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检索条件"机构=Center for Distributed Robotics"

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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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Modular Mobile Docking Station Design

Modular Mobile Docking Station Design

引用

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Casey Carlson Andrew Drenner Ian Burt Nikolaos Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

Large scale robotic teams are capable of working independently or cooperatively to carry out a variety of missions. However, for large teams of robots to function for extended periods of time, the individual members of a team must be able to generate or find energy to re-supply themselves. One approach to providing power for a robotic team is to couple larger systems with significant energy reserves so that the smaller systems can be recharged directly from the larger. This paper presents an implementation of such an approach. Here, a modular docking station is given locomotion through the cooperation of two larger robots. The docking station is capable of transporting, deploying, retrieving, and recharging many smaller robots. The kinematic model which will govern the cooperation of the maneuvering robots and will be used to develop control is presented and discussed. The design of the individual bays of the docking station and how they facilitate the deployment, recovery, and recharge of the smaller robots is also presented. The development of this system makes possible a number of applications, including autonomous long-term environmental monitoring and reconnaissance in various locations

关键词： Manipulator dynamics Intelligent robots Monitoring Mobile robots Large-scale systems Reconnaissance Humans Power supplies Mobile computing Computer science

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A comparison of maximum likelihood methods for appearance-based minimalistic SLAM

A comparison of maximum likelihood methods for appearance-ba...

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IEEE International Conference on robotics and Automation (ICRA)

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

This paper compares the performances of several algorithms that address the problem of Simultaneous Localization and Mapping (SLAM) for the case of very small, resource-limited robots. These robots have poor odometry and can typically only carry a single monocular camera. These algorithms do not make the typical SLAM assumption that metric distance/bearing information to landmarks is available. Instead, the robot registers a distinctive sensor "signature", based on its current location, which is used to match robot positions. The performances of a physics-inspired maximum likelihood (ML) estimator, the iterated form of the Extended Kalman Filter (IEKF), and a batch-processed linearized ML estimator are compared under various odometric noise models.

关键词： Simultaneous localization and mapping Robot sensing systems Maximum likelihood estimation Mobile robots Robot vision systems Cameras Workstations Lenses Robustness Computer science

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A high precision robotic docking end effector for 1 micron accuracy

A high precision robotic docking end effector for 1 micron a...

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27th Biennial Mechanisms and robotics Conference

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

Precision operations, including assembly, need an accurate platform as a base. The described robotic end effector can achieve 1 micron or smaller repeatability while being relocatable to the required task workspace. C... 详细信息

ISBN: (纸本)0791836215

关键词： End effectors

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Metrics for quantifying system performance in intelligent, fault-tolerant multi-robot teams

Metrics for quantifying system performance in intelligent, f...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Balajee Kannan Lynne E. Parker Field Robotics Center Robotics Institute Carnegie Mellon University USA Department of Electrical Engineering and Computer Science Distributed Intelligence Laboratory University of Tennessee USA

Any system that has the capability to diagnose and recover from faults is considered to be a fault-tolerant system. Additionally, the quality of the incorporated fault-tolerance has a direct impact on the overall performance of the system. Hence, being able to measure the extent and usefulness of fault- tolerance exhibited by the system would provide the designer with a useful analysis tool for better understanding the system as a whole. Unfortunately, it is difficult to quantify system fault-tolerance on its own for intelligent systems. A more useful metric for evaluation is the "effectiveness" measure of fault- tolerance. The influence of fault-tolerance towards improving overall performance determines the overall effectiveness or quality of the system. In this paper, we outline application- independent metrics to measure fault-tolerance within the context of system performance. In addition, we also outline potential methods to better interpret the obtained measures towards understanding the capabilities of the implemented system. Furthermore, a main focus of our approach is to capture the effect of intelligence, reasoning, or learning on the effective fault-tolerance of the system, rather than relying purely on traditional redundancy based measures. We show the utility of the designed metrics by applying them to different fault-tolerance architectures implemented for multiple complex heterogeneous multi-robot team applications and comparing system performance. Finally, we contrast the developed metrics with the only other existing method (HWB method) for evaluating (that we are aware of) effective fault-tolerance for multi-robot teams and rate them in terms of their capability to best interpret the workings of the implemented systems. To the best of our knowledge, this is the first metric that attempts to evaluate the quality of learning towards understanding system level fault-tolerance.

