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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Damion Dunlap Wei Yu Emmanuel G. Collins Charmane V. Caldwell Automation & Dynamics Branch Littoral Warfare Science & Technology Department of the US Naval Surfac Center for Intelligent Systems Control and Robotics (CISCOR) and the Department of Mechanical Engine Department of Electrical Engineering Florida A&M University-Florida State UniversityTallahasseeFL

The motors or engines of an autonomous ground vehicles (AGV) have torque and power limitations, which limit their abilities to climb steep hills, which are defined to be hills that have high grade sections in which the vehicle is forced to decelerate. Traversal of a steep hill requires the vehicle to have sufficient momentum before entering the hill. This problem is part of a larger class of momentum-based motion planning problems such as the problem of lifting heavy objects with manipulators. Hence, solutions to the steep hill climbing problem have much wider applicability. The motion planning here is accomplished using a dynamic model of the skid-steered AGV used in the experiments along with Sampling Based Model Predictive control (SBMPC), a recently developed input sampling planning algorithm that may be viewed as a generalization of LPA* to the direct use of kinodynamic models. The motion planning is demonstrated experimentally using two scenarios, one in which the robot starts at rest at the bottom of a hill and one in which the robot starts at rest a distance from the hill. The first scenario requires the AGV to first reverse direction so that the vehicle can gather enough momentum before reaching the hill. This corresponds to having the vehicle begin at a local minimum, which results in a problem that many traditional model predictive control methods cannot solve. It is seen that, whereas open loop trajectories can lead to vehicle immobilization, SBMPC successfully uses the information provided by the dynamic model to ensure that the AGV has the requisite momentum.

关键词： Vehicles Planning Predictive models Optimization DC motors Trajectory Vehicle dynamics

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Introduction

Communications and Control Engineering

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Communications and control engineering 2011年第9780857292551期 1-15页

作者： Sun, Zhendong Ge, Shuzhi Sam College Automation Science & Engineering Center for Control and Optimization South China University of Technology Guangzhou510640 China Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore Robotics Institue and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China

Chapter 1 briefly introduces the problem formations and the organization of the book. In particular, given a feasible set of switching signals, the concepts of stability and stabilizability are introduced, and the related problems of stability and stabilization are briefly formulated and discussed. Examples and simulations are provided to exhibit the primary features of the problems with various switching mechanisms. © 2011, Springer-Verlag London Limited.

关键词： Stabilization

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Electronic design for portable electrical capacitance sensor: A multiphase flow measurement

Electronic design for portable electrical capacitance sensor...

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International Conference on Mechatronics (ICOM)

作者： E. Johana Mohamad O. M. Faizan Marwah Ruzairi Abdul Rahim Mohd Hafiz Fazalul Rahiman Siti Zarina Mohd Muji Department of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Department of Manufacturing and Industrial Engineering Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Process Tomography Research Group (PROTOM) Department of Control & Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

The earlier research shows that the electrical capacitance sensor through the tomography technique is applicable in flow visualization or image reconstruction, named as Electrical Capacitance Tomography (ECT). ECT can be used for imaging industrial multi-component processes involving nonconducting fluids and solids in pipelines. The electrical capacitance sensor is a non-invasive device that uses non-intrusive technique to measure the concentration of flow inside a closed pipe by measuring variations in the dielectric permittivity of the material. The capacitance of the sensor changes when the mean dielectric constant between the electrodes varies due to variations in the percentage of gas and liquid flowing in the pipe. The acquired concentration profile that obtains from capacitance measurements is able to imaging liquid and gas mixture in pipelines, meanwhile the system development is designed to attach on a vessel. The electrode plates which act as the sensor previously has been assemble fixed on the pipeline, thus it causes difficulty for the production to have any new process installation in the future. Therefore on-board sensing plate offers a new design and idea on ECT system which is portable to be assembled in different diameter sizes of pipeline, and it's flexible to apply in any number due to different size of pipeline without redesign the sensing module. The on-board sensing plate development contains signal conditioning circuit and sensing electrode built in a single module (embedded on single plate). In this paper, the details on fabricating the sensors electrodes, had been described, including signal conditioning circuit/electronic part of measurement, such as stray immune capacitance measurement circuit, amplifying circuit, AC to DC converter circuit and filter circuit.

