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Voltage-fed permanent magnet stepper motor control with position only feedback

Voltage-fed permanent magnet stepper motor control with posi...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

A robust adaptive nonlinear dynamic controller is designed to achieve practical stabilization for position tracking error of a voltage-fed permanent-magnet stepper motor. The control design is an output-feedback design that utilizes only rotor positions measurements. Rotor velocity and stator phase currents are not available for feedback. Furthermore, the only motor parameter that is required to be known is the time constant of the electrical subsystem. Adaptations are utilized so that no other knowledge of motor parameters is required. The proposed controller is robust to load torques, friction, cogging forces, and other disturbances satisfying certain bounds. These results can also be extended to other classes of motors.

关键词： Motor drives Robust control Rotors Programmable control Adaptive control Voltage control Error correction Permanent magnet motors Control design Position measurement

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Decentralized control of large-scale nonlinear systems in generalized output-feedback canonical form

Decentralized control of large-scale nonlinear systems in ge...

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IEEE Conference on Decision and Control

作者： P. Krishnamurthy F. Khorrami Department of Electrical and Computer Engineering Six Metrotech Center Control/Robotics Research Laboratory Polytechnic University Brooklyn NY USA

ISBN: (纸本)0780370619

A global decentralized adaptive output-feedback dynamic compensator is proposed for stabilization and tracking of a class of large-scale systems that are globally diffeomorphic into systems which are interconnections of subsystems in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. The system is allowed to contain unknown parameters multiplying output-dependent nonlinearities, and, also, unknown nonlinearities satisfying certain bounds. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that reduced-order observers and backstepping controllers can be designed to achieve practical stabilization of the tracking error in each subsystem. Sufficient conditions under which asymptotic tracking and stabilization can be achieved are also obtained. This represents the first decentralized adaptive output-feedback tracking results for this class of systems.

关键词： Distributed control Large-scale systems Nonlinear systems Programmable control Adaptive control Output feedback Control systems Polynomials Uncertainty Robot control

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Light signaling for social interaction with mobile robots

Light signaling for social interaction with mobile robots

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： F. Michaud Minh Tuan Vu Laborius-Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

To give autonomous mobile robots some kind of "social intelligence", they need to be able to recognize and interact with other agents in the world. This paper describes how a light signaling device can be used to identify another individual and to communicate simple information. By having the agents relatively close to each other, they share the same perceptual space, which allows them to sense or deduce implicit information concerning the context of their interaction. Using a vision- and sonar-based Pioneer I robot equipped with a colored-light signaling device, experimental results demonstrate how the robot. can interact with a human interlocutor in a ball-passing game.

关键词： Mobile robots Intelligent robots Intelligent agent Human robot interaction Humanoid robots Robot sensing systems Orbital robotics Animals Robot vision systems Protocols

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Positioning and photo-mosaicking with long image sequences;comparison of selected methods

Positioning and photo-mosaicking with long image sequences;c...

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OCEANS

作者： S. Negahdaripour P. Firoozfam Underwater Vision & Imaging Laboratory Electrical & Computer Engineering Department University of Miami Coral Gables FL USA

Despite limited range, high resolution and data rate are among factors motivating the investigation of vision-based technologies in support of unmanned submersible platform operations. Among many, automatic vision-guided station keeping, localization and navigation, photo-mosaicking and 3D mapping comprise application areas of special interest. The core issue in realizing these capabilities is to know with high accuracy the motion and (or) position of the vehicle. Over the last decade, a small, but growing, group of research centers have committed an extensive effort in underwater vision activities. Methods based on various approaches in motion vision- e.g., correlation-based, feature-based, optical flow-based, or direct are being developed and implemented in support of different applications on specialized platforms that may simultaneously utilize other sensors for positioning. This makes it somewhat difficult, for user groups unfamiliar with the methodologies or technologies, to evaluate the capabilities of these vision systems. The main motivation for this work was to carry out and report the results of experiments with various techniques for positioning and mosaicking, on the same data set.

关键词： Image sequences Remotely operated vehicles Optical sensors Underwater vehicles Humans Sensor arrays Optical imaging National security Inspection Costs

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Utilizing panoramic views for visually guided tasks in underwater robotics applications

Utilizing panoramic views for visually guided tasks in under...

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OCEANS

作者： S. Negahdaripour H. Zhang P. Firoozfam J. Oles Underwater Vision & Imaging Laboratory Electrical & Computer Engineering Department University of Miami Coral Gables FL USA

There has been an increasing interest in developing vision systems and technologies that support the operation of unmanned submersible platforms. Selected examples include the detection of obstacles and tracking of moving targets, station keeping and positioning, pipeline following, navigation, and mapping. These developments rely on images from standard CCD cameras. We propose the use of these images for the construction of panoramic views that are then utilized for a number of applications, capabilities, and operational modes of underwater vehicles; scenarios that are also common in airborne and space robotics applications. We describe two prototype imaging systems in forward-looking and down-looking configurations, designed and built from 6 off-the-shelf security cameras, also addressing a number of issues for preprocessing the data to construct these views. We study each of a number of critical capabilities and describe the potential use of the panoramic imaging system, presenting various examples to demonstrate the applications.

