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Localization system for AGVs using laser scanner and marker sensor

Journal of Institute of control, robotics and Systems 2017年第10期23卷 866-872页

作者： Heo, Sung-Woo Park, Tae Hyoung Department of Control and Robot Engineering Chungbuk National University Korea Republic of Department of Electronics Engineering Chungbuk National University Research Institute for Computer and Information Communication Chungbuk National University Korea Republic of

This study develops a localization system using marker sensors and a laser scanner for autonomous guided vehicles (AGVs). To calibrate the relative position data of robots, which are obtained from encoders and gyros, the system uses a laser scanner and magnetic markers. The existing position-tracking method distinguish between rail and non-rail. This study proposes a method that enhances the position accuracy of robots using marker sensors and a laser scanner without distinguishing between rail and non-rail. First, using a laser scanner, the robot positions are obtained by measuring the distance between the reflector and the robot. The magnetic marker sensors provide the absolute position by detecting magnetic landmarks. Using a Kalman filter to combine the position data retrieved from the two sensors with the position data from the encoders and gyro sensors, we propose an effective localization system that integrates rails and non-rails. The experiment was repeated at three places using an actual AGV that was developed for this study. The experimental results demonstrate that the proposed system can effectively track the positions of AGVs. © ICROS 2017.

关键词： robots

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Anti-Delay Closed-Loop Input Shaper to Improve Manual control of Flexible System

Anti-Delay Closed-Loop Input Shaper to Improve Manual Contro...

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American control Conference

作者： Kittipong Yaovaja Withit Chatlatanagulchai Pisai Yaemprasuan Department of Mechanical Engineering Faculty of Engineering at Sriracha Kasetsart University Sriracha Campus Chonburi 20230 Thailand Department of Mechanical Engineering Kasetsart University Bangkok 10900 Thailand Control of Robot and Vibration Laboratory Department of Mechanical Engineering Kasetsart University Bangkok 10900 Thailand

ISBN: (纸本)9781509045839

One example of the manual control of flexible system is the crane operator trying to move a swinging payload from point to point as fast and as accurate as possible. The payload swing definitely slows the task. Recent work has proposed placing an input shaper inside the feedback loop, so-called closed-loop signal shaping, to suppress the residual vibration of the flexible system. The residual vibration was successfully suppressed. However, there was a delay between the time the operator stops giving the command and the time the system actually stops. This is due to the modification of the command by placing the input shaper inside the feedback loop. The delay results in lower accuracy in placing the payload because the operator must guess where the system will stop. This paper presents an improvement on the present closed-loop signal shaping by placing the Smith predictor inside the feedback loop. The predictor significantly reduces the delay. Experiments have shown that operators can maneuver the flexible system using less time and with less subjective difficulty.

关键词： Manual control Shapers commands residual vibration signal shaping placing Feedback loop FLEXIBLE Payload Smith predictors Feedback

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robot trajectory planning method based on genetic chaos optimization algorithm

Robot trajectory planning method based on genetic chaos opti...

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International Conference on Advanced robotics (ICAR)

作者： Qiwan Zhang Mingting Yuan Rui Song Department of Control Engineering Qingdao University Qingdao Shandong Province China Shandong University Robot Research Center Shandong University Jinan Shandong Province China

ISBN: (纸本)9781538631584

In order to smooth the trajectory of the robot end effector and optimize the running time of the robot, the paper presents a new robot trajectory planning method based on genetic chaos optimization algorithm. Firstly, the planned quintic polynomial is used to interpolate the position nodes in joint space to model the running trajectory of the robot. Subsequently, genetic chaos optimization algorithm based on genetic algorithm and chaos algorithm is introduced. Finally, it is proved that the novel method can make the running trajectory of the robot end effector smooth and time optimal under the constraints of velocity, acceleration and jerk through simulation and analysis.

关键词： Trajectory robots Planning Genetic algorithms Optimization Chaos Genetics

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RAMCIP - A Service robot for MCI Patients at Home

RAMCIP - A Service Robot for MCI Patients at Home

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2018 IEEE/RSJ International Conference on Intelligent robots and Systems (IROS)