关键词： Electrodes Capacitance Capacitance measurement Pipelines Sensors Materials Permittivity measurement

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Image-Guided Robotic Mastoidectomy Using Human-Robot Collaboration control

Image-Guided Robotic Mastoidectomy Using Human-Robot Collabo...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Byung-Ju Yi Hoon Lim Jung-Min Han Makoto Hashizume Jaesung Hong Seung Hwan Lee Jin Hyeok Jeong Masamichi Oka Nozomu Matsumoto Shizuo Komune Department of Electronic Electrical Control and Instrumentation Eng. Hanyang University Korea Department of Advanced Medical Initiatives Faculty of Medical Sciences Kyushu University Japan Department of Robotics Engineering DGIST Korea Department of Otorhinolatyngology School of Medicine Hanyang University Korea Department of Otorhinolaryngology Graduate School of Medical Sciences Kyushu University Japan

This work proposes an image-guided robotic Mastoidectomy. A surgical navigation software was developed to guide the robot without damaging the critical area. A forbidden-region virtual fixture is implemented for safety. A human-robot collaboration control mode is used to allow the human intervention during surgery, to compensate tremor by operator, and to protect the relevant organs. A temporal bone replica was used as a phantom for the robotic Mastoidectomy. Through the phantom studies, it was shown that the image-guided robotic approach is effective for safe and precise Mastoidectomy.

关键词： Mastoidectomy Admittance control Image-guided navigation Warning system.

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Computing robot internal/external wrenches by means of inertial, tactile and F/T sensors: Theory and implementation on the iCub

Computing robot internal/external wrenches by means of inert...

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IEEE-RAS International Conference on Humanoid Robots

作者： S. Ivaldi M. Fumagalli M. Randazzo F. Nori G. Metta G. Sandini Institut des Systèmes Intelligents et de Robotique Université Pierre et Marie Curie Paris France Robotics Brain and Cognitive Sciences Department Istituto Italiano di Tecnologia Genova Italy Department of Control Engineering University of Twente Enschede Netherlands Department of Communication Computer and System Sciences University of Genoa Italy

Reliable access to dynamics is one of the central challenges in humanoid robotics. In this paper we consider the problem of computing both internal and external wrenches in open multiple branches kinematic chains, which are not equipped with joint-level torque sensors, but on the contrary are provided with inertial and tactile sensing, and a set of six- axes Force/Torque Sensors (FTS) distributed within the chain. The proposed method is grounded on the Enhanced Oriented Graph, a graph-representation of the kinematic chain, enriched with the information coming from the different sensors. Under suitable conditions, a maximum of N+1 external wrenches can be estimated from N six-axes FTS. The graph is built dynamically, and internal and external wrenches are consequently updated. Theoretical results have been implemented in a software library (iDyn) released with an open-source license (GPL) as part of the iCub software project. The proposed method has been applied to 32 of the 53 DOF of the iCub humanoid robot.

关键词： Kinematics Electrooculography Robot sensing systems Joints Torque

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Adaptive and Repetitive controller for Robotic Manipulators with Slowly Updating Scheme Using B-Spline Shape Function

Adaptive and Repetitive Controller for Robotic Manipulators ...

