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27th Danubia-Adria Symposium on Advances in Experimental Mechanics, DAS 2010

作者： Kot, Marcin Kobielarz, Magdalena Maksymowicz, Krzysztof Nikodem, Anna BȨDZIţSKI, Romuald AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Laboratory of Tribology and Surface Engineering Al. Mickiewicza 30 Kraków30-059 Poland Wroclaw University of Technology Division of Biomedical Engineering and Biomechanics ul. Lukasiewicza 7/9 Wroclaw50-371 Poland Department of Forensic Medicine Medical Faculty Wroclaw Medical University ul. J. Mikulicza-Radeckiego 4 Wroclaw50-368 Poland Regional Specialist Hospital in Wroclaw Research and Development Center ul. Kamieńskiego 73a Wroclaw51-124 Poland

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Kinematics and its solution methodology of A 3-PRR flexure-based parallel mechanism

Kinematics and its solution methodology of A 3-PRR flexure-b...

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IASTED International Conference on Modelling, Simulation, and Identification, MSI 2009

作者： Tian, Y. Shirinzadeh, B. Zhang, D. Fatikow, S. Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC 3800 Australia School of Mechanical Engineering Tianjin University Tianjin 300072 China Division of Microrobotics and Control Engineering University of Oldenburg Oldenburg 26111 Germany

ISBN: (纸本)9780889868106

This paper presents the mechanical design and kinematic analysis methodologies of a 3-PRR flexure-based parallel mechanism, which can be utilized to conduct planar precision positioning as required for automating micro/ nano manipulation tasks. Flexure hinges are used as the revolute joints to provide smooth motion in the range of micrometers. Three high performance piezoelectric actuators are utilized to drive the flexure-based mechanism. The kinematics of the proposed flexure-based parallel mechanism is established. Finite element analysis is conducted to validate the performance of the 3-PRR flexure-based parallel mechanism. Two simplified methodologies are proposed to improve the computational efficiency of the kinematics of the developed mechanism.

关键词： Kinematics

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Attitude stabilization of a biologically inspired robotic housefly via dynamic multimodal attitude estimation

Attitude stabilization of a biologically inspired robotic ho...

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作者： Campolo, Domenico Barbera, Giovanni Schenato, Luca Pi, Lijuan Deng, Xinyan Guglielmelli, Eugenio School of Mechanical and Aerospace Engineering Nanyang Technological University 639798 Singapore Singapore Department of Information Engineering University of Padova 35131 Padova Italy Department of Mechanical Engineering University of Delaware Newark DE 19716 United States Biomedical Robotics Laboratory Campus Bio-Medico University 00128 Roma Italy

In this paper, we study sensor fusion for the attitude stabilization of micro aerial vehicles, particularly mechanical flying insects. Following a geometric approach, a dynamic observer is proposed that estimates attitude based on kinematic data available from different and redundant bioinspired sensors such as halteres, ocelli, gravitometers, magnetic compass and light polarization compass. In particular, the traditional structure of complementary filters, suitable for multiple sensor fusion, is specialized to the Lie group of rigid-body rotations SO(3). The filter performance based on a three-axis accelerometer and a three-axis gyroscope is experimentally tested on a 2-d.o.f. support, showing its effectiveness. Finally, attitude stabilization is proposed based on a feedback scheme with dynamic estimation of the state, i.e., the orientation and the angular velocity. Almost-global stability of the proposed controller in the case of dynamic state estimation is demonstrated via the separation principle, and realistic numerical simulations with noisy sensors and external disturbances are provided to validate the proposed control scheme. © Koninklijke Brill NV, Leiden and The robotics Society of Japan, 2009.

关键词： Gravitometers

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Effects of haptic and graphical force feedback on teleoperated palpation

Effects of haptic and graphical force feedback on teleoperat...

