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检索条件"机构=Department of Design Engineering and Robotics"

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Visual Motion Observer-based Pose Control via Obstacle Avoidance Navigation Function for Eye-in-Hand Systems

Visual Motion Observer-based Pose Control via Obstacle Avoid...

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Annual Conference on IEEE Industrial Electronics Society

作者： Yusei Tsuruo Toshiyuki Murao Hiroyuki Kawai Masayuki Fujita Graduate Program in Mechanical Engineering Kanazawa Institute of Technology Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Department of Robotics Kanazawa Institute of Technology Department of Mechanical and Control Engineering Tokyo Institute of Technology

ISBN: (纸本)9781467324199

This paper investigates passivity-based pose control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-in-hand visual feedback systems. Firstly, visual motion observer-based pose control for 3-D eye-in-hand visual feedback systems is presented. Next, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations.

关键词： Obstacle avoidance Collision avoidance Eye Standing Orders navigation Visualization Visual Feedback Passivity Computer Simulation Feedback kinematic error

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Methodology to develop an intelligent transfemoral prosthesis

Methodology to develop an intelligent transfemoral prosthesi...

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IEEE Instrumentation and Measurement Technology Conference

作者： Javier A. Vargas Eduardo E. Zurek Jaime E. Torres Roque J. Hernandez Department of Mechanical Engineering Materials Processes and Design Research Group Universidad Del Norte Barranquilla Colombia Department of System Engineering Robotics and Intelligent Systems Research Group Universidad Del Norte Barranquilla Colombia

Injuries by landmines are of public interest all over the world especially in countries with constant violent conflicts. In order to reduce the damage caused to the victims of landmines many kind of projects about prostheses have been developed, in the last years much has been achieved in this field. However, the main problem is that functional prostheses are very expensive. This paper shows the advances in a project which its superior objective is the design and fabrication of an intelligent lower-limb prosthesis prototype with magnetorheologically controlled impact force at affordable cost.

关键词： Prosthetics Solid modeling Force Knee Electromyography Load modeling Analytical models

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design and implementation of a controller for navigating an autonomous ground vehicle

Design and implementation of a controller for navigating an ...

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International Conference on Power, Control and Embedded Systems (ICPCES)

作者： Shubhashisa Sahoo Shankar C. Subramanian Suresh Srivastava Centre for Artificial Intelligence and Robotics Bangalore India Department of Engineering Design Indian Institute of Technology Madras Chennai India Turbine Research Establishment Bangalore India

This paper describes the design and implementation of a heading controller for an autonomous ground vehicle (AGV) taking into account the vehicle dynamics. The challenge in designing this control system is to choose a dynamic model that is sufficiently valid for a typical road vehicle. The well-known “bicycle model” approximation has been used that considers the vehicle slip angle and ground-wheel interaction for the wheeled ground vehicle. In this paper, both proportional and proportional-integral (PI) controllers have been designed, simulated and implemented to achieve the desired heading angle. Results from both simulation and experimental implementation are compared. It has been found that the vehicle controller can be tuned effectively to achieve the desired heading change of twenty degrees within six seconds when the vehicle is moving at a speed of 1 m/sec.

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Low Complexity Subspace-Based Two-Dimensional Direction-of-Arrivals Tracking of Multiple Targets

Low Complexity Subspace-Based Two-Dimensional Direction-of-A...

