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丛书名： Springer Tracts in Advanced robotics

2007年

作者： Manuel Ferre Rafael Aracil Martin Buss Claudio Melchiorri Carlos Balaguer

ISBN: (数字)9783540713647

ISBN: (纸本)9783540713630;9783642425929

At the dawn of the new millennium, robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into the challenges of unstructured environments. Interacting with, assi- ing, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. The goal of the new series of Springer Tracts in Advanced robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi cance and quality. It is our hope that the wider dissemination of research developments stimulates exchanges and collaborations among the research community and contributes to further advancement of this rapidly growing eld. The edited volume by Manuel Ferre, Martin Buss, Rafael Aracil, Claudio M- chiorri and Carlos Balaguer is focused on the most recent advances in telerobotics, a technology that deals with the inclusion of a human operator in the control loop of a remote robot. Telerobotics encompasses an area at the crossroads of several scienti c disciplines such as mechatronics, control, communication, computers, sensor-based recognition, multimodality and even teleoperation through Internet.

关键词： control, robotics, Mechatronics Artificial Intelligence Systems Theory, control

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Some remarks on delay effects in motion synchronization in shared virtual environments

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IFAC Proceedings Volumes 2007年第23期40卷 268-273页

作者： Joono Cheong Silviu-Iulian Niculescu Yonghwan Oh Irinel Constantin Morărescu Department of Control and Instrumentation Engineering Korea University Jochiwon South Korea L2S (UMR CNRS 8506) CNRS-Supélec 3 rue Joliot Curie 91192 Gif-sur-Yvette France Bio-Mimetic Robotics Laboratory Korea Institute of Science and Technology (KIST) INRIA Rhône Alpes BIPOP project Inovalée 655 avenue de l'Europe 38330 Montbonnot France

This paper addresses the motion synchronisation problem in shared virtual environments in the presence of communication delays. More precisely, we consider the case of multiple users interacting with the same dynamics. Unlike the conventional synchronization, the technological attempt we are interested in pursues a more robust and better synchronization that gives an almost concurrent evolution of motions between the distributed systems in absolute time-frame (earth's time). Physically, the existence of time delay prevents immediate information exchange, which disables concurrent motions between the distributed systems. Using the delay information available, the proposed controller preserves natural local dynamics and compensate for de-synchronization error caused by mismatched initial conditions. Various robustness issues, like the delay margin or the stability boundaries computation in the space defined by the controllers' parameters are also presented. Finally, simulation tests are conducted in order to validate the considered methodology.

关键词： delay virtual environments synchronisation Smith predictors stability

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First Study on Laser Bone Ablation System at the Skull Base for Micro Surgery Based on Vision Navigation

First Study on Laser Bone Ablation System at the Skull Base ...

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Chinese control Conference (CCC)

作者： Lu Shaofang L. A. Kahrs M. Werner F. B. Knapp J. Raczkowsky J. Schipper M. Ivanenko H. Worn P. Hering Th. Klenzner School of Communication Engineering Jilin University P. R. China Institute for Process Control and Robotics Universitat Karlsruhe (TH) Germany caesar (center of advanced european studies and research)’ Bonn Bonn Germany Department of Oto-Rhino-Laryngology Dusseldorf University Hospital Germany caesar (center of advanced european studies and research)’ Bonn Germany Institute of Laser Medicine University of Dusseldorf Bonn Germany

As the anatomic structures, for example bone thickness, are different and the destruction of the membrane lining the inner ear can lead to a damage of organ functions, for example deafness or vertigo, the protection of soft tissue structures behind the ablated bone in skull base surgery is mandatory. Consequently, a safer and more accurate Cochlear Implantation technology need to be developed urgently. For the detection of the boundary between soft tissue and bone the laser bone ablation system which was based on the combination of laser, robotics, coaxial monitoring and vision navigation was developed for a micro surgery at the skull base. Through this the laser is guided across the ablation area by vision navigation technologies. In this paper our laser bone ablation system and the first results of the boundary detection are described.

