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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： J. Malzahn R. Schloss T. Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany Jorn-Malzahn is with the Department of Advanced Robotics Istituto Italiano Di Tecnologia (IIT) Genova Italy Russell Schloss and Torsten Bertram are with the Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

Link elasticity is commonly understood to be a detrimental side-effect of imperfect mechanical designs of robotic arms and comparable machinery. In contrast to this notion, this paper demonstrates a novel approach to exploit intrinsic robot link compliance in order to estimate a priori unknown payload masses, measure and also control end effector forces. In this way, the intrinsic link elasticity can be seen as an enabler for new sensing and control capabilities instead of a purely detrimental effect.

关键词： Strain Payloads Force Robot sensing systems Torque Elasticity

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Modelling of a conveyor-belt grain dryer utilizing a sigmoid network

Modelling of a conveyor-belt grain dryer utilizing a sigmoid...

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Asian control Conference

作者： Omar F. Lutfy Hazlina Selamat S. B. Mohd Noor Control and Systems Engineering Department University of Technology Baghdad Iraq Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Kuala Lumpur Malaysia Universiti Putra Malaysia Serdang Selangor MY

Post-harvest techniques play an important role in modern agricultural industry. One of these essential post-harvest techniques is the grain drying process. However, this process is characterized by its high complexity and nonlinearity due to the effects of several drying parameters. Therefore, conventional modelling approaches cannot produce accurate modelling results to describe the dynamics of this challenging process. This paper presents a nonlinear modelling technique to develop a highly accurate model for a laboratory-scale conveyor-belt grain drying system. In particular, this modelling technique is based on utilizing the sigmoid network as a nonlinearity estimator in a nonlinear autoregressive with exogenous input (NARX) model. As the training samples, a set of experimental input-output data was used in the model development process. This data set was collected from the conveyor-belt grain dryer during a real-time experiment to dry paddy (rough rice) grains. Compared to other previously reported modelling techniques which were applied for the same drying process, the proposed sigmoid-based NARX model has achieved the best modelling accuracy in describing the grain drying process. More precisely, the proposed model has achieved a root mean squared error (RMSE) of 2.776 × 10 -17 . It is worth to highlight that, unlike previous efforts which aimed at modelling conveyor-belt grain drying systems, the advantage of the proposed modelling technique is that it can be directly applied to model the drying system regardless of the dryer shape, and moreover regardless of the size and physical properties of the grains to be dried. In addition, the resulting model can be readily employed in control applications to design suitable dryer controllers.

关键词： Mathematical model Numerical models Computational modeling control systems Belts Adaptation models

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Dynamic control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Dynamic Control of a Walking Robot Using the Versatile Intel...

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International Conference on control systems and Computer Science (CSCS)

作者： Victor Vladareanu Corina Boscoianu Radu I. Munteanu Hongnian Yu Luige Vladareanu Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest ROMANIA Department of Automatic Control and Systems Engineering Faculty of Electrical Engineering Technical University of Cluj-Napoca Napoca ROMANIA School of Design Engineering and Computing Bournemouth University Poole UK Bournemouth UK

This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effect or and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.

关键词： Legged locomotion Stability analysis control systems Real-time systems Robot kinematics Dynamics

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[email protected] : Analysis and results of evolving competitions for domestic and service robots

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Artificial Intelligence 2015年 229卷 258-281页

作者： Luca Iocchi Dirk Holz Javier Ruiz-del-Solar Komei Sugiura Tijn van der Zant Department of Computer Control and Management Engineering Sapienza University of Rome Italy Autonomous Intelligent Systems Group University of Bonn Germany Department of Electrical Engineering & Advanced Mining Technology Center Universidad de Chile Chile Information Services Platform Laboratory National Institute of Information and Communications Technology Japan Cognitive Robotics Laboratory University of Groningen The Netherlands

Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions. In this article, we present the [email protected] competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that [email protected] robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in [email protected] for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and robotics.

关键词： Robotic competitions Artificial intelligence and robotics Benchmarking

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Multi-Criteria Design of 6-DoF Fully-Constrained Cable Driven Redundant Parallel Manipulator

Multi-Criteria Design of 6-DoF Fully-Constrained Cable Drive...

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RSI/ISM International Conference on robotics and Mechatronics

作者： Ali Nasr S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

The purpose of this paper is to optimize dimensions of KNTU 6-DoF cable driven redundant parallel manipulators. This manipulator is under investigation for possible high-speed application such as object manipulator. Usage of cable parallel manipulator depends on kinematic characteristic and control algorithm. This optimization is based on different performance indices including the singularity measure, the kinematic sensitivity, the stiffness and free collision workspace. Stiffness of the cable is also taken into consideration because of its effect on kinematic stiffness of moving platform manipulators performance. Points with cable collision, singular or actuator wrench infeasible configuration characteristic are eliminating from entire workspace.

关键词： Cable Robot Redundant Parallel Manipulator Kinematics Analysis Optimal Design

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Vision-Based Kinematic Calibration of Spherical Robots

Vision-Based Kinematic Calibration of Spherical Robots

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RSI/ISM International Conference on robotics and Mechatronics

作者： Pedram Agand Hamid D. Taghirad Amir Molaee Advanced Robotics and Automation System (ARAS) Industrial Control Center of Excellence (ICEE) Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Iran

ISBN: (纸本)9781467372350

In this article, a method to obtain spatial coordinate of spherical robot's moving platform using a single camera is proposed, and experimentally verified. The proposed method is an accurate, flexible and low-cost tool for the kinematic calibration of spherical-workspace mechanisms to achieve the desired accuracy in position. The sensitivity and efficiency of the provided method is thus evaluated. Furthermore, optimization of camera location is outlined subject to the prescribed cost functions. Finally, experimental analysis of the proposed calibration method on ARAS Eye surgery Robot (DIAMOND) is presented;In which the accuracy is obtained from three to six times better than the previous calibration.

