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Path planning of a snake-like robot based on serpenoid curve and genetic algorithms

Path planning of a snake-like robot based on serpenoid curve...

引用

World Congress on Intelligent Control and automation (WCICA)

作者： Jinguo Liu Yuechao Wang Bin Ii S. Ma Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences China Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation (SIA) China Robotics Lab. Chinese Acad. of Sci. China Department of Systems Engineering Ibaraki University JAPAN

The path of the snake-like robot has no repetition because its motion is influenced by manifold indeterminate factors such as ground condition, mechanism's vibration and motor voltage's variety. A novel path planning technique based on serpenoid curve and genetic algorithms (GAs) has been proposed to control the snake-like robot in Shenyang Institute of automation (SIA, China). First, the ranges of the path and the curvature deviation have been calculated approximately and set as the bounds of genetic algorithms. Then using real time dual genetic algorithms, this path planning technique not only can decide the shortest path and the minimum curvature deviation, but also can limit the motion error's influence. Simulation results show that the results of the second layer of GAs are more available than that of the first layer of GAs and this novel technique is effective for the path planning of the SIA snake-like robot.

关键词： Path planning Genetic algorithms robotics and automation Automatic control Robot control Orbital robotics Motion control Laboratories Genetic engineering Manifolds

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A Serpentine Robot Based on 3 DOF Coupled-driven Joint

A Serpentine Robot Based on 3 DOF Coupled-driven Joint

引用

IEEE International Conference on robotics and Biomimetics

作者： Shugen Ma Guangping Lan Y. Tanabe R. Sasaki K. Inoue Robotics Laboratory Shenyang Institute of Automation China Department of Systems Engineering Faculty of Eng Ibaraki University Hitachi Ibaraki Japan

This paper presents a novel joint design for serpentine robot. It has three degrees of freedom and can make the serpentine robot move in extremely difficult environments, such as the rubble of a collapsed structure in earthquake. The leading feature of this serpentine robot is that the novel designed joints based on coupled-driven mechanism was employed, providing more powerful torque under the same condition, and therefore allowing the serpentine robot to perform all kinds of locomotion effectively in three dimensional space. Moreover, the coupled-driven mechanism and the rear actuator performing roll action make the serpentine robot perform multiplex complex locomotion, which improve its flexibility and capability of traversing rugged terrain

关键词： Orbital robotics robotics and automation Mobile robots Propulsion Laboratories Earthquakes Parallel robots Rubber Design engineering Systems engineering and theory

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An intelligent system for Aerial image Retrieval and Classification

引用

3rd Hellenic Conference on Artificial Intelligence, SETN 2004

作者： Gasteratos, Antonios Zafeiridis, Panagiotis Andreadis, Ioannis Laboratory of Robotics and Automation Section of Production Systems Department of Production and Management Engineering Democritus University of Thrace Building of University’s Library Kimmeria XanthiGR-671 00 Greece Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace Vassilisis Sophias 12 XanthiGR-671 00 Greece

ISBN: (纸本)3540219374

Content based image retrieval is an active research area of pattern recognition. A new method of extracting global texture energy descriptors is proposed and it is combined with features describing the color aspect of texture, suitable for image retrieval. The same features are also used for image classification, by its semantic content. An exemplar fuzzy system for aerial image retrieval and classification is proposed. The fuzzy system calculates the degree that a class, such as sea, clouds, desert, forests and plantations, participates in the input image. Target applications include remote sensing, computer vision, forestry, fishery, agricultures, oceanography and weather forecasting. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Fuzzy systems

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Study on a snake-like robot adapting to the ground

Study on a snake-like robot adapting to the ground

引用

World Congress on Intelligent Control and automation (WCICA)

作者： Bin Li Dalong Tan Yuechao Wang Li Chen Shugen Ma Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Systems Engineering Lbaraki University Hitachi Japan

ISBN: (纸本)0780382730

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for the ground. This paper discusses the biological snakes' locomotion mode on the diverse ground, and describes the development of a snake-like robot with the adaptability for the ground. The method to realize some locomotion modes is given. The method for detecting the characteristic of ground is proposed and identified in test.

关键词： Robots robotics and automation Laboratories Content addressable storage Systems engineering and theory Physiology Testing

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Requirements of glass cleaning and development of climbing robot systems

Requirements of glass cleaning and development of climbing r...

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IEEE International Conference on Mechatronics and automation

作者： Houxiang Zhang Jianwei Zhang Guanghua Zong TAMS Department of Informatics University of Hamburg Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation BeiHang University Beijing China

ISBN: (纸本)0780387481

Cleaning the outer walls of high-rise buildings is always dangerous and laborious work in mid-air. An alternative solution is to use walking-climbing robots which overcome the above-mentioned problems. Wall cleaning and maintenance of high-rise buildings is becoming one of the most appropriate fields for robotization due to its current low level of automation and lack of uniform building structure. In this paper, a family of sky clearner robots for this diffiuclt job which are totally actuated by pneumatic cylinders and sucked into the glass walls with vacuum suckers are presented. Firstly the basic functions for glass wall cleaning robot are summarized systemically. the individual robots' mechanical constructions and unique aspects are introduted in details. In the end a summary of the main special features of the three kinds of cleaning robots are given.

