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Processing of tactile/force measurements for a fully embedded sensor

Processing of tactile/force measurements for a fully embedde...

引用

2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent systems, MFI

作者： Cannata, Giorgio Maggiali, Marco Mechatronics and Automatic Control Laboratory Department of Communication Computer and System Science University of Genova Via Opera Pia 13 16145 Genova Italy Mechatronics and Automatic Control Laboratory Italian Institute of Technologies University of Genova Via Opera Pia 13 16145 Genova Italy

ISBN: (纸本)1424405661

A new fully embedded tactile/force sensor system to be installed on the phalanges of a robot hand is presented in this paper. Each sensor consists of a distributed array of analog tactile elements and an integrated three-component force transducer with embedded analog and digital electronics. The tactile sensor is a matrix of electrodes etched on a flexible printed circuit board covered by pressure conductive rubber. The force sensor is an off-the-shelf integrated three components micro-joystick. Communications of the sensors with other control modules are implemented with a CAN bus link. A local processing technique is proposed to enable the transmission of both tactile and force data using a single CAN message, and eventually validate through simulative and experimental tests. © 2006 IEEE.

关键词： Embedded systems

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The Tinyphoon's control concept

The Tinyphoon's control concept

引用

2006 IEEE International Conference on Mechatronics, ICM

作者： Novak, Gregor Roesenert, Charlotte Bader, Markus Deutsch, Tobias Jakubek, Stefan Krywult, Stefan Seyr, Martin Institute of Computer Technology Vienna University of Technology Vienna Austria Department of System Design Faculty of Science and Technology Keio University Yokohama Japan Division of Control and Process Automation Institute for Mechanic and Mechatronic Vienna University of Technology Vienna Austria

ISBN: (纸本)0780397134

control concepts for mobile service robots are a key issue in robotic research. With the use of mobile robots in the domestic area, further challenges entails new designs facilitating efficient control concepts for fast motion with reduced computational capacity. This paper presents motion control designed for an autonomously acting two-wheel driven robot, which fits in a cuboid with 75x75x150mm. Due to the outstanding design of mechanical and electrical components, the robot is capable to perform high precision movements up to a speed of 2.5m/s, featuring a vision unit that allows a fast environment recognition interpreting current position based on an application dependent world model. Based on predictive control algorithms, trajectory tracking and point stabilization are facilitated. The use of real-time communication for all units allows fast interaction of all components exchanging information, which is indispensable for fast motion control. © 2006 IEEE.

关键词： control theory

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Evolving Clustering via the Dynamic Data Assigning Assessment Algorithm

Evolving Clustering via the Dynamic Data Assigning Assessmen...

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International Workshop on Genetic and Evolving systems, GEFS

作者： Olga Georgieva Frank Klawonn Institute of Control and System Research Bulgarian Academy of Sciences Sofia Bulgaria Department of Computer Science University of Applied Sciences of Braunschweig/Wolfenbuettel Germany

Following the idea to search for just one cluster at a time a prototype-based clustering algorithm named dynamic data assigning assessment (DDAA) was recently proposed. It is based on the noise clustering technique and finds single good clusters one by one and at the same time it separates the noise data. In this paper we present the basic idea and executive procedures of evolving variant of DDAA algorithm that are capable to deal with the currently entered system information. The evolving DDAA algorithm assigns every new data point to an already determined good cluster or, alternatively, to the noise cluster. It checks whether the new data collection provides a new good cluster(s) and thus, changes the data structure. The assignment could be done in hard or fuzzy sense

关键词： Clustering algorithms Prototypes Heuristic algorithms Data structures Partitioning algorithms Fuzzy systems Data analysis Gene expression Astrophysics control systems

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Processing of an Embedded Tactile Matrix Sensor

Processing of an Embedded Tactile Matrix Sensor

引用

IEEE International Conference on Robotics and Biomimetics

作者： Giorgio Cannata Marco Maggiali Mechatronics and Automatic Control Laboratory Department of Communication Computer and System Science University of Genova Genoa Italy Mechatronics and Automatic Control Laboratory Italian Institute of Technologies University of Genova Genoa Italy

A fully embedded tactile/force sensor system to be installed on the phalanges of a robot hand is presented in this paper. The sensor consists of a distributed array of analog tactile elements and an integrated three-component force transducer with embedded analog and digital electronics. The tactile sensor is a matrix of electrodes etched on a flexible printed circuit board covered by pressure conductive rubber. The force sensor is an off-the-shelf integrated three components micro-joystick. Communications of the sensors with other control modules are implemented with a CAN bus link. A local processing technique is proposed to enable the transmission of both tactile and force data using a single CAN message. Simulative and experimental tests validate the proposed method.