关键词： Underwater vehicles Robot vision systems Cameras Machine vision Target tracking Underwater tracking Pipelines Navigation Standards development Charge coupled devices

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Application of extended covariance intersection principle for mosaic-based optical positioning and navigation of underwater vehicles

Application of extended covariance intersection principle fo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： X. Xu S. Negahdaripour Underwater Vision and Imaging Laboratory Electrical and Computer Engineering Department University of Miami Coral Gables FL USA

ISBN: (纸本)0780365763

Mosaic-based positioning is a paradigm for the simultaneous construction of a photo-mosaic as a visual map, and its use to achieve accurate positioning. We discuss the application of a novel fusion principle, the so-called an extended covariance intersection (ECI), for addressing the mosaic-based positioning as a data fusion problem. The covariance intersection (CI) principle has been proposed for the fusion of highly correlated data. In contrast to the extended Kalman filter (EKF), the drawback is the conservative nature of the solution, as the extend of correlation becomes insignificant. The primary advantage of ECI, by decomposing the estimates from information sources into both dependent and independent components, is to arrive at improved estimates, neither as over-optimistic as from an EKF, nor as over-conservative as the CI solution. Experiments with real data are presented to evaluate the performance of the proposed ECI-based formulation.

关键词： Application software Optical filters Navigation Underwater vehicles Mobile robots Robot sensing systems Motion estimation Optical imaging Laboratories computer vision

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Mobile robot that can read symbols

Mobile robot that can read symbols

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： F. Michaud D. Letourneau LABORIUS-Research Laboratory on Mobile Robotics aid Intelligent Systems Department of Electrical and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

To give an autonomous robot the ability to read symbols, we need to integrate character recognition techniques with methods to position the robot in front of the symbol, to capture the image that will be used in the identification process, and to validate the overall approach on a robot. Our goal is to address the different aspects required in making a mobile robotic platform recognize symbols placed in real world environment, using current hardware and software capabilities. Validated on a Pioneer 2 robot, the approach described in this paper uses colors to detect symbols, a PID controller to position the camera, simple heuristics to select image regions that could contain symbols, and finally a neural system for symbol identification. Results in different lighting conditions are presented.

关键词： Mobile robots Intelligent robots Robot vision systems Hardware Cameras Roads Sonar Mobile computing Intelligent systems Character recognition

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Sensor planning with kinematics constraint for dimensional inspection of sheet metal parts

Sensor planning with kinematics constraint for dimensional i...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Weihua Sheng Ning Xi Mumin Song Yifan Chen Electrical and Computer Engineering Department Michigan State University East Lansing MI USA Scientific Research Laboratory Ford Motor Company Limited Dearborn MI USA

Sensor planning is critical in many inspection systems. In typical part dimensional inspection systems, eye-in-hand robots are usually adopted. One practical problem that needs to be addressed is that the viewpoints, or correspondingly, the robot hand-tip positions and orientations, should be within the robot's reachability space. Furthermore, it is desirable that the robot can reach these viewpoints "comfortably". In this sense the robot kinematics constraint should be considered in sensor planning. In the paper, an approach is developed to integrate the kinematics constraint into sensor planning. This approach models the problem as an integer programming problem. With this approach, the computation burden of the robot placement problem can be avoided. Experiment and simulation results demonstrate the effectiveness of our approach.

关键词： Kinematics Inspection Robot sensing systems Orbital robotics Robot vision systems Cameras robotics and automation Sensor systems Surface emitting lasers Robotic assembly

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Graph-based surface merging in CAD-guided dimensional inspection of automotive parts

Graph-based surface merging in CAD-guided dimensional inspec...

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IEEE International Conference on robotics and Automation (ICRA)

ISBN: (纸本)0780365763

A CAD-guided camera planning system for dimensional inspection of automotive parts has been developed. This system utilizes the CAD information of inspected parts and the camera model to plan camera viewpoints that satisfy certain task constraints. To overcome some limitation inherited in the existing method, a new CAD data representation is adopted to combine the advantages of parametric surface and triangulation. A graph-based surface merging algorithm is proposed to reduce the number of flat patches, and eventually, the number of viewpoints. Tests on different real part models show that the surface merging algorithm is effective. This algorithm can also benefit many other CAD-guided robot path planning applications.

关键词： Merging Inspection Automotive engineering Cameras Testing Path planning Sensor systems and applications Optical sensors Laboratories Robot sensing systems

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Activity monitoring and summarization for an intelligent meeting room

Activity monitoring and summarization for an intelligent mee...

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Workshop on Human Motion

作者： I. Mikic K. Huang M. Trivedi Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of California San Diego USA

Intelligent meeting rooms should support efficient and effective interactions among their occupants. In this paper, we present our efforts toward building intelligent environments using a multimodal sensor network of static cameras, active (pan/tilt/zoom) cameras and microphone arrays. Active cameras are used to capture details associated with interesting events. The goal is not only to make a system that supports multi-person interactions in the environment in real time, but also to have the system remember the past, enabling reviews of past events in an intuitive and efficient manner. In this paper, we present the system specifications and major components, integration framework, active network control procedures and experimental studies involving multi-person interactions in an intelligent meeting room environment.

关键词： Monitoring Intelligent sensors Intelligent networks Smart cameras Microphone arrays Sensor arrays Intelligent structures Multimodal sensors Real time systems Control systems

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