关键词： Glass Cleaning Climbing robots Mobile robots robotics and automation Legged locomotion Propellers Buildings Robot sensing systems Kinematics

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Peak stick RBF network for online system identification

Peak stick RBF network for online system identification

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International Joint Conference on Neural Networks (IJCNN)

作者： H. Mobahi F. Janabi-Sharifi Robotic Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran Robotics and Manufacturing Automation Laboratory Department of Mechanical and Industrial Engineering Ryerson University Toronto ONT Canada

In many practical problems of online system identification, the distribution of observed samples is uneven. For instance, at points where system is idle or changes slowly, the sample density increases and where system moves quickly, it is reduced. This generally results in performance degradation of learning. We will propose a new algorithm for training RBF networks that is particularly developed for online learning with uneven sample distribution. The basic idea is to find peaks and stick to them. Experiments show a notable improvement in convergence rate, settling of weights and error minimization.

关键词： Radial basis function networks System identification Degradation Convergence Approximation algorithms Neural networks Learning systems Robots Linear systems Mathematical model

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Optimizing supervision and control for industrial furnaces: Predictive control based design 4

Optimizing supervision and control for industrial furnaces: ...

引用

4th IFAC Workshop Automatic Systems for Building the Infrastructure in Developing Countries, DECOM-TT 2004

作者： Dimirovski, Georgi M. Dinibütün, A. Talha Vukobratovic, Miomir K. Zhao, J. Faculty of Electrical Engineering MK-1000 Skopje SS Cyril and Methodius University Macedonia Computer Engineering Department Faculty of Engineering Acibadem Dogus University Zeamet Sk. 21 Kadikoy IstanbulTR-34722 Turkey Centre of Robotics and Flexible Automation Institute Mihailo Pupin Belgrade11000 Serbia School of Information Science and Engineering Institute of Control Theory Northeastern University Shenyang Liaoning110004 China

A systems re-engineering technique to integrated control and supervision for applications to industrial multi-zone furnaces has been elaborated by using known theories on generalized predictive control and nonlinear programming. This paper presents the derivation of optimizing equations and inequalities. The design is based on the use of general predictive control to provide optimized set-points under the presumption a well designed regulatory control was implemented at the executive level. Digital implementation of control functions are sought within standard computer process control platform for practical engineering and maintenance reasons. Copyright © 2004 IFAC.

关键词： Integrated control

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Combined target model estimation and position-based visual servoing

Combined target model estimation and position-based visual s...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Lingfeng Deng W.J. Wilson F. Janabi-Sharifi Department of Electrical and Computer Engineering University of Waterloo Waterloo Ontario Canada Robotics and Manufacturing Automation Laboratory Ryerson University Toronto Ontario Canada

In this paper, the problem of combined target model estimation and position-based visual servoing is addressed. The target object is assumed to be stationary with at least 3 distinguishable feature points. The midpoint triangulation method and a rough estimation method are developed for initial estimation of the target model and relative pose of target in current end-effector frame. A novel decoupled EKF-based online estimation algorithm is proposed to improve the target model and relative pose estimation simultaneously under continuous robot dynamic motion. This new method is robust to large initial estimation errors and provides consistent and accurate target model estimation for optimal pose estimation as required in position-based visual servoing. Experimental results are given to demonstrate the performance of the proposed method.

关键词： Visual servoing Estimation error Robot kinematics Motion estimation Robustness Noise measurement Manufacturing automation Laboratories Industrial engineering Image reconstruction

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Wireless sensor network for machine condition based maintenance

Wireless sensor network for machine condition based maintena...

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International Conference on Control, automation, robotics and Vision (ICARCV)

作者： A. Tiwari F.L. Lewis S.S. Ge Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Department of Electrical Engineering National University of Singapore Singapore

A new application architecture is designed for continuous, real-time, distributed wireless sensor networks. We develop a wireless sensor network for machinery condition-based maintenance (CBM) using commercially available products, including a hardware platform, networking architecture, and medium access communication protocol. We implement a single-hop sensor network to facilitate real-time monitoring and extensive data processing for machine monitoring. A LabVIEW graphical user interface is described that allows for signal processing, including FFT, various moments, and kurtosis. A wireless CBM sensor network implementation on a heating and air conditioning plant is presented as a case study.

关键词： Wireless sensor networks Condition monitoring Machinery Hardware Wireless application protocol Access protocols Data processing Graphical user interfaces Signal processing Thermal sensors

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A novel approach to pneumatic position servo control of a glass wall cleaning robot

A novel approach to pneumatic position servo control of a gl...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Houxiang Zhang Jianwei Zhang Rong Liu Guanghua Zong Department TAMS Faculty of Computer Science University of Hamburg Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation BeiHang University Beijing China

Taking Shanghai Science and Technology Museum as the operation target, the robot named skycleaner which is totally actuated by pneumatic cylinders and is sucked to the glass walls with vacuum suckers is presented. In order to solve the problems of lower stiffness and the nonlinear movement characteristic of the pneumatic system, a method of segment and variable bang-bang controller is proposed to implement the accurate control of the position servo system using the principle of pneumatic pulse width-modulation (PWM). Testing results show that the controller can effectively improve the control quality. This implies that the method can meet the requirements of realization.

关键词： Servosystems Glass Cleaning Robots Nonlinear control systems Control systems Pulse width modulation Vacuum technology Pneumatic systems Servomechanisms

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