关键词： Tactile sensors Force sensors Sensor arrays Transmission line matrix methods Robot sensing systems Transducers Electrodes Etching Flexible printed circuits Rubber

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A control-design-based solution to robotic ecology: Autonomy of achieving cooperative behavior from a high-level astronaut command

A control-design-based solution to robotic ecology: Autonomy...

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作者： Wang, Jing Qu, Zhihua Ihlefeld, Curtis M. Hull, Richard A. Department of Electrical and Computer Engineering University of Central Florida Orlando FL 32816 United States Kennedy Space Center FL 32899 United States Lockheed Martin Missiles and Fire Control 5600 Sand Lake Rd. MP-450 Orlando FL 32819 United States School of Electrical and Computer Science University of Central Florida IEEE AIAA University of Central Florida Department of Electrical and Computer Engineering National Aeronautics and Space Administration Kennedy Space CenterKennedy Space Center Applied Physics Lab. Advanced Concepts Business Unit Science Applications International Corporation SAIC IEEE Control System Society

In this paper, we propose a cooperative control strategy for a group of robotic vehicles to achieve the specified task issued from a high-level astronaut command. The problem is mathematically formulated as designing the cooperative control for a general class of multiple-input-multiple-output (MIMO) dynamical systems in canonical form with arbitrary but finite relative degrees such that the outputs of the overall system converge to the explicitly given steady state. The proposed cooperative control for individual vehicle only need to use the sensed and communicated outputs information from its local neighboring vehicles. No fixed leader and time-invariant communication networks are assumed among vehicles. Particularly, a set of less-restrictive conditions on the connectivity of the sensor/communication networks are established, under which it is rigorously proven by using the newly found nice properties of the convergence of sequences of row stochastic matrices that the cooperative objective of the overall system can be achieved. Simulation results for a group of vehicles achieving a target and surrounding a specified object in formation are provided to support the proposed approach in this paper.

关键词： Robotics

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Processing of Tactile/Force Measurements for a Fully Embedded Sensor

Processing of Tactile/Force Measurements for a Fully Embedde...

引用

International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

关键词： Force measurement Tactile sensors Force sensors Sensor arrays Robot sensing systems Transducers Transmission line matrix methods Electrodes Etching Flexible printed circuits

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Implementation of Listing's Law for a Tendon Driven Robot Eye

Implementation of Listing's Law for a Tendon Driven Robot Ey...

引用

2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Giorgio Cannata Marco Maggiali Mechatronics and Automatic Control Laboratory Department of Communications Computer and System Science University of Genova Genoa Italy Mechatronics and Automatic Control Laboratory Italian Institute of Technology University of Genova Genoa Italy

This paper presents a model for a tendon driven robot eye designed to emulate the actual saccadic and smooth pursuit movements performed by human eyes. Physiological saccadic motions obey the so called Listing's law which constrains the admissible eye's angular velocities. The paper discusses conditions making possible to implement the Listing's law on a purely mechanical basis, i.e. without active control

关键词： Tendons Muscles Intelligent robots Mechatronics Automatic generation control Laboratories Pulleys Feedback Motion control Robotics and automation

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Circuit Tolerance Design Using an Improved Genetic Algorithm

Circuit Tolerance Design Using an Improved Genetic Algorithm

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Jinn-Tsong Tsai Jyh-Horng Chou Department of Computer Science National Ping Tung University of Education Ping Tung Taiwan Institute of System Information and Control National Kaohsiung First University of Science and Technology Kaohsiung Taiwan

