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IEEE International Conference on robotics and automation (ICRA)

作者： Mingyen Ho Jaydev P. Desai Robotics Automation and Medical Systems (RAMS) Laboratory Department of Mechanical Engineering Maryland Robotics Center Institute for Systems Research University of Maryland College Park MD USA

ISBN: (纸本)9781467356404

In this paper, we model and characterize the thermomechanical behavior of SMA springs based on Brinson's constitutive model of SMAs. The model developed in this paper can be used to compute the recovery length of SMA springs. We used the model to develop a temperature feedback position controller to control the joint motion of the SMA spring-actuated robot. We also implemented a position controller for the robot using image feedback because the robot was designed to be operated under MRI guidance. Since the image tracking algorithm for image feedback control may fail in some situations, the temperature feedback controller can be used as a backup control scheme for the robot. The experimental results showed that the image feedback controller worked well while the temperature feedback controller did not. This is because the theoretical model did not include the nonlinear characteristics of the tendon-sheath mechanisms. Therefore, we used an empirical model to implement a temperature feedback controller and it was used to control the robot precisely.

关键词： Springs Temperature control Joints Robots Feedback control Stress Computational modeling

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An enhancement in conventional potential field using a fuzzy system for navigation of a sumo robot

An enhancement in conventional potential field using a fuzzy...

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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 Allisson Ribeiro da Silva Antonio Jose de Oliveira Alves LABoratory of Intelligent Robotics Tianjin University Teresina Brazil LABoratory of Intelligent Robotics Automation and Systems - LABIRAS Teresina 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 Computing Department Universidade Federal do Piaui - UFPI Teresina Brazil

An enhancement in conventional potential field is presented in this paper for autonomous sumo robot class navigation with dynamic environments including moving target and static obstacle. This method determines the velocity and the path taken by the robot in order to reach your target in the shortest time possible. This improvement on the conventional potential field is used to determine the velocity and position of an autonomous sumo robot class, which is intended to push the opponent out of the arena. This hybrid method is composed of potential field approach with fuzzy logic, and in this study the Mamdani model is used to obtain the necessary variables to determine the velocity and direction of the robot. Two fuzzy systems are used, both with three inputs and one output. The only difference between the two fuzzy systems is the number of linguistics terms. One simulation has been done in the MATLAB to verify the enhancement of the hybrid method in relation to the conventional potential field. The simulation represents the trajectory of the robot until find the target. Accordingly with the simulation done, the hybrid method was 14% more effective.

关键词： Robot kinematics Fuzzy systems Mobile robots Robot sensing systems Pragmatics Equations

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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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Improvements in the Estimated Time of Flight of Acoustic Signals for AUV Localization

Improvements in the Estimated Time of Flight of Acoustic Sig...

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Oceans 2013 - Norway

作者： B. C. Pinheiro U. F. Moreno J. T. B. de Sousa O. C. Rodriguez Department of Automation and Systems (DAS) Federal University of Santa Catarina Underwater Systems and Technologies Laboratory (USTL) Faculty of Engineering of the University of Porto Laboratory of Robotics and Systems Engineering and Sciences (LARSyS) Algarve University

ISBN: (纸本)9781479900022

The problem acoustic localization for autonomous underwater vehicles (AUVs) is discussed in the framework of kernel-based models. The approach consists of improving the measurement of time of fligth of acoustic signals with the help of the Auto-Associative Kernel Regression (AAKR). This makes localization less sensitive to perturbations in the acoustic channel improving the estimation filter convergence. Field tests with vehicle confirmed these claims.

关键词： Vehicles Acoustics Navigation Acoustic measurements Estimation Sensors Time measurement

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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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Exponentially Fast Parameter Estimation in Networks Using Distributed Dual Averaging

Exponentially Fast Parameter Estimation in Networks Using Di...