关键词： Kinematic Calibration Vision-Base Positioning Eye Surgery Robot Spherical Workspace

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Fast simulation of alternating magnetic fields around a crack in a pipeline system using a dipole model method

Fast simulation of alternating magnetic fields around a crac...

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作者： Le, Minhhuy Kim, Jungmin Vu, Hoanghai Shin, Kisu Lee, Jinyi Department of Control and Instrumentation Engineering Graduate School Chosun University Gwangju 501-759 Korea Republic of Department of Weapon Systems Korea National Defense University Seoul 412-706 Korea Republic of Department of Control Instrumentation and Robotics Engineering Chosun University Gwangju 501-759 Korea Republic of

This study proposes a method for the fast simulation of the distribution of alternating magnetic fields around internal cracks as well as cracks on the inner and outer diameter surfaces of a pipe. This method, which uses a bobbin-type magnetic camera to inspect cracks in small-bore piping systems, is based on a dipole model, allowing for the rapid calculation and storage of data on the distribution of alternating magnetic fields around cracks from a sensor moving inside a pipe. Copyright © 2014 John Wiley & Sons, Ltd.

关键词： Cracks

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Clustering Objects with Robots That Do Not Compute 14

Clustering Objects with Robots That Do Not Compute

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International Conference on Autonomous Agents and Multiagent systems

作者： Melvin Gauci Jianing Chen Wei Li Tony J. Dodd Roderich Gross Natural Robotics Lab Sheffield Centre for Robotics & Department of Automatic Control and Systems Engineering The University of Sheffield

ISBN: (纸本)9781634391313

This paper presents a multi-robot solution to the task of object clustering, where the simplicity of the robots is pushed to the extreme that (i) each robot can only detect the presence of (but not the distance to) an object or another robot in its direct line of sight, and (ii) the robots are unable to store previous inputs and cannot perform arithmetic computations. controllers for the robots were synthesized through an evolutionary robotics approach driven by physics-based simulations. The results show that the problem can be solved even if the robots cannot distinguish between objects and other robots; however, if they are able to make this distinction, the clustering performance is significantly improved. The controllers have been shown to scale well to large numbers of robots and objects and to be robust to noise. The sensor/controller solution was implemented on the e-puck robotic system. Across 10 systematic experiments with 5 robots and 20 objects, on average, 86.5% of the objects were in one cluster after 10 minutes. We believe that the sensor/controller simplicity paves the way for the implementation of multi-robot systems at very small scales, as required, for instance, in nanomedical applications.

关键词： Algorithms Experimentation Swarm robotics Evolutionary robotics Object Clustering Minimal Information Processing E-puck

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HiGen: A High-Speed Genderless Mechanical Connection Mechanism with Single-Sided Disconnect for Self-Reconfigurable Modular Robots

HiGen: A High-Speed Genderless Mechanical Connection Mechani...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Christopher Parrott Tony J. Dodd Roderich Gross Sheffield Centre for Robotics and the Department of Automatic Control & Systems Engineering at The University of Sheffield UK

ISBN: (纸本)9781479969357

The practical effectiveness of modular robotic systems depends heavily on the connection mechanisms used to join their separate entities, particularly for those systems capable of self-reconfiguration. This work presents HiGen, a high-speed genderless mechanical connection mechanism for the docking of robotic modules. HiGen connectors can join with one another in a manner that allows either side to disconnect in the event of failure. During connection electrical contacts are mated, supporting the concurrent use of local and global communication protocols, as well as power sharing techniques. Rapid actuation of the mechanism allows connections to be made and broken at a speed that is, to our knowledge, an order of magnitude faster than existing mechanical genderless approaches that feature single-sided disconnect, benefiting the reconfiguration time of modular robots. The HiGen connector is intended for future work in modular robotics, but could also see use in other areas of robotics for tool and payload attachment.

关键词： Modular robots COUPLING(MECHANICAL) Disconnection robotics Berthing Connector Device Component Communication protocols

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An Algorithm for Real-time Object Tracking in Complex Environment

An Algorithm for Real-time Object Tracking in Complex Enviro...

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International Joint Conference on Neural Networks

作者： Dongxu Gao Jiangtao Cao Zhaojie Ju Department of Information and Control Engineering Liaoning Shihua University Intelligent Systems and Biomedical Robotics group School of Creative Technologies University of Portsmouth

ISBN: (纸本)9781479914821

The current sparse representation tracking algorithm is not suitable for the objects that illumination changes, scale changes, the object color is similar with the surrounding region, and occlusion etc, what's more, it is hard to realize real-time tracking for solving an l1 norm related minimization problems. An optimal algorithm is introduced by exploiting an accelerated proximal gradient approach which contains some improvements of particle filter function, sparse representation alterative weights and coefficient. These improvements not only reduce the influences of appearance change but also make the tracker runs in real time. Both qualitative and quantitative evaluations demonstrate that the proposed tracking algorithm has favorably better performance than several state-of-the-art trackers using challenging benchmark image sequences, and significantly reduces the computing cost.

关键词： Target tracking Principal component analysis Minimization Lighting Mathematical model Real-time systems

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