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Accurate mobile robot localization in indoor environments using bluetooth

Accurate mobile robot localization in indoor environments us...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Aswin N Raghavan Harini Ananthapadmanaban Manimaran S Sivamurugan Balaraman Ravindran Department of Computer Science and Engineering National Institute of Technology Tiruchirappalli India Department of Electronics and Communication Engineering National Institute of Technology Tiruchirappalli India Department of Computer Science and Engineering Reconfigurable and Intelligent Systems Engineering Laboratory Indian Institute of Technology Madras India

In this paper, we describe an accurate method for localization of a mobile robot using bluetooth. We introduce novel approaches for obtaining distance estimates and trilateration that overcome the hitherto known limitations of using Bluetooth for localization. Our approach is reliable and has the potential of being scaled to multi-agent scenarios. The proposed approach was tested on a mobile robot, and we present the experimental results. The error obtained was 0.427 ± 0.229 m, which proves the accuracy of our method.

关键词： Mobile robots Indoor environments Bluetooth Particle filters computer science Mobile communication Energy consumption Radiofrequency identification Radio control robotics and automation

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Sensitivity function of LTI fractional order dynamic systems with respect to the orders

Sensitivity function of LTI fractional order dynamic systems...

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American Control Conference (ACC)

作者： Yan Li Dingyü Dingyü Xue YangQuan Chen Center of Self-Organizing & Intelligent Systems CSOIS Electrical an Computer Engineering Department Utah State University Logan UT USA School of Control Science and Engineering Shandong University Jinan Shandong China Institute of Robotics and Artificial Intelligent School of Information Science and Engineering Northeastern University Shenyang China

Many real natural or man-made dynamic systems can be better characterized using a fractional order dynamic model. Since in such a case the order assumes a non-integer value, it is of interest to consider the effect of small perturbation around the nominal value. It is of practical importance to analyze the influence of the order variations on the system behavior. This paper establishes an analytical method for the analysis of the sensitivity function of LTI fractional order dynamic systems with respect to the orders. The continuous dependent condition of the orders of fractional Green's function is derived, which is proved as a necessary and sufficient condition. The singularity of fractional Green's functions is discussed. Several examples are included for illustration.

关键词： Green's function methods Lyapunov method intelligent robots Sufficient conditions Artificial intelligence Transfer functions Fractional calculus Integral equations Partial differential equations H infinity control

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Verification of sound source localization in reverberation room and its real time adaptation using visual information

Verification of sound source localization in reverberation r...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Byoung-gi Lee JongSuk Choi Daijin Kim Munsang Kim Center of Cognitive Robot Research Korea Institute of Science and Technology Seoul South Korea Department Computer Science and Engineering Pohang University of Science and Technology South Korea Center of Intelligent Robotics Korea Institute of Science and Technology Seoul South Korea

It is important for intelligent robots to detect the location of user even though the user is not captured by vision cameras. Sound source localization is a technique to detect the direction of sound source using multiple microphones. It enables the robot to respond to the user's call. Sometimes, a robot operates in echoic room, but the performance of sound source localization in echoic room is very poor. In this work, a verification method for reverberation is proposed and tested how much it improves the performance of sound source localization in reverberant environment.

关键词： Microphones Training Reverberation Cameras Feature extraction Robot vision systems

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Sound source localization in reverberant environment using visual information

Sound source localization in reverberant environment using v...

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2010 IEEE/RSJ International Conference on intelligent Robots and systems

Recently, many researchers have carried out works on audio-video integration. It is worth exploring because service robots are supposed to interact with human beings using both visual and auditory sensors. In this paper, we propose an audio-video method for sound source localization in reverberant environment. Using visual information from a vision camera, we could train our audio localizer to distinguish a real source from fake sources and improved the performance of audio localizer in reverberant environment.

