This paper presents a nonlinear control approach for quadrotor Micro Aerial Vehicles (MAVs), which combines a backstepping-like regulator based on the solution of a certain class of global output regulation problems f...
详细信息
This paper presents a nonlinear control approach for quadrotor Micro Aerial Vehicles (MAVs), which combines a backstepping-like regulator based on the solution of a certain class of global output regulation problems for the rigid body equations on SO(3), a robust controller for the system with bounded disturbances, as well as a trajectory generator using a model predictive control method. The proposed algorithm is endowed with strong convergence properties so that it allows the quadrotor MAVs to reach almost all the desired attitudes. The control approach is implemented on a high-payload-capable quadcopter with unstructured dynamics and unknown disturbances. The performance of our algorithm is demonstrated through a series of experimental evaluations and comparisons with another control method on normal and aggressive trajectory tracking tasks.
This work presents a novel autonomous parking concept for a four wheel-steerable robotic electric vehicle called ROboMObil (ROMO). Its extraordinary maneuverability, including rotations and lateral driving, and its ca...
详细信息
Surgical robotic systems have to deliver a high quality of safety, since they deal with human lives. Their safety specifications must ensure the absence of risks for the patient and the operating room staff. To respec...
详细信息
ISBN:
(纸本)9781479947287
Surgical robotic systems have to deliver a high quality of safety, since they deal with human lives. Their safety specifications must ensure the absence of risks for the patient and the operating room staff. To respect the modular nature of a surgical system, we propose a contract based verification approach for safety. We introduce a case study based on a typical surgical robotic operation scenario and model its components by using hybrid automata. We exploit the theory of parallel composition of contracts to verify properties on each component and prove that the property of the overall system can be obtained by composition.
In this paper we present an approach for low-level body part segmentation based on RGB-D data. The RGB-D sensor is thereby placed at the ceiling and observes a shared workspace for human-robot collaboration in the ind...
详细信息
In this paper we present an approach for low-level body part segmentation based on RGB-D data. The RGB-D sensor is thereby placed at the ceiling and observes a shared workspace for human-robot collaboration in the industrial domain. The pixelwise information about certain body parts of the human worker is used by a cognitive system for the optimization of interaction and collaboration processes. In this context, for rational decision making and planning, the pixelwise predictions must be reliable despite the high variability of the appearance of the human worker. In our approach we treat the problem as a pixelwise classification task, where we train a random decision forest classifier on the information contained in depth frames produced by a synthetic representation of the human body and the ceiling sensor, in a virtual environment. As shown in similar approaches, the samples used for training need to cover a broad spectrum of the geometrical characteristics of the human, and possible transformations of the body in the scene. In order to reduce the number of training samples and the complexity of the classifier training, we therefore apply an elaborated and coupled strategy for randomized training data sampling and feature extraction. This allows us to reduce the training set size and training time, by decreasing the dimensionality of the sampling parameter space. In order to keep the creation of synthetic training samples and real-world ground truth data simple, we use a highly reduced virtual representation of the human body, in combination with KINECT skeleton tracking data from a calibrated multi-sensor setup. The optimized training and simplified sample creation allows us to deploy standard hardware for the realization of the presented approach, while yielding a reliable segmentation in real-time, and high performance scores in the evaluation.
This work presents a novel autonomous parking concept for a four wheel-steerable robotic electric vehicle called ROboMObil (ROMO). Its extraordinary maneuverability, including rotations and lateral driving, and its ca...
This work presents a novel autonomous parking concept for a four wheel-steerable robotic electric vehicle called ROboMObil (ROMO). Its extraordinary maneuverability, including rotations and lateral driving, and its capability of autonomous driving is demonstrated in the application of parallel parking. The whole process is described starting with the perception to identify a suitable parking spot in the near environment, planning the maneuver, and executing it autonomously. The proposed parking method is free of assumptions and does not use any information about the environment from an external source. Test results with the real vehicle are presented to show the feasibility of the concept.
This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremen...
详细信息
The paper introduces the concept of a crystalline-like model of a computer communication network (CCN) composed of routers forming a repeating or periodic arrangement. The considered homogenous network assumes the sam...
详细信息
The paper introduces the concept of a crystalline-like model of a computer communication network (CCN) composed of routers forming a repeating or periodic arrangement. The considered homogenous network assumes the same routers servicing the same number of transmissions form an array. In such a network several isomorphic sub-networks encompassing packet transmission processes serviced by each router, interact each other as to provide a variety of demand-responsive host-server transmission services. In that context, a crystalline-like layout of physically different, however functionally identical, routers provides a homogenous array supporting computer network flows. In turn, packet transmission flows are treated as multimodal processes encompassing arbitrarily given inter-computer communications. Assuming the packets passing their origin-destination routes are synchronized by the same mechanism of packet transmission the problem boils down to a communication processes scheduling. Since concurrent transmission flows are processed along the same presumed routes, hence the schedules sought are cyclic ones. In general case, cycles of multimodal processes depend on CNN's periodicity. That objective to develop conditions allowing one to calculate the cyclic schedule of whole CCN while taking into account only periodicity of its repeating isomorphic structure.
There is considerable interest in reducing the number of sensors/beacons involved in underwater positioning/navigation systems since this has the potential to drastically reduce the costs and the time spent in deployi...
详细信息
There is considerable interest in reducing the number of sensors/beacons involved in underwater positioning/navigation systems since this has the potential to drastically reduce the costs and the time spent in deploying, calibrating, and recovering acoustic equipment at sea. Motivated by these considerations, we address the problem of single underwater target positioning based on acoustic range measurements between the target and a moving sensor at the sea surface. In particular, the goal of the present work is to compute optimal geometric trajectories for the surface sensor that will, in a well defined sense, maximize the range-related information available for underwater target positioning and tracking. To this effect, the Fisher Information Matrix and the maximization of its determinant are used to determine the sensor trajectory that yields the most accurate positioning of the target, while the latter describes a preplanned trajectory. It is shown that the optimal trajectory depends on the velocity of the sensor, the velocity and trajectory of the target, the sampling time between measurements, the measurement error model, and the number of measurements used to compute the FIM. Simulation examples illustrate the key results derived.
The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be ...
详细信息
The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.
暂无评论