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5th AEROTECH conference

作者： Azrad, Syaril Fadhil, Mohammad Kendoul, Farid Nonami, Kenzo Universiti Putra Malaysia Malaysia Universiti Malaysia Pahang Malaysia Australia Robotics and Systems Control Laboratory Chiba University Japan

ISBN: (纸本)9783038352327

Localization of Small-Size Unmanned Air Vehicles (UAVs) such as the Quadrotors in Global Positioning System (GPS)-denied environment such as indoors has been done using various techniques. Most of the experiment indoors that requires localization of UAVs, used cameras or ultrasonic sensors installed indoor or applied indoor environment modification such as patching (Infra Red) IR and visual markers. While these systems have high accuracy for the UAV localization, they are expensive and have less practicality in real situations. In this paper a system consisting of a stereo camera embedded on a quadrotor UAV (QUAV) for indoor localization was proposed. The optical flow data from the stereo camera then are fused with attitude and acceleration data from our sensors to get better estimation of the quadrotor location. The quadrotor altitude is estimated using Scale Invariant Feature Transform (SIFT) Feature Stereo Matching in addition to the one computed using optical flow. To avoid latency due to computational time, image processing and the quadrotor control are processed threads and core allocation. The performance of our QUAV altitude estimation is better compared to single-camera embedded QUAVs due to the stereo camera triangulation, where it leads to better estimation of the x-y position using optical flow when fused together. © (2014) Trans Tech Publications, Switzerland.

关键词： Global positioning system

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Erratum to: Supplemental vibrotactile feedback control of stabilization and reaching actions of the arm using limb state and position error encodings

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Journal of neuroengineering and rehabilitation 2017年第1期14卷 69页

作者： Alexis R Krueger Psiche Giannoni Valay Shah Maura Casadio Robert A Scheidt Biomedical Engineering Marquette University Milwaukee WI USA. Informatics Bioengineering Robotics and Systems Engineering University of Genova Genoa Italy. Robotics Brain and Cognitive Science Italian Institute of Technology Genoa Italy. Biomedical Engineering Marquette University Milwaukee WI USA. robert.scheidt@marquette.edu. Physical Medicine and Rehabilitation Northwestern University Feinberg School of Medicine Chicago IL USA. robert.scheidt@marquette.edu. Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL USA. robert.scheidt@marquette.edu. Neurology Medical College of Wisconsin Wauwatosa WI USA. robert.scheidt@marquette.edu. Neuromotor Control Laboratory Department of Biomedical Engineering Marquette University Olin Engineering Center 206 P.O. Box 1881 Milwaukee WI 53201-1881 USA. robert.scheidt@marquette.edu.

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Simulations of the hazard detection system for approach trajectories of the Morpheus lunar lander

Simulations of the hazard detection system for approach traj...

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AIAA Guidance, Navigation, and control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015

作者： Luna, Michael E. Huertas, Andres Trawny, Nikolas Villalpando, Carlos Y. Martin, Keith E. Wilson, William Restrepo, Carolina I. Guidance & Control Section Jet Propulsion Laboratory California Institute of Technology Mail Stop 198-235 PasadenaCA91109 United States Mobility & Robotics Systems Section Jet Propulsion Laboratory California Institute of Technology Mail Stop 198-235 PasadenaCA91109 United States GN&C Hardware & Testbed Development Jet Propulsion Laboratory California Institute of Technology Mail Stop 198-235 PasadenaCA91109 United States Advanced Computer Systems & Technologies Jet Propulsion Laboratory California Institute of Technology Mail Stop 198-138 PasadenaCA91109 United States Simulation & Support Equipment Jet Propulsion Laboratory California Institute of Technology PasadenaCA91109 United States GN&C Hardware & Testbed Development Jet Propulsion Laboratory California Institute of Technology Mail Stop 198-235 PasadenaCA91109 United States Integrated GN&C Analysis Branch NASA Johnson Space Center HoustonTX77058 United States

ISBN: (纸本)9781510801097

The Hazard Detection System is part of a suite of sensors and algorithms designed to autonomously land a vehicle on unknown terrain while avoiding any hazards. This paper describes the simulations built to predict the performance of the Hazard Detection System to support flight testing onboard the Morpheus Lander testbed at the Kennedy Space Center. The paper describes a hardware-in-the-loop simulation that was used to predict system performance under nominal operating conditions, and also a Monte Carlo simulation to predict command timing performance bounds under a wide range of varying conditions. © 2015, E-flow American Institute of Aeronautics and Astronautics (AIAA). All rights reserved.