关键词： Cameras Sensors Robots Visualization Training Microphone arrays

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Implementing a reactive semantics using OpenRTM-aist

Implementing a reactive semantics using OpenRTM-aist

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2010 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Geoffrey Biggs Bruce A. MacDonald Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Department of Electrical and Computer Engineering University of Auckland New Zealand

The expression of reactive behaviour is a significant and important requirement in robotic software engineering, since robots must cope with a wide range of unpredictable events and environments. However it is important that the semantics for reactive expression can be used across different architectures and languages. The RADAR robot programming language provides architecture- and language-independent semantics for managing the reactive parts of robot software together with the deliberative parts, allowing greater interaction between the two. We evaluate the architecture-independence of RADAR, as an example, by implementing its reactive semantics using the OpenRTM-aist component-based, distributed architecture. Our goal is to evaluate what limitations the choice of implementation environment may place on the capabilities of such an architecture-independent semantics. In our implementation, we aimed to produce a standard OpenRTM-aist system using the RADAR semantics. We have found that the architecture-independent semantics concept works well in the case of RADAR, although some specific improvements are needed for full interaction between deliberative and reactive sections of robotic software.

关键词： Semantics Robots computer architecture Software Sleep Spaceborne radar

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The application of an apparatus of motion measurement and analysis in freestyle aerials

The application of an apparatus of motion measurement and an...

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Global Congress on intelligent systems

作者： Liu, Limin Ge, Yunjian Liu, Ming Cao, Huibin Liu, Yanhua Zhang, Guangbin Ma, Tingting Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province China Department of Automation University of Science and Technology of China Hefei Anhui Province China Dept. Electrical and Computer Systems Eng. Monash University 26 Stanly Ave. Mount Waverlay VIC 3149 Australia

ISBN: (纸本)9780769543048

In order to get the acceleration, angular velocity and other kinematic parameters of the ski athlete during the training timely, which can help team coach analyse the action and guide the team members training with purpose, we design an information acquisition system based on the attitude sensor. This system can gain the parameter information of three-dimensional acceleration and angular velocity recorded by the sensor, and through a certain algorithm can achieve the parameters of velocity, angular acceleration and angle at any time. From the analysis of the parameters, the coaches can guide the athlete training. Experimental results show that this system can record the movement information accurately and help athlete training targeted, which has theoretical and technical guidance value. © 2010 IEEE.

关键词： Personnel training

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Noncontact and contact micromanipulation using a rotating nickel nanowire

Noncontact and contact micromanipulation using a rotating ni...

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IEEE International Conference on Nano/Molecular Medicine and Engineering (NANOMED)

作者： Li Zhang Tristan Petit Kathrin E. Peyer Bradley E. Kratochvil Jiangnan Zhang Jun Lou Bradley J. Nelson Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland ISAE Université de Toulouse Toulouse France Department of Mechanical Engineering & Materials Science Rice University Houston TX USA

This paper reports an approach to perform basic noncontact and contact manipulation tasks using rotating nickel nanowires (Ni NWs) driven by a uniform rotating magnetic field. We show that a rotating NW is capable of propulsion near a solid surface by a tumbling motion. The tumbling NW is steered with micrometer positioning precision in 2-D. The FEM simulation shows that fluid flow is induced around the rotating NW, which was applied to manipulate microobjects in a noncontact fashion. Noncontact pushing and pulling tests of individual polystyrene (PS) microbeads are conducted using a tumbling NW. We also show that a rotating Ni NW can act as a microrotor to rotate a microobject on a solid surface. In addition, contact manipulation is demonstrated by transporting individual microobjects, i.e. a PS microbead and a human blood cell, using a rotating NW. The results imply that rotating magnetic NWs are good candidates for handling cellular and sub-cellular objects in an aqueous low Reynolds number environment.

关键词： Nickel Magnetic fields Perpendicular magnetic anisotropy Coils Fluid flow Propulsion

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Internal force compensating method for wall-climbing caterpillar robot

Internal force compensating method for wall-climbing caterpi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： W. Wang K. Wang H. X. Zhang J. W. Zhang 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

The redundant driving problem is an inherent phenomenon existing in a modular caterpillar robot. To limit the internal forces arising from the redundant driving, this paper proposes a joint torque control method, which is based on an assumption that there is only one active joint in the four-link mechanism driving the climbing gait. Except the active joint, the other three joints are all considered as passive joints, whose torques tend to be zero, although they are driven by motors in reality. According to the analyses of static forces in the closed chain state, the ideal torque of named active joint is calculated, and will be followed by the joint in real climbing locomotion. The experiments reveal the reasonability and feasibility of the proposed joint control method, as well as the limitations of current prototype and control algorithm.

