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Velocity and direction planning in a sumo robot type using the method of potential field with fuzzy systems

Velocity and direction planning in a sumo robot type using t...

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International Conference on Advanced robotics (ICAR)

作者： Carlos Erlan Olival Lima Francisco Marcelino Almeida de Araújo Mário Bibiano da Silva Antônio Edson Rocha Filho Ricardo de Andrade Lira Rabêlo Thiago Allison Ribeiro da Silva Antonio Jose de Oliveira Alves LABoratory of Intelligent Robotics Automation and Systems - LABIRAS CAPES Foundation Instituto Federal do Piauí - IFPI Tianjin University Teresina Brasilia - DF Brazil LABoratory of Intelligent Robotics Automation and Systems - LABIRAS Instituto Federal do Piauí - IFPI Teresina Brazil Computing Department Universidade Federal do Piaui - UFPI Teresina Brazil LABoratory of Intelligent Robotics Automation and Systems - LABIRAS Instituto Federal do Piauí - IFPI Teresina Brazil

An application of the potential field method is presented in this paper for autonomous sumo robot class navigation with dynamic environments including moving target and static obstacle. The method used in this paper aims to planning the velocity and the direction taken by the robot in order to reach your target in the possible shortest time. The design velocity is determined from the relative velocities between the robot and the target as well as the relative positions between them. This work uses a hybrid method to determine the velocity and position of a sumo robot class, which is intended to push the opponent out of the arena. This hybrid method applies the potential field with fuzzy logic and use the Mamdani model to obtain the necessary variables for determining the velocity and direction to be followed by the robot. For determining the time necessary to find the target two simulations were done in the MATLAB. The obtained results show that the hybrid method overcomes the local minimum problem within any stationary or dynamic environment with static obstacles.

关键词： Robot kinematics Mobile robots Fuzzy systems Acceleration Planning Graphics

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Adaptive visual servoing using common image features with unknown geometric parameters

Adaptive visual servoing using common image features with un...

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作者： Liu, Yun-Hui Wang, Hesheng Chen, Weidong Zhou, Dongxiang Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin 150001 China Joint Center for Intelligent Sensing and Systems National University of Defense Technology China

This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method. © 2013 Elsevier Ltd. All rights reserved.

关键词： Controllers

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Toward a Hybrid Approach to Generate Software Product Line Portfolios

Toward a Hybrid Approach to Generate Software Product Line P...

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IEEE Congress on Evolutionary Computation

作者： Jonathas Cruz Pedro Santos Neto Ricardo Britto Ricardo Rabelo Werney Ayala Thiago Soares Mauricio Mota Software Engineering and Industrial Informatics (EASII) Computer Science Department (DC) Federal University of Piaui (UFPI) LABoratory of Intelligent Robotics Automation and Systems (LABIRAS) State University of Piaui (UESPI)

ISBN: (纸本)9781479904532

Software Product Line (SPL) development is a new approach to software engineering that aims at the development of a whole range of products. One of the problems which hinders the adoption of that approach is related with the management of the products of the line. Additionally, the scope of a software product line is determined by the bounds of the capabilities provided by the collection of products in the product line. This introduces new challenges related to the scope problem. One of the main three different forms of scoping is the Product Portfolio Scoping (PPS). PPS aims at defining the products that should be developed as well as their key features. While this has an impact on the actual reuse opportunities, it is usually driven from marketing aspects. Defining a product portfolio by considering costumers satisfaction and cost aspects is a NP-hard problem. This work presents a hybrid approach, which combines fuzzy inference systems and the multi-objective metaheuristics NSGA-II to support product management by generating portfolios of products, based in segments of users and the development cost of the assets of the SPL. Fuzzy inference systems are used to generate development cost of an asset by using coupling, number of code lines and cyclomatic complexity and also to estimate the quality of the products generated by the optimization module of our approach. The NSGA-II metaheuristic is used to search for products minimizing the cost and maximizing the relevance of the candidate products. The results show that the proposed approach is effective in proposing the best products in terms of relevance and cost of the assets.

