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Optimal placement of a two-link manipulator for door opening

Optimal placement of a two-link manipulator for door opening

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Takateru Urakubo Tomoaki Mashimo Takeo Kanade Department of Computer Science and Systems Engineering Kobe University Kobe Japan Robotics Institute Carnegie Mellon University Pittsburgh PA USA

This paper presents a study on the optimal base location and arm motion of a mobile manipulator for door opening task. Numerical simulation results show that the base location where the manipulability of the two-link arm is almost degenerated at the start and end points of door opening is *** show by analysis that the location has an advantage in supplying kinetic energy to the door by using torques at the joints of arm. In order to represent properly the arm motion near a singular point of manipulability, the rotational motion of the door is parameterized by piecewise fifth order polynomials of time, and the parameters of polynomials are optimized to minimize the joint torques.

关键词： End effectors Numerical simulation Polynomials Mobile robots Manipulator dynamics Torque Intelligent robots USA Councils Kinetic energy Refrigeration

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Capturability of a simple guidance law with angular acceleration input

Capturability of a simple guidance law with angular accelera...

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European Control Conference (ECC)

作者： Takateru Urakubo Takeo Kanade Department of Computer Science and Systems Engineering Kobe University Kobe Japan Robotics Institute Carnegie Mellon University Pittsburgh PA USA

This paper examines the capturability of a guidance law that provides a desired angular acceleration of the heading angle to a pursuer. The guidance law has originally been proposed by Fajen and Warren[13], in order to explain the behavior of walking humans. It is shown that the relative rotational motion between a pursuer and an evader can be represented by an equation similar to the equation of motion for a pendulum with a disturbance. A set of sufficient conditions for successful pursuit are derived, and it is proved that the gain parameters of the guidance law can be chosen so that the conditions are satisfied. For sufficiently large gains, a pursuer controlled by the guidance law catches a maneuvering evader while achieving motion camouflage.

关键词： Vectors Equations Acceleration Angular velocity Missiles Lyapunov methods Trajectory

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Analysis of Gait Control of Wall-Climbing Caterpillar Robot

Analysis of Gait Control of Wall-Climbing Caterpillar Robot

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： G. H. Zong W. Wang K. Wang D. Z. Li X. Y. Ma H. X. Zhang Robotics Institute School of Mechanical Engineering and AutomationBeihang University100191Beijing Institute of Technical Aspects of Multimodal Systems Department of Computer ScienceUniversity of Ha

ISBN: (纸本)9781424447749

In order to verify the benefit of four links kinematical method, the mathematical model of four links kinematics is established. The kinematical parameters of passive joints can be calculated according to the rotation of active joint. Then the wall-climbing robot can climb the vertical wall through the coordinated rotation of active joint and passive joints. To testify the feasibility of the four links kinematical method, a wall-climbing caterpillar robot based on vibrating suction method is developed. An experiment of wall-climbing confirms the kinematical method mentioned above. The result shows that the four links kinematical method is simple and reliable although some errors exist. At last, the conclusions and future works are present.

关键词： CLIMBING WALL Gait control Caterpillar Joints Joints Robot Analysis kinematics

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Outer shape classification in rotation manipulation by Universal Robot Hand

Outer shape classification in rotation manipulation by Unive...

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IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS

作者： Hiroyuki Nakamoto Wataru Fukui Futoshi Kobayashi Fumio Kojima Nobuaki Imamura Hidenori Shirasawa Department of Computer Science and Systems Engineering Kobe University Kobe Japan Department of Mechanics and Robotics Hiroshima International University Kure Japan Advanced Materials Processing Institute Amagasaki Japan

We propose a method for shape classification in continuous rotation manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Each tactile sensor can measure a pressure distribution once every 10(ms) while the robot hand rotates the object continuously. Our proposed classification method consists of the following processes: A kurtosis is calculated from each pressure distribution, and it quantifies shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. Finally, a evaluated value is calculated between the time-series kurtosis and reference patterns through a continuous dynamic programming (CDP) matching scheme. The contact shape is classified if the evaluated value is lower than a threshold. We show the effectiveness of our method through experiments.