关键词： Climbing robots Motion control robotics and automation Kinematics Biological control systems Torque control Joining processes USA Councils Tail Gravity

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Bézier curve based dynamic obstacle avoidance and trajectory learning for autonomous mobile robots

Bézier curve based dynamic obstacle avoidance and trajector...

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International Conference on intelligent systems Design and Applications (ISDA)

作者： Tayyab Chaudhry Tauseef Gulrez Ali Zia Shyba Zaheer Intelligent Machines & Robotics Research Group Department of Computer Science Comsats Institute of Information Technology Lahore Pakistan Department of Electrical Engineering College of Engineering and Applied Sciences Al Ghurair University Dubai UAE

This paper addresses the problem of avoiding dynamic obstacles while following the learned trajectory through non-point based maps directly through laser data. The geometric representation of free configuration area changes while a moving obstacle enters into the safety region of autonomous mobile robot. We have applied the Bézier curve properties to the free configuration eigenspaces to satisfy the dynamic obstacle avoidance path constraints. The algorithm is designed to accurately represent the mobile robot's characteristics while avoiding obstacle such as minimum turning radius. Moreover, we also discuss the obstacle avoided path feasibility as a vectorial combination of free configuration eigen-vectors at discrete time scan-frames to manifest a trajectory, which once followed and mapped onto the two control signals of mobile robot will enable it to build an efficient and accurate online environment map. Preliminary results in Matlab have been shown to validate the idea, while the same has been implemented in Player/stage (robotics real-time software) to analyze the performance of the proposed system.

关键词： Trajectory Vehicles Robot sensing systems Mobile robots Mathematical model Lasers

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Heterogeneous artificial agents for triage nurse assistance

Heterogeneous artificial agents for triage nurse assistance

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IEEE-RAS International Conference on Humanoid Robots

作者： D.M. Wilkes Stan Franklin Erdem Erdemir Stephen Gordon Steve Strain Karen Miller Kazuhiko Kawamura Center of Intelligent Systems and Electrical and Computer Engineering Vanderbilt University USA Cognitive Computing Research Group Institute of Intelligent Systems University of Memphis Memphis TN USA Department of Electrical Engineering and Computer Science Vanderbilt University USA Electrical Engineering Vanderbilt University USA Cognitive Computing Research Group Institute of Intelligent Systems University of Memphis USA Clinical Research Operations for Emergency Medicine Vanderbilt University USA Center of Intelligent Systems and Electrical and Computer Engineering Vanderbilt University Nashville TN USA

A dream of humanoid robot researchers is to develop a complete “human-like” (whatever that means) artificial agent both in terms of body and brain. We now have seen an increasing number of humanoid robots (such as Honda's ASIMO, Aldebaran's Nao and many others). These, however, display only a limited number of cognitive skills in terms of perception, learning and decision-making. On the other hand, brain research has begun to produce computational models such as LIDA. In this paper, we propose an intermediate approach for body-brain integration in a form of a scenario-based distributed system. Busy hospital Emergency departments (ED) are concerned with shortening the waiting times of patients, with relieving overburdened triage team physicians, nurses and medics, and with reducing the number of mistakes. Here we propose a system of cognitive robots and a supervisor, dubbed the TriageBot System that would gather both logistical and medical information, as well as take diagnostic measurements, from an incoming patient for later use by the triage team. TriageBot would also give tentative, possible diagnoses to the triage nurse, along with recommendations for non-physician care Some of the robots in the TriageBot System would be humanoid in form, but it is not necessary that all of them take this form. Advances in humanoid robotic design, in sensor technology, and in cognitive control architectures make such a system feasible, at least in principle.

关键词： Robot sensing systems Robot kinematics computer architecture Humanoid robots Pain

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