirkovska, Lilijana McCann, Rob Wang, Lui Pohlkamp, Kara Morin, Lee NASA Ames Res Ctr Mail Stop N269-1 Moffett Field CA 94035 USA NASA Johnson Space Ctr Houston TX 77058 USA

ISBN: (纸本)9781467318112

NASA's Advanced Exploration Systems Autonomous Mission Operations (AMO) project conducted an empirical investigation of the impact of time delay on today's mission operations, and of the effect of processes and mission support tools designed to mitigate time-delay related impacts. Mission operation scenarios were designed for NASA's Deep Space Habitat (DSH), an analog spacecraft habitat, covering a range of activities including nominal objectives, DSH system failures, and crew medical emergencies. The scenarios were simulated at time delay values representative of Lunar (1.2-5 sec), Near Earth Object (NEO) (50 sec) and Mars (300 sec) missions. Each combination of operational scenario and time delay was tested in a Baseline configuration, designed to reflect present-day operations of the International Space Station, and a Mitigation configuration in which a variety of software tools, information displays, and crew-ground communications protocols were employed to assist both crews and Flight control Team (FCT) members with the long-delay conditions. Preliminary findings indicate: 1) Workload of both crewmembers and FCT members generally increased along with increasing time delay. 2) Advanced procedure execution viewers, caution and warning tools, and communications protocols such as text messaging decreased the workload of both flight controllers and crew, and decreased the difficulty of coordinating activities. 3) Whereas crew workload ratings increased between 50 sec and 300 sec of time delay in the Baseline configuration, workload ratings decreased (or remained flat) in the Mitigation configuration.

关键词： aerospace computing aerospace control control engineering computing delays protocols space vehicles

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Calibration of a Network of Kinect Sensors for Robotic Inspection over a Large Workspace

Calibration of a Network of Kinect Sensors for Robotic Inspe...

引用

IEEE Workshop on Robot Vision (WORV)

作者： Macknojia, Rizwan Chavez-Aragon, Alberto Payeur, Pierre Laganiere, Robert Univ Ottawa Sch Elect Engn & Comp Sci Ottawa ON Canada

ISBN: (纸本)9781467356480;9781467356466

This paper presents an approach for calibrating a network of Kinect devices used to guide robotic arms with rapidly acquired 3D models. The method takes advantage of the rapid 3D measurement technology embedded in the Kinect sensor and provides registration accuracy within the range of the depth measurements accuracy provided by this technology. The internal calibration of the sensor in between the color and depth measurement is also presented. The resulting system is developed to inspect large objects, such as vehicles, positioned within an enlarged field of view created by the network of RGB-D sensors.

关键词： calibration control engineering computing dexterous manipulators image colour analysis image sensors industrial manipulators inspection production engineering computing solid modelling spatial variables measurement

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Facial Communicative Signal Interpretation in Human-Robot Interaction by Discriminative Video Subsequence Selection

Facial Communicative Signal Interpretation in Human-Robot In...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Lang, Christian Wachsmuth, Sven Hanheide, Marc Wersing, Heiko Univ Bielefeld Res Inst Cognit & Robot Bielefeld Germany Univ Bielefeld Appl Informat Bielefeld Germany Lincoln Univ Sch Comp Sci Lincoln LN6 7TS England Honda Res Inst Europe GmbH Offenbach Germany

ISBN: (纸本)9781467356411;9781467356435

Facial communicative signals (FCSs) such as head gestures, eye gaze, and facial expressions can provide useful feedback in conversations between people and also in human-robot interaction. This paper presents a pattern recognition approach for the interpretation of FCSs in terms of valence, based on the selection of discriminative subsequences in video data. These subsequences capture important temporal dynamics and are used as prototypical reference subsequences in a classification procedure based on dynamic time warping and feature extraction with active appearance models. Using this valence classification, the robot can discriminate positive from negative interaction situations and react accordingly. The approach is evaluated on a database containing videos of people interacting with a robot by teaching the names of several objects to it. The verbal answer of the robot is expected to elicit the display of spontaneous FCSs by the human tutor, which were classified in this work. The achieved classification accuracies are comparable to the average human recognition performance and outperformed our previous results on this task.