关键词： Monte Carlo methods

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Modal decoupling for MIMO self-oscillating systems - application to resonant force sensor control

Modal decoupling for MIMO self-oscillating systems - applica...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： D. Castano-Cano M. Grossard A. Hubert CEA Interactive Robotics Laboratory Gif-sur-Yvette France Automatic Control and Micro-Mechatronic Systems Department FEMTO-ST Institute Université de Franche-Comte Besançon France Sorbonne Universités EA 1006 Laboratoire Electromecanique Compiègne CEDEX CS France

In this paper we present a new method to control instantaneously MIMO oscillating systems. The algorithm and its hardware configuration are implemented on a multidimensional resonant force sensor. The robotic applications of this sensor require real-time resonant frequency measures. Inspired by the technique used in single quartz crystal oscillator, the method is extended to the MIMO case and is presented as an alternative solution to control multiple resonances of a force sensor. Three frequencies of one single active plate, on which several piezoelectric patches are bonded, are simultaneously excited. The method uses spatial modal decoupling technique implemented with analogue electronics thanks to a smart arrangement of the piezoelectric patches. This allows the full MIMO system to be transformed into three independent SISO subsystems. Then, for each of them, a controller is tuned to reinforce self-oscillation of the force sensor system to several resonant working points in a closed-loop configuration. Finally, experimental verification shows that the method can be successfully used for the control of a new type of resonant force sensors.

关键词： Force sensors Robot sensing systems Resonant frequency Force MIMO Frequency measurement

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Recurrence characteristics analysis of near-Surface wind speed signal with different sampling frequencies

Recurrence characteristics analysis of near-Surface wind spe...

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4th International Conference on Frontiers of Manufacturing Science and Measuring Technology, ICFMM 2014

作者： Zeng, Ming Wu, Zhan Xie Meng, Qing Hao Li, Jing Hai Ma, Shu Gen Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9783038351924

The wind is the main factor to influence the propagation of gas in the atmosphere. Therefore, the wind signal obtained by anemometer will provide us valuable clues for searching gas leakage sources. In this paper, the Recurrence Plot (RP) and Recurrence Quantification Analysis (RQA) are applied to analyze the influence of recurrence characteristics of the wind speed time series under the condition of the same place, the same time period and with the sampling frequency of 1hz, 2hz, 4.2hz, 5hz, 8.3hz, 12.5hz and 16.7hz respectively. Research results show that when the sampling frequency is higher than 5hz, the trends of recurrence nature of different groups are basically unchanged. However, when the sampling frequency is set below 5hz, the original trend of recurrence nature is destroyed, because the recurrence characteristic curves obtained using different sampling frequencies appear cross or overlapping phenomena. The above results indicate that the anemometer will not be able to fully capture the detailed information in wind field when its sampling frequency is lower than 5hz. The recurrence characteristics analysis of the wind speed signals provides an important basis for the optimal selection of anemometer. © (2014) Trans Tech Publications, Switzerland.

关键词： Time series

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Motion comparison method combining segmented multi-Joint line graphs with the SIFT matching technique

Motion comparison method combining segmented multi-Joint lin...

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4th International Conference on Frontiers of Manufacturing Science and Measuring Technology, ICFMM 2014

作者： Zeng, Ming Ren, Hong Lin Meng, Qing Hao Chen, Chang Wei Ma, Shu Gen Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9783038351924

In this paper, an effective motion comparison method based on segmented multi-joint line graphs combined with the SIFT feature matching method is proposed. Firstly, the multi-joint 3D motion data are captured using the Kinect. Secondly, 3D motion data are normalized and distortion data are removed. Therefore, a 2D line graph can be obtained. Next, SIFT features of the 2D motion line graph are extracted. Finally, the line graphs are divided into several regions and then the comparison results can be calculated based on SIFT matching ratios between the tutor's local line graph and the trainee's local line graph. The experimental results show that the proposed method not only can easily deal with the several challenge problems in motion analysis, e.g., the problem of different rhythm of motions, the problem of a large amount of data, but also can provide detailed error correction cues. © (2014) Trans Tech Publications, Switzerland.