关键词： Portfolios Correlation Fuzzy logic Indexes Optimization Couplings Complexity theory

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A positive tensions PID controller for a planar cable robot: An experimental study

A positive tensions PID controller for a planar cable robot:...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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Fabric of magnetically actuated microstructure for targeted cell transportation

Fabric of magnetically actuated microstructure for targeted ...

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IEEE Conference on Nanotechnology

作者： Sangwon Kim Famin Qiu Samhwan Kim Ali Ghanbari Cheil Moon Li Zhang Bradley J. Nelson Hongsoo Choi Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu South Korea Eidgenossische Technische Hochschule Zurich Zurich ZH CH Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong SAR China Institute of Robotics and Intelligent Systems ETH Zurich Switzerland

Here, we present a method for fabrication of full three-dimensional porous microstructures (microscaffolds) using photocurable polymer. The structures were coated with nickel and titanium for magnetic manipulation and biocompatibility, respectively. Fabricated microstructures were controlled by external magnetic fields for remote actuation. Human embryonic kidney 293 cells were cultured in the microstructures to demonstrate their feasibility for cell transportation. The fabricated microstructures described here are suitable for targeted cell transportation platforms.

关键词： Magnetic fields Magnetic resonance imaging Perpendicular magnetic anisotropy Three-dimensional displays Transportation Fabrication

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Magnetic Microrobots: Fabrication and Characterization of Magnetic Microrobots for Three‐Dimensional Cell Culture and Targeted Transportation (Adv. Mater. 41/2013)

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Advanced Materials 2013年第41期25卷

作者： Sangwon Kim Famin Qiu Samhwan Kim Ali Ghanbari Cheil Moon Li Zhang Bradley J. Nelson Hongsoo Choi Robotics Engineering Department Daegu Gyeongbuk Institute of Science and Technology (DGIST) 711‐873 Daegu South Korea Brain Science Department Daegu Gyeongbuk Institute of Science and Technology (DGIST) 711‐873 Daegu South Korea Institute of Robotics and Intelligent Systems ETH Zurich Zurich CH‐8092 Switzerland Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong SAR China

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Combining radar and vision for self-supervised ground segmentation in outdoor environments

Combining radar and vision for self-supervised ground segmen...

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2011 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Annalisa Milella Giulio Reina James Underwood Bertrand Douillard Institute of Intelligent Systems for Automation (ISSIA) National Research Council CNR Bari Italy Department of Engineering for Innovation University of Salento Lecce Italy Australian Centre of Field Robotics University of Sydney NSW Australia

Ground segmentation is critical for a mobile robot to successfully accomplish its tasks in challenging environments. In this paper, we propose a self-supervised radar-vision classification system that allows an autonomous vehicle, operating in natural terrains, to automatically construct online a visual model of the ground and perform accurate ground segmentation. The system features two main phases: the training phase and the classification phase. The training stage relies on radar measurements to drive the selection of ground patches in the camera images, and learn online the visual appearance of the ground. In the classification stage, the visual model of the ground can be used to perform high level tasks such as image segmentation and terrain classification, as well as to solve radar ambiguities. The proposed method leads to the following main advantages: (a) a self-supervised training of the visual classifier, where the radar allows the vehicle to automatically acquire a set of ground samples, eliminating the need for time-consuming manual labeling; (b) the ground model can be continuously updated during the operation of the vehicle, thus making it feasible the use of the system in long range and long duration navigation applications. This paper details the proposed system and presents the results of experimental tests conducted in the field by using an unmanned vehicle.

