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Finding Efficient Robot Path for the Complete Coverage of A Known Space

Finding Efficient Robot Path for the Complete Coverage of A ...

引用

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Zhiyang Yao Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

In robot planning problems, the complete coverage path planning refers to the problem of determining a path that a robot must take in order to pass over each point in an environment and avoid obstacles. Applications include demining, sweeping, cleaning, vacuuming, inspection robots. For this kind of problem, not only the complete coverage should be performed, but an efficient path is highly desired. Using traditional sweeping line strategy often requires several relocation moves, leading to poor efficiency. In this paper we describe a geometric algorithm for generating paths by using a modified sweeping line strategy that attempts to minimize extra relocation moves. Several examples are used in the paper to show the advantage of our algorithm over traditional approaches

关键词： Orbital robotics Path planning Intelligent robots Robotics and automation Parallel robots Cleaning Inspection Application software Milling Shape

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Human Driving Behavior Recognition Based on Hidden Markov Models

Human Driving Behavior Recognition Based on Hidden Markov Mo...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Xiaoning Meng Ka Keung Lee Yangsheng Xu Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

Automobiles are by now indispensable to our personal lives, but the problem of car thefts threatens the automobile security seriously. In this paper we present an intelligent vehicle security system for handling the vehicle theft problem under the framework of modeling dynamic human behaviors. We propose to recognize the drivers through their driving performances and hope this can help reduce the number of car thefts significantly. Firstly we describe our experimental system-a real time graphic driving simulator-for collecting and modeling human driving behaviors. Using the proposed machine learning method hidden Markov model (HMM), the individual driving behavior model is derived and then we demonstrate the procedure for recognizing different drivers through analyzing the corresponding models. Then we define performance measures for evaluating our resultant learning models using a hidden-Markov-model-(HMM)-based similarity measure, which helps us to derive the similarity of individual behavior and corresponding model. The experimental results of learning algorithms and evaluations are described and finally verify that the proposed method is valid and useful against the vehicle thefts problem.

关键词： Humans Hidden Markov models Automobiles Security Intelligent vehicles Vehicle dynamics Real time systems Graphics Learning systems Performance evaluation

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Robust Structure and Motion Estimation by Auto-Scale Random Sample Consensus

Robust Structure and Motion Estimation by Auto-Scale Random ...

引用

International Conference on Information and automation (ICIA)

作者： Chen Tai Yun-hui Liu Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

This paper proposes a robust strategy for structure from planar motion estimation. To improve the robustness, an auto-scale random sample consensus (RANSAC) algorithm is adopted in the motion and structure estimation. So the algorithm can deal with a great number of outliers induced by an automatic matching computation. With the adoption of the auto-scale technique, the algorithm can be used in an entirely automatic application without any prior information or user set parameters. The contribution of this work is the development of an approach to make structure and motion estimation more robust and efficient so as to be applicable to real applications. The experiments indoor and outdoor have been done to verify the feasibility of the algorithm. In the experiments, the feature correspondences in the image sequences are extracted and refined automatically by the relation of the stereo cameras and the property of the planar motion. The results show the algorithm is robust and efficient for applications in planar motions.

关键词： Motion estimation Noise robustness Working environment noise Image sequences Cameras computer vision Noise reduction Surface fitting Stereo vision Image reconstruction

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Brush Footprint Acquisition and Preliminary Analysis for Chinese Calligraphy using a Robot Drawing Platform

Brush Footprint Acquisition and Preliminary Analysis for Chi...

引用

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Ka Wah Lo Ka Wai Kwok Sheung Man Wong Yeung Yam Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

A robot drawing platform supporting four degrees of freedom (x, y, z and z-rotation) of a brush-pen motion for studying Chinese painting and calligraphy has been operational in our laboratory. This paper describes the real-time capturing and data analysis of the brush footprint using the new hardware and software capabilities in the platform. They include a transparent drawing plate and an underneath camera system, together with projective rectification and video segmentation algorithms. Preliminary result of the footprint analysis and nonparametric modeling, and their applications to well-known Chinese calligraphy are demonstrated

关键词： Brushes Painting Intelligent robots Laboratories Robotics and automation Data analysis Hardware Robot vision systems Computational modeling Torque

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Tracking trajectory planning of space manipulator for capturing uncontrolled spinning satellite

Tracking trajectory planning of space manipulator for captur...

引用

2006 IEEE International Conference on Mechatronics and automation, ICMA 2006

作者： Huang, Panfeng Yan, Jie Xu, Yangsheng Xu, Wenfu Liang, Bin College of Astronautics Northwestern Polytechnical University Xi'an China Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong Shenzhen Space Technology Center Harbin Institute of Technology Shenzhen China

ISBN: (纸本)1424404665

On-orbit rescuing uncontrolled spinning satellite (USS) using space robot is the great challenges for future space service. This paper mainly presents a trajectory planning method of space manipulator that can track, approach and catch the USS in free-floating situation. According to the motion characteristics of USS, we plan a spiral ascending trajectory for space manipulator to approach towards USS in Cartesian space. However, it is difficult to map this trajectory into the joint space and realize feasible motion in joint space because of kinematic multi-solutions and dynamics singularities of space robot system. Therefore, we utilize interval algorithm to handle these difficulties. The simulation study verifies that the spiral ascending trajectory can been realized. Moreover, the motion of manipulator is smooth and stable, the disturbance to the base is so limited that the attitude control can compensate it. ©2006 IEEE.