关键词： Laser ablation Bones Skull Laser surgery Navigation Biological tissues Biomembranes Ear Deafness Protection

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A new architecture to execute CAs-based path-planning algorithm in mobile robots

A new architecture to execute CAs-based path-planning algori...

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2006 IEEE International Conference on Mechatronics, ICM

作者： Akbarimajd, Adel Lucas, Caro Robotics and AI Lab. Department of Electrical and Computer Engineering University of Tehran Iran Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Iran

ISBN: (纸本)0780397134

Several path-planning algorithms for mobile robots have been introduced. Proper architectures for mobile robots to implement the path-planning algorithms are also of interest. If the mobile robots are to perform complicated tasks including complex sensing and planning operations and have accepted performance, must be autonomous: capable of acquiring information and performing tasks without programmatic intervention. In this paper we employ a layered architecture for mobile robots to perform our previously introduced cellular automata based path planning technique. It employs an abstraction approach which makes the complexity manageable. The architecture has an important feature which is its internal artifacts;it has some beliefs about the world and these beliefs are represented in artifacts and most actions are planned and performed with respect to these artifacts © 2006 IEEE.

关键词： Algorithms

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A target differentiation algorithm of multi-neural-network based on rough set for mobile robot

A target differentiation algorithm of multi-neural-network b...

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6th World Congress on Intelligent control and Automation, WCICA 2006

作者： Xin, Ma. Liu, Wei Li, Yibin Chen, Weidong Xi, Yugeng Centre for Robotics School of Control Science and Engineering Shandong University Jinan Shandong Province China Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)1424403324

Aiming at the uncertainty of sonar data in the problem of sonar-based target differentiation for mobile robot, the paper firstly presents a hierarchical reduction approach to reduce a sonar data set based on rough set theory. Then on the basis of the reduction, a multi-neural network based target differentiation algorithm is designed on the fact that the effective combination of multiple neural networks can increase the ability to pattern classification and generalization of the whole system. Parallel network architecture is adopted locally to increase the differentiation accuracy. And the average weighed strategy is applied to fuse the outputs of the parallel neural network classifiers to improve the robustness of the differentiation system to noise, physically plausible failure and missing sonar data situation. The simulation experiments prove that the new method combining with the traditional target differentiation algorithm can increase the accuracy of sonar-based target differentiation for mobile robot in indoor environments. © 2006 IEEE.

关键词： Mobile robots

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Sonar grid map building of mobile robots based on DSmT

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Information Technology Journal 2006年第2期5卷 267-272页

作者： Li, Xinde Huang, Xinhan Wang, Min Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

The research of self-location and map building among some entirely unknown environments is an important and popular subject of intelligent mobile robots. Someone compared it to the problem of chicken and egg. But the application of Sonar sensors with some advantages such as cheapness, simple-operation and convenient-disposal resulted in uncertain and imprecise knowledge acquired. Aimed to this, a new method of information fusion recently developed from Bayesian theory and Dempster-Shafer theory was applied and on the base of experiment, according to sonar's metrical characteristic, the general basic belief assignment functions were constructed for modeling of static environment. Finally, grid map of 3D building on-line for mobile robot was used to compare from the real environment by the experiment. By analyzing the result of comparison, the validity of this method was fully verified. © 2006 Asian Network for Scientific Information.

关键词： Mobile robots

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Analysis of fractional - Order robot axis dynamics

Analysis of fractional - Order robot axis dynamics

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作者： Rosario, J.M. Dumur, D. Tenreiro Machado, J.A. Laboratory of Automation and Robotics Faculty of Mechanical Engineering UNICAMP - University of Campinas 13083-970 - Campinas- SP Brazil Department of Automatic Control SUPELEC 91192 - Gif-sur-Yvette France Department of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto 4200-072 Porto Portugal

ISBN: (纸本)9783902661128

Robots are complex mechatronics systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subjected to important parameters variations and nonlinear dynamics effects. This paper investigates the fractional order dynamics during the evolution of trajectories of three robotic joints, considering the complete system dynamics. Copyright © 2006 IFAC.