作者： Georgia Peleka Andreas Kargakos Evangelos Skartados Ioannis Kostavelis Dimitrios Giakoumis Iason Sarantopoulos Zoe Doulgeri Michalis Foukarakis Margherita Antona Sandra Hirche Emannuele Ruffaldi Bartlomiej Stanczyk Anastasios Zompas Joan Hernandez-Farigola Natalia Roberto Konrad Rejdak Dimitrios Tzovaras Centre for Research and Technology Hellas / Information Technologies Institute (CERTH/ITI) Thessaloniki Greece Thessaloniki Greece Aristotle University of Thessaloniki Institute of Computer Science FORTH-ICS Crete Greece Chair of Information-oriented Control Technical University of Munich Munich Germany Scuola Superiore Sant’ Anna Pisa Italy ACCREA Engineering Lublin Poland The Shadow Robot Company London UK Alzheimer Research Center and Memory Clinic of Fundacio ACE Institut Catala de Neurociencies Aplicades Barcelona Catalonia Spain Department of Neurology Medical University of Lublin Lublin Poland

ISBN: (纸本)9781538680957;9781538680940

This video features RAMCIP, a new service robot developed to provide proactive and discreet assistance to elderly with Mild Cognitive Impairments (MCI), supporting their daily activities at home. Starting with a thorough analysis of needs and requirements of the target population, the RAMCIP robot was developed as an integrated ensemble of advanced H/W and S/W components, realizing the robot skills of perception, cognition, safe navigation, grasping, manipulation, and human-robot communication, ample to operate in real, rather challenging domestic environments. The RAMCIP use-cases include proactive assistance provision to user's cooking, eating and medication activities, through discreet user monitoring and robot interventions by reminders and robotic manipulations., RAMCIP can bring the medicine, recognize fallen objects and electric appliance that has been forgotten turned on. It also recognizes the user walking in low-light conditions and turns on the light, as well as detects cases of emergency such as a fall. The robot provides also the user with cognitive training games and stimulates the user to contact with relatives through video-calls. Pilot trials of the RAMCIP robot have been performed in real homes of more than ten different users, in Barcelona, Spain; the video at hand exhibits the robot performing the target use cases.

关键词： Service robots Information technology Intelligent robots Computer science Companies Random access memory

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Robust H∞ disturbance attenuation control of continuous-time polynomial fuzzy systems

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Journal of Institute of control, robotics and Systems 2016年第6期22卷 429-434页

作者： Jang, Yong Hoon Kim, Han Sol Joo, Young Hoon Park, Jin Bae Department of Electrical and Electronic Engineering Yonsei University Korea Republic of Department of Control and Robot Engineering Kunsan National University Korea Republic of

This paper introduces a stabilization condition for polynomial fuzzy systems that guarantees H∞ performance under the imperfect premise matching. An H∞ control of polynomial fuzzy systems attenuates the effect of external disturbance. Under the imperfect premise matching, a polynomial fuzzy model and controller do not share the same membership functions. Therefore, a polynomial fuzzy controller has an enhanced design flexibility and inherent robustness to handle parameter uncertainties. In this paper, the stabilization conditions are derived from the polynomial Lyapunov function and numerically solved by the sum-of-squares (SOS) method. A simulation example and comparison of the performance are provided to verify the stability analysis results and demonstrate the effectiveness of the proposed stabilization conditions. © ICROS 2016.

关键词： Stabilization

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Partial labeled gastric tumor segmentation via patch⇂based reiterative learning

arXiv

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arXiv 2017年

作者： Nan, Yang Coppola, Gianmarc Liang, Qiaokang Zou, Kunglin Sun, Wei Zhang, Dan Wang, Yaonan Yu, Guanzhen College of Electrical and Information Engineering Hunan University Changsha410082 China National Engineering Laboratory for Robot Vision Perception and Control Hunan University Changsha Hunan410082 China Hunan Key Laboratory of Intelligent Robot Technology in Electronic Manufacturing Hunan418000 China Faculty of Engineering and Applied Science University of Ontario Institute of Technology OshawaONL1H 7K4 Canada Department of Mechanical Engineering York University TorontoONM3J 1P3 Canada Department of Oncology Longhua Hospital Affiliated to Shanghai University of Traditional Chinese Medicine Shanghai201203 China

Gastric cancer is the second leading cause of cancer‐related deaths worldwide, and the major hurdle in biomedical image analysis is the determination of the cancer extent. This assignment has high clinical relevance and would generally require vast microscopic assessment by pathologists. Recent advances in deep learning have produced inspiring results on biomedical image segmentation, while its outcome is reliant on comprehensive annotation. This requires plenty of labor costs, for the ground truth must be annotated meticulously by pathologists. In this paper, a reiterative learning framework was presented to train our network on partial annotated biomedical images, and superior performance was achieved without any pre‐trained or further manual annotation. We eliminate the boundary error of patch‐based model through our overlapped region forecast algorithm. Through these advisable methods, a mean intersection over union coefficient (IOU) of 0.883 and mean accuracy of 91.09% on the partial labeled dataset was achieved, which made us win the 2017 China Big Data & Artificial Intelligence Innovation and Entrepreneurship Competitions1. Copyright © 2017, The Authors. All rights reserved.