关键词： Visualization Radar imaging Sensors Cameras Vehicles Feature extraction

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Motion Planning for Steep Hill Climbing

Motion Planning for Steep Hill Climbing

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2011 IEEE International Conference on robotics and automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Damion Dunlap Wei Yu Emmanuel G. Collins Charmane V. Caldwell Automation & Dynamics Branch Littoral Warfare Science & Technology Department of the US Naval Surfac Center for Intelligent Systems Control and Robotics (CISCOR) and the Department of Mechanical Engine Department of Electrical Engineering Florida A&M University-Florida State UniversityTallahasseeFL

The motors or engines of an autonomous ground vehicles (AGV) have torque and power limitations, which limit their abilities to climb steep hills, which are defined to be hills that have high grade sections in which the vehicle is forced to decelerate. Traversal of a steep hill requires the vehicle to have sufficient momentum before entering the hill. This problem is part of a larger class of momentum-based motion planning problems such as the problem of lifting heavy objects with manipulators. Hence, solutions to the steep hill climbing problem have much wider applicability. The motion planning here is accomplished using a dynamic model of the skid-steered AGV used in the experiments along with Sampling Based Model Predictive Control (SBMPC), a recently developed input sampling planning algorithm that may be viewed as a generalization of LPA* to the direct use of kinodynamic models. The motion planning is demonstrated experimentally using two scenarios, one in which the robot starts at rest at the bottom of a hill and one in which the robot starts at rest a distance from the hill. The first scenario requires the AGV to first reverse direction so that the vehicle can gather enough momentum before reaching the hill. This corresponds to having the vehicle begin at a local minimum, which results in a problem that many traditional model predictive control methods cannot solve. It is seen that, whereas open loop trajectories can lead to vehicle immobilization, SBMPC successfully uses the information provided by the dynamic model to ensure that the AGV has the requisite momentum.

关键词： Vehicles Planning Predictive models Optimization DC motors Trajectory Vehicle dynamics

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Decentralized Task Sequencing and Multiple Mission Control for Heterogeneous Robotic Networks

Decentralized Task Sequencing and Multiple Mission Control f...

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2011 IEEE International Conference on robotics and automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Donato Di Paola Andrea Gasparri Giovanni Ulivi David Naso Frank L. Lewis Institute of Intelligent Systems for Automation (ISSIA) National Research Council (CNR)70126 BariI Faculty of Engineering Computer Science and Automation DepartmentUniversity "Roma Tre"00146 RomeI Department of Electrical and Electronic Engineering (DEE) Polytechnic of Bari70126 BariItaly the Automation and Robotics Research Institute University of Texas at ArlingtonFort WorthTX 76118-

In this paper a novel decentralized approach for task sequencing within a multiple missions control framework is presented. The main contribution of this work concerns the decentralization of a control framework for multiple mission execution in order to enhance the robustness of the system, and the application of the latter to a heterogeneous robotic network. The proposed approach is based on the Matrixbased Discrete Event Framework (MDEF). This formalism is adapted to networks of heterogeneous robots, i.e., robots with different capabilities, and to the decentralized control of mission execution using a consensus-based approach which guarantees the agreement among robots on executed actions and their consequences.

关键词： Mathematical model Equations Resource management Robot sensing systems Availability Multiagent systems

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Proposal of educational environments with mobile robots

Proposal of educational environments with mobile robots

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IEEE Conference on robotics, automation and Mechatronics

作者： Silas F. R. Alves Humberto Ferasoli Filho René Pegoraro Marco A. C. Caldeira João M. Rosário Wilson M. Yonezawa Laboratory of Integrated Automation and Robotics Mechanical Project Department Faculty of Mechanical Engineering State University of Campinas Campinas Sao Paulo Brazil Laboratory of Integration of Intelligent Systems and Devices Computer Department Sciences Faculty University of São Paulo State Bauru Brazil

This paper describes an initiative which uses low-cost mobile robots to create robotics courses and learning environment to support the teaching of computing and many other related disciplines. The pursued principle is that lower cost alternatives that can meet the educational needs, since it is accompanied by an environment with friendly software interface. In this sense, the hardware interface was developed to allow the computer to process data from the sensors and actuators of the mobile robot. This architecture is adequate because of the acceptance of students in their use, since the environment is unrolled within a familiar platform to them.

关键词： Robot sensing systems Computer architecture Computers Mobile robots Educational robots

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