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IEEE International Conference on robotics and Automation (ICRA)

作者： James C. Gwilliam Mohsen Mahvash Balazs Vagvolgyi Alexander Vacharat David D. Yuh Allison M. Okamura Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Department of Mechanical Engineering Boston University Boston MA USA Division of Cardiac Surgery Johns Hopkins Medical Institutions Baltimore MD USA

Direct haptic feedback and graphical force feedback have both been hypothesized to improve the performance of robot-assisted surgery. In this study we evaluate the benefits of haptic and graphical force feedback on surgeon performance and tissue exploration behavior during a teleoperated palpation task of artificial tissues. Seven surgeon subjects (four experienced in robot-assisted surgery) used a 7-degree-of-freedom teleoperated surgical robot to identify a comparatively rigid rigid target object (representing a calcified artery) in phantom heart models using the following feedback conditions: (1) direct haptic and graphical feedback, (2) direct haptic only, (3) graphical feedback only, and (4) no feedback. To avoid the problems of force sensing in a minimally invasive surgical environment, we use a position-exchange controller with dynamics compensation for direct haptic feedback and a force estimator displayed via tool-tip tracking bar graph for graphical force feedback. Although the transparency of the system is limited with this approach, results show that direct haptic force feedback minimizes applied forces to the tissue, while coupled haptic and graphical force feedback minimizes subject task error. For experienced surgeons, haptic force feedback substantially reduced task error independent of graphical feedback.

关键词： Haptic interfaces Force feedback Surges Robots Minimally invasive surgery Medical robotics Arteries Imaging phantoms Heart Force control

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Automated Global Feature Analyzer - A Driver for Tier-Scalable Reconnaissance

Automated Global Feature Analyzer - A Driver for Tier-Scalab...

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IEEE Conference on Aerospace

作者： Wolfgang Fink Ankur Datta James M. Dohm Mark A. Tarbell Farrah M. Jobling Roberto Furfaro Jeffrey S. Kargel Dirk Schulze-Makuch Victor R. Baker Visual and Autonomous Exploration Systems Research Laboratory Division of Physics Mathematics and Astronomy California Institute of Technology Pasadena CA USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA Lunar and Planetary Laboratory University of Arizona Tucson Tucson AZ USA Department of Microbiology University of Colorado School of Medicine Aurora CO USA AeroSpace and Mechanical Engineering Department University of Arizona Tucson Tucson AZ USA Department of Hydrology and Water Resources University of Arizona Tucson Tucson AZ USA School of Earth and Environmental Sciences Washington State University Pullman WA USA Department of Hydrology and Water Resources University of Arizona Tucson AZ USA Lunar and Planetary Laboratory University of Arizona Tucson AZ USA

For the purposes of space flight, reconnaissance field geologists have trained to become astronauts. However, the initial forays to Mars and other planetary bodies have been done by purely robotic craft. Therefore, training and equipping a robotic craft with the sensory and cognitive capabilities of a field geologist to form a science craft is a necessary prerequisite. Numerous steps are necessary in order for a science craft to be able to map, analyze, and characterize a geologic field site, as well as effectively formulate working hypotheses. We report on the continued development of the integrated software system AGFA: automated global feature analyzer reg , originated by Fink at Caltech and his collaborators in 2001. AGFA is an automatic and feature-driven target characterization system that operates in an imaged operational area, such as a geologic field site on a remote planetary surface. AGFA performs automated target identification and detection through segmentation, providing for feature extraction, classification, and prioritization within mapped or imaged operational areas at different length scales and resolutions, depending on the vantage point (e.g., spaceborne, airborne, or ground). AGFA extracts features such as target size, color, albedo, vesicularity, and angularity. Based on the extracted features, AGFA summarizes the mapped operational area numerically and flags targets of "interest", i.e., targets that exhibit sufficient anomaly within the feature space. AGFA enables automated science analysis aboard robotic spacecraft, and, embedded in tier-scalable reconnaissance mission architectures, is a driver of future intelligent and autonomous robotic planetary exploration.