In this paper, we present an improved genetic algorithm to solve the worst-case circuit tolerance design problem, which has many design parameters and constraints. The evolutionary design approach, which is called a quality-engineering-based genetic algorithm (QEGA), with a penalty function is proposed for solving the constrained optimization problem. The QEGA approach is able to explore a wide design parameter space without any prior knowledge about position and size of the region of acceptability. The QEGA approach is a method of combining the traditional genetic algorithm (TGA), which has a powerful global exploration capability, with the quality engineering method, which can exploit the optimum offspring. The quality engineering method is inserted between crossover and mutation operations of the TGA. Then, the systematic reasoning ability of the quality engineering method is incorporated in the crossover operations to select the better genes to achieve crossover, and consequently enhance the genetic algorithms. Therefore, the QEGA approach can be more robust and quickly convergent. In the worst-case circuit tolerance design problem, the vertex analysis has been used to check the feasibility of any candidate tolerance region. For this reason, if, as for a large part of cases, the region of acceptability is convex and simply connected, the QEGA approach ensures an optimal design with 100% yield. The proposed QEGA approach with a penalty function is effectively applied to solve the worst-case circuit tolerance design problem. The computational experiments also show that the presented QEGA approach can obtain better results than previous design methods

关键词： Circuits Algorithm design and analysis Genetic algorithms Power engineering and energy Genetic engineering Constraint optimization Design optimization Genetic mutations Robustness Design methodology

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Integrated information processing and communications: Complexity analysis

Integrated information processing and communications: Comple...

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IASTED International Conference on COMMUNICATION systemS AND APPLICATIONS Part of the Sixth IASTED International Multi-Conference on WIRELESS AND OPTICAL COMMUNICATIONS

作者： Huyu, Qu Le, Yi Wang Yaprak, Ece Hong, Wang Yanlong, Zhao Department of Electrical and Computer Engineering Wayne State University Detroit MI 48202 United States Division of Engineering Technology Wayne State University Detroit MI 48202 United States Department of Anesthesiology Wayne State University Detroit MI 48202 United States Key Laboratory of System and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences China

Accuracy of information transmission when a signal must be transmitted through a communication channel is of essential importance in design of communication systems. When system resources are limited, such as transmission bandwidths assigned to a wireless communication channel, appropriate utility of available resources becomes imperative. This paper investigates fundamental relationships between accuracy of information exchange and communication resources, on a platform of wireless communication channels that involve typical system blocks of data compression, quantization, and stochastic wireless channels. The main complexity relationships developed in this paper provide rigorous trade-off between resource consumptions and information processing errors of each block. When these relationships are integrated, an optimization procedure emerges that allows optimal allocation of resources to each system block, such as compression ratio, quantization levels, and transmission speed, to maximize overall information accuracy. Consequently, the overall errors of the transmitted signal will be minimized at the receiver end.

关键词： Data processing

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High SNR flexible top hat monopole probe for 1.5 T MRI

High SNR flexible top hat monopole probe for 1.5 T MRI

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作者： Mohammadzadeh, M. Shahabadi, M. Soltanian-Zadeh, H. Tavakoli, A. Rafiei, B. Javidnia, D. Oghabian, M.A. Department of Physics Amir-Kabir University of Technology Tehran Iran School of Electrical and Computer Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Image Analysis Laboratory Department of Radiology Henry Ford Health System Detroit MI United States Department of Electrical Engineering Amir-Kabir University of Technology Tehran Iran Medical Imaging Center Imam Khomeyni Hospital Tehran Iran Research Center for Science and Technology in Medicine Tehran University of Medical Sciences Tehran Iran

In this paper, design principles and application of a thin and flexible intravascular top hat monopole probe with increased signal-to-noise ratio (SNR) and improved longitudinal and radial coverage are described and compared with the conventional monopole probe. The top hat probe is constructed by removing a segment of the shield of a coaxial cable. A flexible thin copper foil in contact with the inner conductor of the cable is added to the end section of the cable. The copper foil acts as an antenna top hat load increasing the uniformity of the current distribution on the probe and establishes a uniform region of SNR distribution around the probe. Improvement of the SNR distribution of the top hat probe relative to the conventional monopole probe is evaluated using quantitative indices. Experimental results show that for the top hat probe, the ratio of the maximum image SNR to its relative standard deviation (SR) is 2.73 times higher than that of a conventional probe. © 2006 IOP Publishing Ltd.

关键词： Medical imaging

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