引用

2012 IEEE 11th International Conference on Signal Processing(ICSP 2012)

作者： Changnong Liu Guangmin Wang Jingmin Xin Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an Jiaotong University Suzhou Academy State Key Laboratory of Astronautic Dynamics Department of System Design Engineering Keio University

This paper deals with the problem of tracking the two-dimensional (2-D) direction-of-arrivals (DOAs) (i.e., azimuth and elevation angles) of multiple moving targets with crossover points on their trajectories, and we propose an new computationally efficient subspace-based 2-D DOA tracking algorithm for the L-shaped sensor array structured by two uniform linear arrays (ULAs). First, a new computationally efficient cross-correlation based 2-D DOA estimation with automatic pairmatching (CODEC) batch method is developed for noncoherent narrowband signals, where the computationally expensive procedures of eigendecomposition in subspace estimation and pair-matching of the estimated azimuth and elevation angles are avoided. Then a new 2-D DOA tracking algorithm is proposed, the association of the estimated azimuth and elevation angles at two successive time instants is accomplished by employing a dynamic mode and the Luenberger state observer. The simulation results show that the proposed tracking algorithm has good adaptability and tracking capability.

关键词： direction estimation, eigendecomposition, pair-matching, uniform linear array, state observer

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New Generalized ESPRIT for Direction Estimation and Its Mathematical Link to RARE Method

New Generalized ESPRIT for Direction Estimation and Its Math...

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2012 IEEE 11th International Conference on Signal Processing(ICSP 2012)

作者： Guangmin Wang Jingmin Xin Jiayi Wu Jiasong Wang Nangning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an Jiaotong University Suzhou Academy State Key Laboratory of Astronautic Dynamics Department of System Design Engineering Keio University

The generalized ESPRIT （GESPRIT） method extends the conventional ESPRIT estimator to estimate the directions-of-arrival （DOAs） of multiple incident signals by using the array with more general geometrical configurations, where the translational invariance structure is not required. Unfor-tunately, the GESPRIT has serious ambiguous DOA estimates in some scenarios, and its performance degrades severely at low signal-to-noise ration （SNR） and with a small number of snapshots. Although a polynomial version of a new GESPRIT （NGESPRIT） method was given, but its derivation and estimation performance are unavailable in published literature. In this paper, in order to overcome the ambiguity of the GESPRIT and improve the estimation performance, the NGESPRIT method is derived explicitly. Moreover, the equivalence between the proposed NGESPRIT method and the rank reduction （RARE） method is clarified, while the former is more computationally efficient than the latter. Finally the effectiveness of the NGESPRIT method is substantiated through numerical examples.

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Two-Dimensional Direction Tracking of Coherent Signals with Two Parallel Uniform Linear Arrays

Two-Dimensional Direction Tracking of Coherent Signals with ...

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2012 IEEE 11th International Conference on Signal Processing(ICSP 2012)

作者： Jiayi Wu Jingmin Xin Guangmin Wang Jiasong Wang Nangning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an Jiaotong University Suzhou Academy State Key Laboratory of Astronautic Dynamics Department of System Design Engineering Keio University

In some practical applications, the two-dimensional (2-D) direction-of-arrivals (DOAs) of incident signals should be estimated adaptively or the time-varying 2-D DOAs should be tracked promptly from the noisy array data, and multipath propagation is usually encountered due to various reflections, where the incident signals are caused to be coherent (i.e., fully correlated). In this paper, we propose a new computationally efficient subspace-based adaptive algorithm for 2-D DOA tracking of multiple coherent incident signals by using two parallel uniform linear arrays (ULAs). In the proposed algorithm, the computationally expensive eigendecomposition and the pair-matching of estimated 2-D DOAs are avoided, and the association of estimated 2-D DOAs at two successive time instants is accomplished by employing the Luenberger observer and dynamic model of direction trajectories. The effectiveness of the proposed algorithm are verified through numerical examples.

关键词： Two-dimensional direction-of-arrival estimation adaptive filtering algorithm pair-matching Luenberger observer

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Robot motion planning considering the utterance-timing and its experimental evaluation

Robot motion planning considering the utterance-timing and i...