关键词： Reconnaissance Geology Orbital robotics robotics and automation Feature extraction Intelligent robots Robot sensing systems Cognitive robotics Mars Software systems

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Neural Network-Aided Extended Kalman Filter for SLAM Problem

Neural Network-Aided Extended Kalman Filter for SLAM Problem

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IEEE International Conference on robotics and Automation (ICRA)

作者： Minyong Choi R. Sakthivel Wan Kyun Chung Robotics and Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

This paper addresses the problem of simultaneous localization and map building (SLAM) using a neural network aided extended Kalman filter (NNEKF) algorithm. Since the EKF is based on the white noise assumption, if there are colored noise or systematic bias error in the system, EKF inevitably diverges. The neural network in this algorithm is used to approximate the uncertainty of the system model due to mismodeling and extreme nonlinearities. Simulation results are presented to illustrate the proposed algorithm NNEKF is very effective compared with the standard EKF algorithm under the practical condition where the mobile robot has bias error in its modeling and environment has strong uncertainties. In this paper, we propose an algorithm which enables a biased control input in vehicle model using neural network

关键词： Neural networks Simultaneous localization and mapping State estimation Colored noise Uncertainty Mobile robots Predictive models robotics and automation White noise Vehicles

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Efficient SLAM algorithm with hybrid visual map in an indoor environment

Efficient SLAM algorithm with hybrid visual map in an indoor...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Sunghwan Ahn Wan Kyun Chung Pohang University of Science and Technology Pohang South Korea Department of Mechanical Engineering Robotics and Bio-Mechatronics Laboratory

In this paper, we propose a scheme of generating a hybrid visual map for SLAM. The hybrid visual map has two levels of map representations: 1) the absolute map representation of highly distinctive visual planes via EKF- SLAM and 2) the relative map representation of dense visual features for each visual plane via sparse information filter update. The absolute map can maintain its global consistency by matching the visual plane, the group of visual features. It improves data association and reduces the number of landmarks against individual visual features. Moreover, the relative map can reconstruct a 3-D map of visual features efficiently without loosing dense visual information. The performance of the proposed method was verified by the experimental results of consistent hybrid visual maps in an indoor environment.

关键词： Simultaneous localization and mapping Indoor environments Robot vision systems robotics and automation Information filters Cameras State estimation Robot kinematics Automatic control Control systems

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Construction of hybrid visual map for indoor SLAM

Construction of hybrid visual map for indoor SLAM

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Sunghwan Ahn Wan Kyun Chung Sang-Rok Oh Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Institute for Information Technology Advancement Daejeon South Korea

Our previous work, SLAM with visual plane, allowed correct data association and computationally feasible solution for vision-based SLAM. In this paper, we propose a scheme of generating a hybrid visual map based on the visual plane framework. The hybrid visual map has two levels of map representations: 1) absolute map representation of distinctive visual planes via EKF-SLAM and 2) relative map representation of dense visual features for each visual plane via sparse information filter update. It can inherit the advantages of the visual plane by maintaining the absolute map. Moreover, the relative map can reconstruct a 3-D map of visual features efficiently without loosing dense visual information. The performance of the proposed method was verified by the experimental results of consistent hybrid visual maps in two real indoor environments.

关键词： Simultaneous localization and mapping Information filters Indoor environments Robot vision systems Cameras Image databases Principal component analysis Spatial databases Visual databases Intelligent robots

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Standardization of data ow for laboratory automation software based on XML technology

Standardization of data ow for laboratory automation softwar...

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SICE Annual Conference

作者： Ki Tak Ahn Wan Kyun Chung Pohang Institute of Intelligent Robotics PIRO Pohang South Korea Robotics & Bio-mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

Analytical information markup language(AnIML) is the developing XML standard for analytical chemistry data. It is a combination of a highly flexible AnlML core schema that defines XML tagging for any kind of analytical information and a set of analytical technique instance documents (ATID) XML files, one per analytical technique, applying tight constraints to the flexible core and which in turn are defined by the technique schema which can be extended for vendor-specific and institutional-specific parameters. This open-source development platform for a new standard can be applied to the lab automation systems. This paper introduces AnlML as a software platforms in the aspect of interchanging data between analytical chemistry instruments, computer applications, and databases with XML (extensible markup language) base. Especially focusing the movement of standardization in the area of lab automation, AnlML deserves to be watched as a new way to interchange and store spectroscopy and chromatography data based on XML. This article presents an overview of AnlML and will look into efforts that have been gaining momentum to develop a new all-embracing data standard for analytical data based on XML applicable to the clinical laboratory

关键词： Standardization Laboratories Automation XML Information analysis Standards development Data analysis Chemistry Open source software Chemical technology

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