关键词： Diseases

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EKF-based simultaneous localization and mapping using laser corner-pattern matching

EKF-based simultaneous localization and mapping using laser ...

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International Conference on Information and Automation (ICIA)

作者： Tae-Hyeong Kim Tae-Hyoung Park Department of Control and Robot Engineering Chungbuk National University Cheongju Chungbuk South Korea

ISBN: (纸本)9781509041039

In this paper, we propose an extended Kalman filter (EKF)-based simultaneous localization and mapping (SLAM) method using laser corner-pattern matching for mobile robots. SLAM is one of the most important problems for mobile robots. To solve the problem, an EKF is often used. However, the existing EKF-based SLAM using landmarks method has the disadvantage of increased computation time, depending on the number of corner points. To improve SLAM computation time, we produce a corner pattern using classified and detected corner points. After producing corner patterns, the mobile robot's global position is estimated by matching them. The estimated position is used as a measurement model in the EKF. To evaluate the proposed method, we performed experiments in indoor environments. Experimental results from the proposed method show that it maintains accuracy and decreases computation time.

关键词： Simultaneous localization and mapping Mobile robots Pattern matching Lasers Measurement by laser beam

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Research on and education for navigation control of an exploration rover with microwave Doppler sensors (fabrication of the signal processing electrical circuit)

Research on and education for navigation control of an explo...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Masahiro Isogai Yuya Takada Department of Electronic Control and Robot Engineering Aichi University of Technology Gamagori Aichi Japan

ISBN: (纸本)9781509027866

Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was below that level. In this study, we fabricated a signal processing electrical circuit for the fourth prototype rover. To confirm the performance of the fabricated electrical circuit, we carried out some experiments on the frequency response of the electrical circuit. Finally, we had a questionnaire for the student who collaborated with this study to investigate how this study had an educational effect on the student.

关键词： Sensors Microwave circuits Microwave filters Band-pass filters Microwave antennas Low-pass filters

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Auto-focusing system for a curved panel using curve estimation

Auto-focusing system for a curved panel using curve estimati...

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International Conference on Information and Automation (ICIA)

作者： Hwang-Ju Lee Tae-Hyoung Park Department of Control and Robot Engineering Chungbuk National University Cheongju Korea Department of Electronics Engineering Chungbuk National University Cheongju Korea

ISBN: (纸本)9781509041039

This paper presents a new auto-focusing (AF) method for a curved panel using curve estimation. Conventional AF methods are difficult to apply to a curved panel AF system. So, our research uses curve estimation to search for a curved panel's best in-focus lens position (BILP). For curve estimation, we use a Lagrange polynomial. The Lagrange polynomial is an interpolation. The equation is a linear combination, and it uses the panel's initial focus positions. The test image is a target of the curved surface shape, obtained from a camera. Experimental results show that the proposed method is able to search a curved panel, and its search time is faster than other existing methods.

关键词： Inspection Mathematical model Lenses Estimation Laplace equations Interpolation Cameras

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An adaptive dynamics control of underwater vehicle based on velocity servo loop

An adaptive dynamics control of underwater vehicle based on ...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Seon-Je Yang Hee-Jun Lee Tae-Yong Kuc Jong-gu Park Nak-Yong Ko Yong-Seon Moon School of Electrical and Computer Engineering Sung Kyun Kwan University Suwon Republic of Korea Department of Control Instrumentation and Robot Engineering Chosun University Republic of Korea Department of Electrical Engineering Sunchon National University Republic of Korea

ISBN: (纸本)9781467390583

This paper presents dynamics control of underwater vehicle based on motor velocity servo. For control of robot's location, pose, velocity in complicated underwater environment, this study estimates hydrodynamic coefficients by using backstepping technique. Estimated hydrodynamic coefficients are to be used for controlling of robot's exact location, pose, and velocity, within the framework of adaptive dynamics control. Also this study suggests a unified control method which combines motor control loop for velocity servo and torque control for dynamics control. Simulation results demonstrate the feasibility and effectiveness of the proposed control method.

关键词： Underwater vehicles Vehicle dynamics robots Hydrodynamics Motor drives Force

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