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International Workshop on Advanced Motion Control (AMC)

作者： Satoshi Suzuki Jun Goto Hiroshi Igarashi Harumi Kobayashi Tetsuya Yasuda Fumio Harashima Department of Robotics and Mechatronics Tokyo Denki University Japan Department of Electrical and Electronic Engineering Tokyo Denki University Japan Division of Information System Design Tokyo Denki University Japan Tokyo Metropolitan University Japan

For a natural communication robot cooperating with human, an adequate control mechanism of motion and utterance is required. This paper presents a robot motion planning method which considers utterance timing by utilizing Self-Organizing Map (SOM). Adequate target position of the robot motion and the utterance timing for an autonomous robot are decided by searching the best-matching-node on the SOM which was trained using normative data of human behavior. Applying the presented method to cooperative carrying situation in a virtual cooperative simulator, human impression to the robot behavior was investigated. As a result, it was confirmed by the Tukey-Kramer test that several human could recognize an effect of the utterance timing and motion planning method.

关键词： Timing Humans Vectors Pragmatics Robot motion Data models

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Estimation of the number of narrowband signals in the presence of multipath propagation

Estimation of the number of narrowband signals in the presen...

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Sensor Array and Multichannel Signal Processing Workshop

作者： Hao Tao Jingmin Xin Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xian Jiaotong University Xi'an China State Key Laboratory of Astronautic Dynamics Xi'an China Department of System Design Engineering Keio University Yokohama Japan

In this paper, we address with the problem of detection the number of narrowband signals impinging on a uniform linear array (ULA) in the presence of multipath propagation. Firstly, by forming a differencing matrix from the array covariance matrix to eliminate the effects of uncorrelated incident signals and additive noises, a combined matrix is constructed from this differencing matrix to decorrelate the coherence of signals. Since the number of coherent signals is revealed as the rank of this resultant matrix, a singular value based ratio criterion is proposed to estimate the number of coherent signals. Then, another singular value based ratio criterion is also presented to determine the number of uncorrelated signals from the array covariance matrix. The notable advantage of the proposed method is that it can detect more signals compared to some existing methods, and the number of signals resolved by our method can exceed the number of array sensors.

关键词： Arrays Covariance matrix Signal to noise ratio Estimation Additive noise Narrowband Decorrelation

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A Control Strategy for designing an Intelligent Controller for Highly Dynamic/Perturbed Systems

A Control Strategy for Designing an Intelligent Controller f...

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International Conference on Control, Automation and Systems

作者： Omar Mehrez Ahmed Ramadan Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology

ISBN: (纸本)9781467322478

In this paper a control strategy is proposed to deal with highly dynamic systems. It is based on designing an ANFIS based controller, with minimum number of inputs, by training it from the response of a conventional controller working on the same system. The performance of the resultant fuzzy controller is enhanced by optimizing its PID-like gains using Genetic Algorithms. The proposed control strategy is applied to a double inverted pendulum system, when a payload of significant mass is attached to the second link. This issue is important because of its relevance to some applications like humanoid robots. The added mass increases the system perturbation due to its inertial effect. The purpose of the controller is to balance the links around the equilibrium position, defined as the vertical upward one.

关键词： design of Fuzzy Logic Controller Genetic Algorithms Double Inverted Pendulum System

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Open-loop control for 2DOF robot manipulators with antagonistic bi-articular muscles

Open-loop control for 2DOF robot manipulators with antagonis...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Keisuke Sano Hiroyuki Kawai Toshiyuki Murao Masayuki Fujita K. Sano is with Graduate Program in Mechanical Engineering Kanazawa Institute of Technology Ishikawa Japan H. Kawai is with Department of Robotics Kanazawa Institute of Technology Ishikawa Japan T. Murao is with Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (纸本)9781467345033

This paper investigates open-loop control, which does not need the joint angles and velocities, for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed based on the Lyapunov method. Our approach is inspired by the fact that humans do not measure the joint angles and velocities explicitly, Finally, simulation results are shown in order to confirm the proposed method and given a design procedure in order to assign the tuning parameter.

关键词： Joints Muscles Manipulator dynamics Humans Lyapunov methods

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