关键词： control engineering computing face recognition feature extraction gesture recognition human-robot interaction image classification image sequences teaching video signal processing

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Remote control of Home Lighting Devices with RFID Identification and Current Detection of Outlets

Remote Control of Home Lighting Devices with RFID Identifica...

引用

IEEE 17th International Symposium on Consumer Electronics (ISCE)

作者： Hung, Chi-Huang Bai, Ying-Wen Chen, Po-Wen Hsu, Jung-Ming

ISBN: (纸本)9781467361996

In this paper we design a remote control for home lighting devices with radio-frequency identification and current detection of outlets. The system is composed of microcontroller, radio-frequency identification, solid state relays (SSR), current transformer and Bluetooth module. Through the RFID identification and application software module the user learns electricity recommendations and can have advance brightness control for the lighting devices. The application software module will know the operation of the lighting device that when plugged in the outlet causes an overload or short circuit, thus achieving an early warning and protection effect.

关键词： Bluetooth brightness control engineering computing home automation lighting control microcontrollers power engineering computing power transformers radiofrequency identification telecontrol

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Real-Time Checking of Linear control Systems Using Analog Checksums

Real-Time Checking of Linear Control Systems Using Analog Ch...

引用

IEEE 19th International On-Line Testing Symposium (IOLTS)

作者： Banerjee, Suvadeep Banerjee, Aritra Chatterjee, Abhijit Abraham, Jacob A. Georgia Inst Technol Atlanta GA 30332 USA Univ Texas Austin Austin TX 78712 USA

ISBN: (纸本)9781479906642

In the recent past, there has been a proliferation of complex control problems in sensor network design, multi-agent systems such as autonomous vehicles and robotics, to name a few. While prior research has focused on the design of optimal controllers for real-time systems, in the future it will become increasingly difficult to perform periodic maintenance of such systems due to their mobile and autonomous nature. Moreover, in safety-critical real-time applications it will become increasingly necessary to perform real-time monitoring of the plant as well as its controller functions for reasons of reliability and safety. In this paper, we develop, fir the first time, a theory for implementing low-overhead and high coverage detection of transient errors and permanent faults in linear control systems consisting of the plant and its controller using analog checksums. The approach is demonstrated on a servo-motor control problem. It is shown that small parametric perturbations as well as transient errors are detected in real-time using the proposed checking methodology.

关键词： control engineering computing fault diagnosis linear systems machine control perturbation techniques servomotors

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Cloud Robotics: Current trends and possible use as a service

Cloud Robotics: Current trends and possible use as a service

引用

11th IEEE International Symposium on Applied Machine Intelligence and Informatics (SAMI)

作者： Lorencik, D. Sincak, P. Tech Univ Kosice Ctr Intelligent Technol Dept Cybernet & Artificial Intelligence Bozeny Nemcovej 3 Kosice 04001 Slovakia

ISBN: (纸本)9781467359290;9781467359283

Since the cloud computing became widely available, lots of previously algorithms and systems previously thought of as very time consuming became instantly viable. For robotics and AI especially this means that if the power behind the cloud could be harnessed, it would be possible to build smaller, more battery effective robots because there would be no need to have a powerful computer on board, but the brain of the robot can be in the cloud. The idea of remote brain is not a new one, though. Nevertheless, it is possible to create one now. Centralised cloud for robot means that the memory can be nearly infinite, and instantly available to other robots, so the process of learning and exchanging the knowledge can be simplified. Also, this approach will allow for easy change and upgrade of the methods used regardless of robot hardware.

关键词： cloud computing control engineering computing knowledge acquisition learning (artificial intelligence) robots

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