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Analysis, design and implementation of active vibro-acoustic control systems with random excitations

Analysis, design and implementation of active vibro-acoustic...

引用

American Control Conference (ACC)

作者： A.H. Chaghajerdi R.A. Shoureshi Colorado School of Mines Center for Automation Robotics and Distributed Intelligence Golden CO USA

This paper addresses a general case of an active noise control problem with band limited random excitations. In order to realize the benefits of both feedback and feedforward control strategies, this study has concentrated on a combined adaptive feedforward/feedback (hybrid) active noise control architecture. The feedforward control is to attenuate the noise with frequency contents correlated to a reference signal, provided by the sensory output, and feedback is to attenuate the residual noise. The theoretical analysis of this hybrid control, and the required software and hardware designs for implementation of the proposed system are presented. The resulting controller has been applied to a common noise control problem, i.e., acoustic radiation. Experimental results from the implementation of this controller are discussed.

关键词： Control systems Active noise reduction Acoustic noise Programmable control Adaptive control Computer architecture Frequency Output feedback Hardware Software design

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A method for transporting a team of miniature robots

A method for transporting a team of miniature robots

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： E. Kadioglu N. Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis USA

The Scouts, developed at the University of Minnesota, are miniature robots designed mainly for reconnaissance and surveillance tasks. The Scout's small size and multiple mobility and sensing modes allow it to efficiently navigate and carry out certain missions in indoor environments and on relatively smooth surfaces. However, like many other small-sized robots, its miniature size and limited battery life become a bottleneck when it comes to cover long distances, particularly on rough, outdoor surfaces. In order to address this issue, we present a method to carry the Scouts to and from their main mission locations by adding a larger robot, a Pioneer 2-AT, to the team. The Pioneer carries a team of Scouts in a color marked box that it holds with its grippers. The Scouts jump out of the box, carry out their mission, and autonomously find the box and jump back in.

关键词： Robot kinematics Robot sensing systems Rough surfaces Surface roughness Surveillance Grippers Mobile robots Silver Computer science Design engineering

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distributed Palletizing using a Cam Driven Multi Track Material Handling Device

Distributed Palletizing using a Cam Driven Multi Track Mater...

引用

2002 ASME International Mechanical Engineering Congress and Exposition

作者： Derby, Stephen J. McFadden, John Rensselaer Polytechnic Institute Flexible Manufacturing Center Mechanical Engineering Dept 110 8th St Troy NY 12180 Distributed Robotics LLC 35 Creek Rd Wynantskill NY 12198

ISBN: (纸本)079183641X

A novel palletizing/material handling device has been created. This novel design was developed by assessing the needs of many industrial companies. This device trades the unlimited flexibility and position addressibility of standard servo driven robots and material handling machines for a limited set of palletizing locations, by use of a multi track cam plate. The resulting combinations of reduced complexity degrees of freedom result in a less expensive and more marketable product.

关键词： Flexible manufacturing systems

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Autonomous stair-hopping with Scout robots

Autonomous stair-hopping with Scout robots

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： S.A. Stoeter P.E. Rybski M. Gini N. Papanikolopoulos Center for Distributed Robotics Department of Computer Scaence and Engineering University of Minnesota Minneapolis USA

Search and rescue operations in large disaster sites require quick gathering of relevant information. Both the knowledge of the location of victims and the environmental/structural conditions must be available to safely and efficiently guide rescue personnel. A major hurdle for robots in such scenarios is stairs. A system for autonomous surmounting of stairs is proposed in which a Scout robot jumps from step to step. The robot's height is only about a quarter step in size. Control of the Scout is accomplished using visual servoing. An external observer such as another robot is brought into the control loop to provide the Scout with an estimation of its pose with respect to the stairs. This cooperation is necessary as the Scout must refrain from ill-fated motions that may lead it back down to where it started its ascend. Initial experimental results are presented along with a discussion of the issues involved.

关键词： Humans Mobile robots Wheels Intelligent robots Robot sensing systems distributed computing Personnel Surveillance Shape Springs

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Heterogeneous implementation of an adaptive robotic sensing team

Heterogeneous implementation of an adaptive robotic sensing ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： B. Kratochvil I.T. Burt A. Drenner D. Goerke B. Jackson C. McMillen C. Olson N. Papanikolopoulos A. Pfeifer S.A. Stoeter K. Stubbs D. Waletzko Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis USA

When designing a mobile robotic team, an engineer is faced with many design choices. This paper discusses the design of a team consisting of two different models of robots with significantly different sensing and control capabilities intended to accomplish a similar task. Two new robotic platforms, the COTS Scout and the MegaScout are described along with their respective design considerations.