关键词： System performance Intelligent systems Fault tolerant systems Intelligent robots Redundancy Performance analysis Fault diagnosis Multirobot systems Measurement USA Councils

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distributed control of a track based multi-head robot

Distributed control of a track based multi-head robot

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ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2002

作者： Derby, Stephen J. Brown, David Rensselaer Polytechnic Institute Flexible Manufacturing Center Mechanical Engineering Dept 110 8th St TroyNY12180 United States Distributed Robotics LLC Controls Engineer 172 Lockrow Rd TroyNY12180 United States

ISBN: (纸本)0791836215

A novel closed loop track based multi-head robot has been developed to increase material handing throughput. This robot allows for waves of autonomous robot heads to move materials in the working path by eliminating the traditional return path. distributed control architecture was developed using a system comprising of desktop, embedded and single board PC's, some linked by infrared communications. This paper discusses the design and impact of such a control architecture, and looks at some performance boundaries. © 2002 ASME.

关键词： Robots

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Breaking up is hard to do - Dispersion: from design to implementation

Breaking up is hard to do - Dispersion: from design to imple...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Isaacs M. Anderson S. Ashworth J. Blackburn-Lynch B. Bynum J. Pearce C. Pemberton Department of Mathematics and Computer Science Berea College Mobile Robotics and Parallel Processing Laboratory Berea KY USA Center for Distributed Robotics University of Minnesota Minneapolis MN USA

This article assesses the performance of a virtual pheromone-based sectored dispersion algorithm which is implemented on a low-cost miniature mobile robotic platform using sonar sensing. The approach is a distributed one and the robotic platform and sensor array are sufficiently inexpensive that they can be employed in undergraduate research and/or for coursework in a small college environment

关键词： Educational robots Robot sensing systems Mobile robots Sensor arrays Service robots Parallel robots Hardware Mobile computing Educational institutions Dispersion

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Detection of object under outdoor environment with partial and whole templates

Detection of object under outdoor environment with partial a...

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2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Kunimitsu, Satosbi Kawabata, Kuniaki Asama, Hajime Mishima, Taketoshi Distributed Adaptive Robotics R.U. RIKEN Wako-city Saitama Japan Research into Artifacts Center for Engineering University of Tokyo Meguro-ward Tokyo Japan Grad. Sch. of Sci. and Engineering Saitama University Saitama-city Saitama Japan

ISBN: (纸本)0780384636

This paper proposes a technique of the extended template matching that detects the object with two-dimensional standard shape under the outdoor environment. Under the outdoor environment, the intensity distribution of the object changes variously by the change in the lighting condition and the change in the surface properties of the object. On the other hand, the conventional template matching assumes the intensity distribution of the object doesn't change. Therefore, it proposes the technique for evaluating plural similarities calculated with partial and whole templates by the linear discriminant function. The effectiveness of the proposed technique was confirmed by the detection experiment of the corner fitting of the container under the outdoor environment.

关键词： Pattern matching

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Rescue Communicators for Global Victim Search and Local Rescue Planning

Rescue Communicators for Global Victim Search and Local Resc...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yasushi Hada Kuniaki Kawabata Harutoshi Koguchi Hayato Kaetsu Hajime Asama RIKEN Distributed Adaptive Robotics Research Unit Saitama Japan Research into Artifacts Center for Engineering (RACE) University of Tokyo Tokyo Japan

We are conducting research and development in technology for unifying the information of a large number of intelligent sensors distributed in a disaster-stricken area. Operating effectively as a system in real time, network household electric appliances, a personal digital assistant (PDA), a robot, etc. provided information and an action plan for a stricken area's situation. In this paper we introduce ubiquitous device "intelligent data carriers for rescue (IDC-R)" and formation of a dynamic network, and development of a means of disaster information communication (a group of people, a robot, an adhoc network, a home network, etc.). Target experiment for actual proof is also introduced

关键词： Intelligent robots Robot sensing systems Intelligent sensors Personal digital assistants Intelligent networks Earthquakes Wireless communication Research and development Real time systems Home appliances

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Active video system for a miniature reconnaissance robot

Active video system for a miniature reconnaissance robot

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IEEE International Conference on robotics and Automation (ICRA)

作者： K. Yesin B.J. Nelson N.P. Papanikolopoulos R. Voyles D. Krantz Department of Mechanical Engineering University of Minnesota Center for Distributed Robotics and Department of Computer Science and Engineering University of Minnesota MTS Systems Corporation

In this paper we present an active video module that consists of a miniature video sensor, a wireless video transmitter and a pan-tilt mechanism driven by micromotors. The video module is part of a miniature mobile robot that is projected to areas of the environment to be surveyed. A single-chip CMOS video sensor and miniature brushless DC gearmotors are used to comply with restrictions imposed by the robotic system in terms of payload weight volume and power consumption. Different types of actuation are analyzed for compatibility with a mesoscale robotic system. Applications of an active video module are discussed.

关键词： Reconnaissance Robot sensing systems Mobile robots Payloads Springs Robot vision systems Cameras Wireless sensor networks Sensor systems Wheels

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