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IEEE International Conference on robotics and Biomimetics

作者： Pannatee Rakprayoon Peerayot Sanposh Nattapon Chayopitak Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Industrial Control and Automation Laboratory National Electronics and Computer Technology Center

ISBN: (纸本)9781457721366

This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory requirement. The control structure of DCLL consists of a feedforward compensator that is designed by a linear combination of shape functions that is adaptable to parameter variations;hence the selection of appropriate shape functions plays an important role in the adaptive ability and accuracy of DCLL. In this study, the B-spline shape function is proposed to be used under the slowly updating scheme and the obtained results show that the robustness and accuracy of the tracking can be greatly improved even under payload variation and torque limits.

关键词： shape functions Repetitive controllers Self tuning splines (mathematics) Scheme Robot Manipulator adaptive capacity memory requirements control Architecture Manipulators Unknown parameter Linear Combination

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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

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IEEE International Conference on robotics and Biomimetics

作者： Shuai Yuan Lianqing Liu Zhidong Wang Ning Xi Yuechao Wang Zaili Dong Zhiyu Wang Zhibo Wang College of Information & Control Engineering of Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Department of Advanced Robotics Chiba Institute of Technology Department of Electrical and Computer Engineering Michigan State University

ISBN: (纸本)9781457721366

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm.

关键词： Atomic Force Microscopy terminal interface processor nonlinearity based model parameters Drift models

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Improved vertex control for time-varying and uncertain linear discrete-time systems with control and state constraints

Improved vertex control for time-varying and uncertain linea...

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2011 American control Conference (ACC)

作者： H.N. Nguyen P.-O. Gutman S. Olaru M. Hovd F. Colledani Automatic Control Department SUPELEC Systems Sciences (E3S) Gif sur Yvette France Faculty of Civil and Environmental Engineering Technion Israel Institute of Technology Israel Norwegian University of Science and Technology Norway LIST Interactive Robotics Laboratory CEA Fontenay-aux-Roses France

This paper addresses the problem of regulating a discrete-time linear uncertain and time-varying system to the origin. It is shown that, based on an interpolation technique, by minimizing an appropriate objective function, how feasibility and a robustly and asymptotically stable closed-loop behavior can be achieved. It is shown that the control is a piecewise affine and continuous function of the state. Several simulations demonstrate the performance of our results.

关键词： Interpolation Trajectory Robustness Linear programming Lyapunov methods Closed loop systems

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Robust dissipative observer design for nonlinear systems

Robust dissipative observer design for nonlinear systems

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International Conference on Electrical engineering Computing Science and Automatic control

作者： Angulo, Marco T. Moreno, Jaime Lázaro, Ricardo Department of Control Engineering and Robotics UNAM Mexico Institute of Engineering UNAM Mexico Faculty of Engineering UNAM Mexico

ISBN: (纸本)9781424473120

A methodology for the design of optimal robust dissipative observers is introduced. The problem is formulated as the minimization of the effect of additive disturbances on the observation error. The H∞ and the minimal invariant ellipsoid are used as performance criteria. The design procedure is reduced to a finite-dimensional optimization problem subject to a matrix inequality constraint. A comparison example is presented to compare the performance under disturbances of the proposed design methodology with the original one. © 2010 IEEE.

关键词： Constraint theory

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Autonomous robot control with DSP and video camera using MATLAB State-Flow chart

Autonomous robot control with DSP and video camera using MAT...

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4th European DSP Education and Research Conference, EDERC 2010

作者： Lichtigstein, Aviv Or-El, Roy Nakhmani, Arie Control and Robotics Lab Department of Electrical Engineering Technion - Israel Institute of Technology Israel

ISBN: (纸本)9780955204746

This paper presents an embedded system for autonomous control of iRobot Create that consists of real time target tracking and robot navigation. Tracking and navigation algorithms were implemented using the TI DM6437 EVM board. The robot's performance demonstrates that a visual tracking and navigation can be efficiently and robustly implemented, and TI DSP is suitable for running both algorithms simultaneously due to its low power consumption and high-speed performance. The proposed tools have a steep learning curve, and they can be used as a platform for the further development. © 2010 Texas Instruments.

关键词： Video cameras

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