关键词： Motion analysis

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Biomechanical analysis of typical upper limb movements based on Kinect-LifeMOD

Biomechanical analysis of typical upper limb movements based...

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4th International Conference on Frontiers of Manufacturing Science and Measuring Technology, ICFMM 2014

作者： Zeng, Ming Chen, Chang Wei Meng, Qing Hao Ren, Hong Lin Ma, Shu Gen Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9783038351924

In traditional biomechanical analysis of upper limb, the high-precision motion data and lifelike human models are needed. It is obvious that those processes are costly and time-consuming. In this paper, a novel and simple combination method based on Kinect-LifeMOD is proposed. Firstly, the Microsoft Kinect (a latest depth sensor) is used to build a cheap and precise motion capture platform. Real-time and reliable key-node rotation data of human skeletons can be acquired by this motion capture system. Next, rotation data is converted into position data as the input of the LifeMOD software which can establish mathematical model of upper limb and execute biomechanical analysis automatically. The experimental results show that the proposed method could achieve the satisfactory performance. © (2014) Trans Tech Publications, Switzerland.

关键词： Biomechanics

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Haptic intelligent interfaces for NAO robot hand control

Haptic intelligent interfaces for NAO robot hand control

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International Conference on Advanced Mechatronic systems (ICAMechS)

作者： Octavian Melinte Luige Vladareanu Ligia Munteanu Hongnian Yu Shuang Cang Zeng-Guang Hou Gui-Bin Bian Hongbo Wang Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy Bucharest Romania Engineering and Computing Bournemouth University Dorset UK State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Parallel Robot and Mechatronic Sys. Lab. Yanshan University Qinhuangdao China

The paper presents a new approach on haptic interface control for NAO robotic hand. The haptic teleoperation of NAO robot hand raises some issues, mapping the haptic device dynamic being the most important. The mapping was achieved through Neural Network by determining a dynamic gain of robot haptic feedback. The results lead to the achievement of the haptic intelligent interfaces for the NAO robot hand control which can be integrated into an innovative haptic robot control system.

关键词： Decision support systems Humanoid robots Haptic interfaces Economic indicators Joints Mechatronics

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An approach to determination of simple circular waits in reconfigurable multi-vehicle systems

An approach to determination of simple circular waits in rec...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

Resource allocation systems are used for modeling and control of flexible manufacturing systems, multi-vehicle systems, traffic networks, etc. Methods for control of these systems are often based on the identification of a special structural property, simple circular wait of resources, and interrelations between simple circular waits. In this paper we study reconfigurable resource allocation systems, which require that control algorithm is modified online and, therefore, has low running time. In this paper we propose dynamical algorithms for determination of simple circular waits in reconfigurable systems, which are based on Johnson's algorithm, and aim at identifying only changes in the set of simple circular waits. Running time of the proposed algorithms is lower than running time of standard static methods. Algorithms are tested for a family of multi-vehicle systems and results confirm the advantages of using the dynamic algorithms.

关键词： Vehicles Heuristic algorithms Resource management Motion segmentation Algorithm design and analysis Complexity theory System recovery

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Path assignment and resource allocation control in reconfigurable multi-vehicle system

Path assignment and resource allocation control in reconfigu...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

In this paper we study control of reconfigurable multi-vehicle system. Our method builds upon an existing deadlock-free resource allocation control method that is based on the identification of higher-level deadlocks. We identify a smaller set of cyclic circular waits to be controlled, and provide an algorithm for determination of such cyclic circular waits. Furthermore, we propose a path assignment algorithm that aims at lowering the structural complexity of the corresponding resource allocation system, while taking into account path length. Methods are tested in a simulation environment and results show their efficiency.

关键词： System recovery Vehicles Resource management Motion segmentation control systems Heuristic algorithms Superluminescent diodes

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