关键词： Calculations

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A Comparison of the Effect of Sonar Grid Map Building Based on DSmT and DST

A Comparison of the Effect of Sonar Grid Map Building Based ...

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World Congress on Intelligent control and Automation (WCICA)

作者： Xinde Li Xinhan Huang Min Wang Gang Peng Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

Information acquired in map building presents characteristics of uncertainty, imprecision and even high conflict, especially in the course of building grid map using sonar. Here a new method of information fusion - DSmT (Dezert-Smarandache theory) recently developed from DST and Bayesian theory was introduced to apply to managing and dealing with this uncertainty. Aiming to static environment, classic DSm mathematic modal was established by constructing the general basic belief assignment function, so that the global evidence grid map is built by applying the classic DSm rule. Pioneer II virtual mobile robot served as an experiment platform. By comparing the numbers of acquiring-information spot, the quality of grid map building and the time in need of finishing the global map building, better fusion results than that with DST are gotten. Especially when dealing with high conflictive information from sonar grid map building, DSmT was more effective and successful than DST. In short, this study not only found a new method for building map under static environment, but also supplied with a theory foundation for us to further apply hybrid DSmT to dynamic unknown environment and multi-robots' building map together

关键词： Sonar Uncertainty Intelligent robots Mobile robots Buildings Bayesian methods Intelligent control Laboratories Mathematics Finishing

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Effects of a Dynamic Reference Frame in Mental Task Classification for EEG-Based Brain-Machine Interface

Effects of a Dynamic Reference Frame in Mental Task Classifi...

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IEEE Region 10 International Conference TENCON

作者： M. S. Abundo L. G. Sison Imstrumentation Robotics and Control Laboratory Department of Electronics Engineering University of Philippines Quezon Philippines

We study the effects of a moving reference frame on the classification of different mental tasks in a brain-machine interface (BMI). We use the band powers and power differences of the electroencephalogram (EEG) signals from 8 surface electrodes during 5 pre-determined mental tasks as the features for the neural network (NN) mental task classifier. We compare the NN classifier performance when the BMI user is visually subjected to a non-moving (static) reference frame (SRF) and to a moving (dynamic) reference frame (DRF) while performing the mental tasks. Results consistently show the degradation of classification accuracy for mental tasks when the user is in a DRF. Furthermore, we observe that mental tasks that require more focus are more sensitive to the SRF-DRF switch than those tasks which need less concentration when performed

关键词： Neural networks Switches Electroencephalography Electrodes Biological neural networks Degradation

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Design of an autonomous control for parallel-connected uninterruptible power supplies

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IEEJ Transactions on Industry Applications 2006年第4期126卷 444-452+11页

作者： Sato, Eduardo Kazuhide Kawamura, Atsuo Division of Advanced Physics Electrical and Computer Engineering Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama 240-8501 Japan IEICE Japan IEEE Japan Department of Electrical and Computer Engineering Yokohama National University Yokohama Japan Robotics Society of Japan Japan Institute of Electronics Information and Communication Engineers Japan Society of Instrument and Control Engineering Japan Yokohama National University Japan

This paper proposes an autonomous control for parallel-connected uninterruptible power supply (UPS) systems based on electrical power system interrelations. The controllable variables are the output voltage phase angle and magnitude. Relation between active current and output voltage phase angle is derived from a synchronous machine model. Electrical power systems suggest that voltage regulation and reactive current can be proportionally related to yield another control equation. The resulted control scheme is very simple and only requires an output current measurement to provide a voltage reference signal locally in synchronism with other UPSs without communication signal exchange. A small-signal model represents the entire system and constitutes proof of its stability. Feasibility is confirmed by an experimental setup with three UPSs connected in parallel with different output power ratings. In the experiments, voltage limiters (1%) are employed and three cases are verified. Under all conditions, the results show excellent performance in terms of stability, and active and reactive load sharing.

关键词： Uninterruptible power systems

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