关键词： Manipulators

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A pulse DC plasma deposited resistor process

A pulse DC plasma deposited resistor process

引用

2005 International Conference on Advanced Manufacture, ICAM2005

作者： Wen, Fuhliang Lo, Y.-L. Lin, C.-H. Mou, S.-C. Department of Mechanical and Computer Aided Engineering Graduate School of Automation and Mechatronics St. John's University Tamsui Taipei 25135 Taiwan Department of Computer and Communication Engineering St. John's University Tamsui Taipei 25135 Taiwan Department of Mechanical Engineering Ching Yun University Jung-Li 320 Taiwan

ISBN: (纸本)0878499903

The pulse DC plasma system offers so highly instant power to generate extremely intense plasma density that its applications are widely extended. In this work, the development of pulse DC plasma processing is studied for the sheet resistors, and the manufacturing mechanism relative to the properties of copper particles deposited on plastic materials is discussed by using atomic force microscopy and line-resistance measured technique.

关键词： Resistors

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Learning control for space robotic operation using support vector machines

引用

3rd International Symposium on Neural Networks, ISNN 2006 - Advances in Neural Networks

作者： Huang, Panfeng Xu, Wenfu Xu, Yangsheng Liang, Bin College of Astronautics Northwestern Polytechnical University Xi'an China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shatin Hong Kong Shenzhen Space Technology Center Harbin Institute of Technology Shenzhen China

ISBN: (纸本)3540344373

Automatical operation of space robots is a challenging and ultimate goal of space servicing. In this paper, we present a novel approach for tracking and catching operation of space robots based on learning and transferring human control strategies (HCS). We firstly use an efficient support vector machine (SVM) to parameterize the model of HCS, and then develop a new SVM-based leaning structure to improve HCS in tracking and capturing control. The approach is fundamentally valuable in dealing with some problems such as small sample data and local minima, which makes it efficient in modeling, understanding and transferring its learning process. The simulation results demonstrate that the proposed method is useful and feasible in tracking trajectory and catching objects autonomously. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Robotics

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Trajectory planning of space robot system for target berthing and reorientation after capturing

Trajectory planning of space robot system for target berthin...

引用

6th World Congress on Intelligent Control and automation, WCICA 2006

作者： Wenfu, Xu Bin, Liang Wenyi, Qiang Panfeng, Huang Yangsheng, Xu Dept. of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China College of Astronautics Northwestern Polytechnical University Xi'An China Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)1424403324

A typical servicing operation in space mainly includes three phases: capturing the target, berthing and docking the target, and repairing the target. The attitude of a satellite usually changes after the capturing, because the control system is turned off during this phase for safety reasons. In this paper, a method is proposed to achieve the berthing of the target and reorientating the satellite attitude at the same time, both by involving manipulator motion only. Firstly, the constraints on the manipulator and the objective function are defined according to the planning problem. Then the joint trajectory is parameterized by sinusoidal function, whose argument is the polynomial. Finally, Genetic Algorithm is used to search for the global optimal resolution of the parameters. When the parameters are found, each joint trajectory can be determined. This planned trajectory is smooth and more applicable for the control of the free-floating robotic system. Our proposed method is verified by simulation. © 2006 IEEE.

关键词： Mobile robots

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The Augmented Lagrangian Method in Structural Shape and Topology Optimization with RBF Based Level Set Method

The Augmented Lagrangian Method in Structural Shape and Topo...

引用

The Fourth China-Japan-Korea Joint symposium on Optimization of Structural and Mechanical Systems

作者： Michael Yu Wang Dept.of Automation and Computer-Aided Engineering the Chinese University of Hong Kong Hong Kong China

In solving structural shape and topology optimization problem, the level set method has proven to be a powerful tool. But the PDE based classical level set method produces some limitations. In this paper we describe a parametric optimization scheme with the level set method by involving the compactly supported radial basis functions (CSRBFs). The costly PDE solving procedure can be easily replaced by a standard gradient method or another mature conventional optimization method in the parameter space. In this paper, the optimaliry criteria (OC) method combined with the augmented Lagrangian method is adopted. The numerical example is given to show the robustness and efficiency of the proposed CSRBFs based level set method in solving 2D structural shape and topology optimization problems.

关键词： topology optimization, radial basis function, level set method, optimality criteria, augmented Lagrangian method

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Learning interaction force model for endodontic shaping with support vector regression

Learning interaction force model for endodontic shaping with...

引用

IEEE International Conference on Robotics and automation (ICRA)

作者： Min Li Yun-Hui Liu Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Sha Tin Hong Kong China

Accurate estimation of interaction forces for endodontic shaping is fundamental to the interactive simulation of this operation. By applying new statistical learning techniques to this problem, this paper proposes a novel estimation method to acquire an optimized interaction force model to characterize input-output force mapping for endodontic shaping. We first present a novel robotic measurement system to acquire interaction forces in endodontic shaping and establish the needed training set. Then we propose a support vector regression model to learn the input-output force mapping for endodontic shaping. The regression model uses RBF kernel for training, and the optimized parameters of which are obtained by experiments. The learned model can convincingly estimate the interaction force resulting from endodontic shaping. And the effectiveness of the model has been evaluated by error measurement results

关键词： Irrigation Dentistry Statistical learning Optimization methods Teeth Fingers automation Computational modeling Robots Force measurement

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