关键词： Robot sensing systems Mobile robots Humans Computer science Design engineering Materials science and technology Contracts distributed computing Mechanical engineering Costs

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Appearance-based minimalistic metric SLAM

Appearance-based minimalistic metric SLAM

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： P.E. Rybski S.T. Roumeliotis M. Gini N. Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis USA

This paper addresses the problem of simultaneous localization and mapping (SLAM) for the case of very small, resource-limited robots which have poor odometry and can typically only carry a single monocular camera. We propose a modification to the standard SLAM algorithm in which the assumption that the robots can obtain metric distance/bearing information to landmarks is relaxed. Instead, the robot registers a distinctive sensor "signature", based on its current location, which is used to match robot positions. In our formulation of this non-linear estimation problem, we infer implicit position measurements from an image recognition algorithm. The iterated form of the extended Kalman filter (IEKF) is employed to process all measurements.

关键词： Simultaneous localization and mapping Robot kinematics Robot sensing systems Robot vision systems Mobile robots Cameras Position measurement Motion estimation Machine vision Computer science

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Communication and mobility enhancements to the scout robot

Communication and mobility enhancements to the scout robot

引用

2002 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Drenner, Andrew Burt, Ian Kratochvil, Brad Nelson, Bradley J. Papanikolopoulos, Nikolaos Yeşin, Kemal Berk Center for Distributed Robotics Dept. of Comp. Sci. and Engineering University of Minnesota Minneapolis MN United States Dept. of Mechanical Engineering University of Minnesota Minneapolis MN United States

Small scale distributed robotic systems are ideal for tasks that larger, more expensive robots may not be able to undertake such as surveillance or inspection in enclosed areas. Small scale robots also have the advantage of being easily portable to an area of interest. However, the advantages related to the small size and portability cause an increase in the complexity of development. In addition, the more pronounced effects of interacting with the environment in terms of mobility and communications lead to robotic systems of limited functionality. In order to address such deficiencies, several novel developments and improvements have been made to the Scout robot, which will be discussed. These improvements include the development of a communication relay system facilitating longer distance operation, an improved actuating wheel system increasing the Scout's mobility and a grappling hook system to elevate the Scout. By enhancing the Scout robotic team in this way, the functional use of the team is expanded, allowing more practical use.

关键词： Mobile robots

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Localization of miniature mobile robots using constant curvature dynamic contours

Localization of miniature mobile robots using constant curva...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： D.P. Perrin E. Kadioglu S.A. Stoeter N. Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis USA

Presents a method for localizing miniature mobile robots (Scouts) using dynamic contours. An observer robot with a camera follows the miniature robot as it moves and jumps in the workspace. Dynamic contours are very effective in tracking the fast accelerations and decelerations of the Scout robot. We show initial experimental results with particular emphasis on the task of monitoring a Scout during jumps.

关键词： Mobile robots Cameras Target tracking Robot vision systems Acceleration Monitoring Orbital robotics Shape Computer science Springs

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Visibility in motion

Visibility in motion

引用

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Esra Kadioglu Urtis Loren Fiore Nikolaos Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

We address the problem of determining and obtaining the visibility of a moving target from multiple angles using a mobile robot. The pursuer uses a modified form of pursuit curve in order to reach the aim point (or multiple aim points) which is at a pre-determined distance and angle from the target. Unlike existing works that track a target to localize it, or follow a target by keeping it in the current frame of view generally from behind the target, the focus of our work is on an efficient pursuit of the target such that a certain set of images of it from various orientations can be acquired. We present a method to approach a target in motion from various angles and an analysis of whether the task completion is possible in the cases of a target performing a random walk and an adversarial target.

关键词： Cameras Mobile robots Intelligent robots USA Councils Robot vision systems Computer science Target tracking Focusing Surveillance

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Impact orientation invariant robot design: an approach to projectile deployed robotic platforms

Impact orientation invariant robot design: an approach to pr...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： I. Burt A. Drenner C. Carlson A.D. Kottas N. Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

Within the fields of law enforcement and urban search and rescue, there is always a need to obtain information from areas that may be hard to reach or unsafe to enter. One method of obtaining this reconnaissance information is to deploy a robot as a projectile. This may be accomplished with mechanical aids or simply by throwing the robot manually. This rapid deployment method has the ability to attain locations inaccessible to other technologies. The miniature nature of the presented design has the ability to operate discretely and avoid detection, making it desirable for law enforcement. In the case of urban search and rescue, the diminutive form minimizes the impact on potentially unsound structures. During the course of deployment, unexpected impacts and drops are inevitable, generating a need for an impact invariant design. Design decisions to create this system are presented, and experimental validation of design aspects is discussed

关键词： Projectiles Robot sensing systems Reconnaissance Law enforcement Costs Humans Switches Mobile robots Computer science Power lasers

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