关键词： Shape Robot sensing systems Tactile sensors Humans Humanoid robots Fingers Service robots Rotation measurement Pressure measurement Pattern matching

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Teaching requirements elicitation within the context of global software development

Teaching requirements elicitation within the context of glob...

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10th Mexican International Conference on computer science, ENC 2009

作者： Romero, Miguel Vizcaíno, Aurora Piattini, Mario University of Bío-Bío Department of Computer Science and Information Technologies Avenida Andrés Bello s/n 3780000 Chillán Chile University of Castilla-La Mancha Alarcos Research Group-Institute of Information Technologies and Systems Dep. of Information Technologies and Systems - Escuela Superior de Informática Paseo de la Universidad 4 13071 Ciudad Real Spain

ISBN: (纸本)9780769538822

The typical problems of the requirements elicitation stage increase when stakeholders are working on a Global software Development project. In order to fulfil the challenge of successfully carrying out the requirements elicitation process in a GSD environment, requirements specialists need suitable preparation. An improvement in this preparation necessitates an update of the contents, techniques and tools used in the teaching of the requirements elicitation process. In this paper we discuss these issues, show a list of knowledge and skills which are desirable for requirements elicitation engineers in GSD (obtained from a review of literature), and we also propose a simulator environment with which to develop certain skills that are appropriate for students and engineers in GSD requirements elicitation. © 2009 IEEE.

关键词： Software design

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Cooperative Autonomous Marine Vehicle motion control in the scope of the EU GREX Project: Theory and Practice

Cooperative Autonomous Marine Vehicle motion control in the ...

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OCEANS - Europe

作者： A. Aguiary J. Almeiday M. Bayaty B. Cardeiray R. Cunhay A. Hauslery P. Mauryay A. Oliveiray A. Pascoaly A. Pereira M. Rufinoy L. Sebastiaoy C. Silvestrey F. Vanniy Dept. Electrical Engineering and Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) Lisbon Portugal Department Computer Science University슠of슠Southern California USA Dept. Computer Science Univ. Southern California (USC) USA

This paper describes the core of the research work done by the ISR/IST team on cooperative autonomous marine vehicle (AMV) motion control in the scope of the EU Project GREX - coordination and control of cooperating heterogeneous unmanned systems in uncertain environments. The first part of the paper affords the reader a concise introduction to the general problem of cooperative motion control of fleets of AMVs by highlighting illustrative mission scenarios developed collectively by the GREX partners and summarizing the main challenges that they pose to system engineers. This is followed by the description of a general architecture for cooperative autonomous marine vehicle control in the presence of time-varying communication topologies and communication losses that is rooted in a solid control-theoretic framework. The results of simulations with the NetMar SyS - networked marine systems simulator - of ISR/IST are presented and show the efficacy of the algorithms developed for cooperative motion control. The last part of the paper focuses on practical issues and describes the results of tests at sea in the Azores, in the Summer of 2008. The paper concludes with a critical review of the work done and a discussion of theoretical and practical implementation issues that warrant further research and development effort.

关键词： Marine vehicles Motion control Communication system control Control systems Automotive engineering systems engineering and theory Network topology Solids Testing Research and development

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An Intelligent Assistant for Power Plants Based on Factored MDPs

An Intelligent Assistant for Power Plants Based on Factored ...

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International Conference on Intelligent systems Applications to Power systems (ISAP)

作者： Alberto Reyes Matthijs T. J. Spaan L. Enrique Sucar Instrumentation and Control Department Instituto de Investigaciones Eléctricas of Mexico Cuernavaca Mexico Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Computer Science Department INAOE Puebla Mexico

Making good operation decisions during abnormal power plant conditions represents in many cases the possibility to avoid a unit trip or having economical losses. This paper introduces AsistO, an intelligent assistant for the decision support based on decision theoretic planning techniques. It provides power plant operators with useful recommendations to (i) maintain a plant running under safe conditions, or (ii) deal with process transients when an unexpected event occurs. We present the formalism of Markov decision processes as the core of the intelligent assistant which uses a factored representation of plant states. We also show a very intutive algorithm to approximate decision models based on training data collected through random exploration routines in a simulated environment. We have tested our system in the steam generation system of a combined power plant to deal with load disturbances.