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IEEE Annual Conference on Decision and Control

作者： Shahin Shahrampour Ali Jadbabaie Department of Electrical and Systems Engineering and General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA 19104-6228 USA

ISBN: (纸本)9781467357159

In this paper we present an optimization-based view of distributed parameter estimation and observational social learning in networks. Agents receive a sequence of random, independent and identically distributed (i.i.d.) signals, each of which individually may not be informative about the underlying true state, but the signals together are globally informative enough to make the true state identifiable. Using an optimization-based characterization of Bayesian learning as proximal stochastic gradient descent (with Kullback-Leibler divergence from a prior as a proximal function), we show how to efficiently use a distributed, online variant of Nesterov's dual averaging method to solve the estimation with purely local information. When the true state is globally identifiable, and the network is connected, we prove that agents eventually learn the true parameter using a randomized gossip scheme. We demonstrate that with high probability the convergence is exponentially fast with a rate dependent on the KL divergence of observations under the true state from observations under the second likeliest state. Furthermore, our work also highlights the possibility of learning under continuous adaptation of network which is a consequence of employing constant, unit stepsize for the algorithm.

关键词： Parameter estimation Network Bayesian learning local information. averaging Dual Fasting Distribute

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Distributed Robust Consensus of Heterogeneous Uncertain Multi-agent systems

Distributed Robust Consensus of Heterogeneous Uncertain Mult...

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第三十二届中国控制会议

作者： Zhongkui Li Zhisheng Duan Frank L. Lewis State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Aerospace Engineering College of Engineering Peking University The Automation and Robotics Research Institute The University of Texas at Arlington

ISBN: (纸本)9781479900305

This paper considers the distributed robust consensus problem of multi-agent systems with nominal linear dynamics but subject to different matching uncertainties. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in this paper are essentially heterogeneous. A distributed continuous static consensus protocol based on the relative state information is first designed, under which the consensus error is uniformly ultimately bounded and exponentially converges to a small adjustable residual set. A fully distributed adaptive consensus protocol is then designed, which, contrary to the static protocol, relies on neither the eigenvalues of the Laplacian matrix nor the upper bounds of the uncertainties. A sufficient condition for the existence of the proposed protocols is that each agent is stabilizable.

关键词： Multi-agent system, consensus, adaptive control, robust control, uncertain systems.

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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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Corrigendum to “Controlling SWCNT assembling density by electrokinetics” [Sens. Actuators A: Phys. 201 (October) (2013) 36–42]

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Sensors and Actuators A: Physical 2014年 206卷 187-187页

作者： Haibo Yu Sascha Hermann Zaili Dong John Mai Wen J. Li Stefan E. Schulz Key State Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China Department of Back-end of Line Fraunhofer Institute for Electronic Nano Systems Chemnitz Germany Center for Microtechnologies (ZFM) Chemnitz University of Technology Chemnitz Germany Department of Mechanical and Biomedical Engineering City University of Hong Kong Hong Kong China

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Towards a discretely actuated steerable cannula

Towards a discretely actuated steerable cannula

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IEEE International Conference on robotics and automation (ICRA)

作者： Elif Ayvali Jaydev P. Desai Robotics Automation and Medical Systems (RAMS) Laboratory Maryland Robotics Center Institute for Systems Research Department of Mechanical Engineering University of Maryland College Park MD USA

Several percutaneous needle-based and intravascular procedures require guidance of the diagnostic or therapeutic tool to the target location by maneuvering the needle or catheter to correct for the error in reaching the target location. Hence, in this paper we present our work towards developing a discretely actuated steerable needle/cannula with multiple degrees-of-freedom to `steer' the cannula by discrete actuation along the cannula length. We are interested in using the cannula to introduce both diagnostic and therapeutic tools, which may otherwise be difficult to deliver to the appropriate location. We use two antagonistic SMA wires as actuators to generate the required bending forces at each joint. SMA wires were annealed through a customized training process to an arc shape and mounted in the machined grooves on the outer surface of the cannula to generate local bending upon thermal actuation. We propose to use temperature feedback to control the position of the SMA actuators. To use temperature feedback as the feedback signal for enabling individual joint actuation, we had to fully characterize the SMA actuator. Classical uniaxial testing devices and experimental setup used in characterizing straight annealed SMA wires are not applicable in this work since the SMA wire is annealed in an arbitrary shape. Hence, we also present an experimental setup and a procedure for characterizing an SMA actuator that transforms into an arc shape upon thermal actuation.

关键词： Wires Actuators Strain Stress Needles Annealing Shape

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