关键词： Power generation Power system modeling Intelligent robots Control systems System testing Knowledge based systems Knowledge acquisition Knowledge management Traffic control Management training

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Crawling Locomotion of Modular Climbing Caterpillar Robot with Changing Kinematic Chain

Crawling Locomotion of Modular Climbing Caterpillar Robot wi...

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： W. Wang H. X. Zhang J. W. Zhang Department of Informatics University of Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany

Based on the modular concept, this paper presents two caterpillar robot prototypes which are inspired by two typical caterpillars: inchworm and pine caterpillar. The inchworm robot prototype features simplest kinematics and open chain architecture. Due to the fact that there is only one attachment module supporting the inchworm robot during crawling, we apply an unsymmetrical phase method (UPM) to realize a stable crawling gait for it. A pine caterpillar robot is derived from combining two inchworm robots together. The crawling gait of it features a repetitive changing chain: open-closed-open. Besides the UPM in open chain states, a four-links kinematic model is applied to control the corresponding joints to transfer the crawling wave along the robot body in the closed chain state. These two prototypes are all constructed and, and their crawling locomotion abilities have been tested on vertical glasses respectively.

关键词： Kinematics Mobile robots Climbing robots Intelligent robots Prototypes Joining processes USA Councils Testing Glass Gravity

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High stiffness pneumatic actuating scheme and improved position control strategy realization of a pneumatic climbing robot

High stiffness pneumatic actuating scheme and improved posit...

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IEEE International Conference on robotics and Biomimetics

作者： H. X. Zhang W. Wang J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Shenzhen Institute of Advanced Technology Shenzhen China

The improved full pneumatic climbing robot Sky Cleaner IV has recently been developed as an intelligent demonstrator and test bed for the implementation of nonlinear locomotion control. Pneumatic actuators control the robot's movement, reducing its weight and increasing its dexterity. The pneumatic system of the robot includes X, Y and Z cylinders, a waist cylinder, brush cylinders and vacuum suckers. The major challenge of the pneumatic system is to achieve precise position control of the two rodless linear X and Y cylinders since the system is nonlinear. Two novel ideas are introduced to the pneumatic actuating system. Firstly, the X and Y cylinders feature an improved pneumatic scheme that drives two groups of four 2-position-2-port high speed on-off valves to adjust the pressure in the two chambers of each cylinder. This improves the pneumatic stiffness of the cylinders remarkably. Secondly, considering the effects of friction and movement acceleration of the cylinder, a compensating variable bang-bang controller is presented to control the cylinders' movement and keep the merits while eliminating the oscillation. The experimental results prove that the two approaches can effectively improve the system's stiffness and control its quality.

关键词： Position control Climbing robots Pneumatic systems Intelligent robots Intelligent actuators Testing Pneumatic actuators Robot control Brushes Vacuum systems

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Docking manipulator for a reconfigurable mobile robot system

Docking manipulator for a reconfigurable mobile robot system

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Wei Wang Wenpeng Yu Houxiang Zhang Jianwei Zhang Dept of Informatics University of Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany

JL-2, as a new version of the JL reconfigurable mobile robot system, features not only a docking and 3D posture adjusting capability between its robots, but also a multi-functional docking gripper. The basic concept of JL is that the robots in the system can simultaneously perform basic tasks in flat terrains, and in the case of rugged terrains, the robots can interconnect to enhance their locomotion capabilities. This paper introduces new designs for JL-2 by which the docking mechanism can be used as a simple gripper with 3 DOFs. Then the technologies of the docking mechanism are discussed in detail, including the workspace of the docking gripper, the docking procedure and analyses of the self-aligning ability. Then the workspaces of the posture adjusting mechanisms between two docked robots are analyzed to clarify the reconfiguration ability of JL-2. At last, a series of real experiments are proposed to test the designs and analyses and the basic performance of JL-2.

关键词： Manipulators Mobile robots robotics and automation Navigation Grippers Intelligent robots Space technology Orbital robotics Mechanical engineering computer science

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