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arXiv 2019年

作者： Kulkarni, Abhishek N. Fu, Jie Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01604 United States Department of Electrical and Computer Engineering Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01604 United States

Reactive synthesis is a class of methods to construct a provably-correct control system, referred to as a robot, with respect to a temporal logic specification in the presence of a dynamic and uncontrollable environment. This is achieved by modeling the interaction between the robot and its environment as a two-player zero-sum game. However, existing reactive synthesis methods assume both players to have complete information, which is not the case in many strategic interactions. In this paper, we use a variant of hypergames to model the interaction between the robot and its environment;which has incomplete information about the specification of the robot. This model allows us to identify a subset of game states from where the robot can leverage the asymmetrical information to achieve a better outcome, which is not possible if both players have symmetrical and complete information. We then introduce a novel method of opportunistic synthesis by defining a Markov Decision Process (MDP) using the hypergame under temporal logic specifications. When the environment plays some stochastic strategy in its perceived sure-winning and sure-losing regions of the game, we show that by following the opportunistic strategy, the robot is ensured to only improve the outcome of the game—measured by satisfaction of sub-specifications—whenever an opportunity becomes available. We demonstrate the correctness and optimality of this method using a robot motion planning example in the presence of an adversary. Copyright © 2019, The Authors. All rights reserved.

关键词： Specifications

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Development of Mobile Robot Education Kit Prototype for Elementary School Students

Development of Mobile Robot Education Kit Prototype for Elem...

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2021 International Conference on Computer System, Information Technology, and Electrical engineering, COSITE 2021

作者： Priandana, Karlisa Margaretha, Friska Sinaga, Doli Aryo Dani Kusumoputro, Benyamin Bogor Agricultural University Computer Science Department Bogor Indonesia Bogor Agricultural University Vocational School of Computer Engineering Program Bogor Indonesia Research Development Interactive Robotics Bogor Indonesia Universitas Indonesia Dept of Electrical Engineering Depok Indonesia

ISBN: (纸本)9781665425094

Electronic technologies are growing very rapidly, especially those related to automation and robotics. robotics technology is currently being developed and implemented in various fields including military, search and rescue, education, transportation, sports, and many other fields. Various researches on robotics technology continue to be carried out by various universities in the world including in Indonesia. To increase the interest of the young generation in the field of robotics, an attractive educational kit especially for elementary school level is necessary. This work aims to develop a robotics education kit in the form of a unique and interesting mobile robot as a learning media for elementary school students. The robot was developed using an Arduino microcontroller and can be operated by elementary school students using an easy and user-friendly blocks programming. The testing shows that the developed robotics education kit has been able to function properly, in accordance with the design and the specified requirements. © 2021 IEEE.

关键词： Mobile robots

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Design of fuzzy controller for automatic steering

Design of fuzzy controller for automatic steering

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作者： Ko, Sang-Jin Lee, Jun-Woo Choi, Byoung-Suk Lee, Ju-Jang Graduate School of Automobile Technology KAIST Daejeon Korea Republic of Robotics Program KAIST Daejeon Korea Republic of Department of Electrical Engineering and Computer Science KAIST Daejeon Korea Republic of

ISBN: (纸本)9784990288020

Unmanned vehicle is future vehicle technology. Lateral control technology and longitudinal control technology are needed for unmanned vehicle. Automatic steering system is lateral control technology. A automatic steering system automatically controls the steering to keep the vehicle in its land and also to follow the lane as it curves around. This paper proposes automatic steering system based on fuzzy logic. If the fuzzy rules are set properly, the fuzzy controller can control the objective system nicely. To design an automatic steering system, lateral error dynamics of a vehicle is derived. The proposed automatic steering system is evaluated by SIMULINK in MATLAB. The simulation results show that the proposed automatic steering system works satisfactorily for keeping the vehicle in its land and following the lane. ©ISAROB 2008.

关键词： Fuzzy control

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Decision-Level Fusion Method for Emotion Recognition using Multimodal Emotion Recognition Information 15

Decision-Level Fusion Method for Emotion Recognition using M...

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15th International Conference on Ubiquitous Robots, UR 2018

作者： Song, Kyu-Seob Nho, Young-Hoon Seo, Ju-Hwan Kwon, Dong-Soo Department of Robotics Program Korea Advanced Institute of Science and Technology Human-Robot Interaction Research Center Korea Republic of Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Human-Robot Interaction Research Center Korea Republic of

ISBN: (纸本)9781538663349

Human emotion recognition is an important factor for social robots. In previous research, emotion recognizers with many modalities have been studied, but there are several problems that make recognition rates lower when a recognizer is applied to a robot. This paper proposes a decision level fusion method that takes the outputs of each recognizer as an input and confirms which combination of features achieves the highest accuracy. We used EdNet, which was developed in KAIST based Convolutional Neural Networks (CNNs), as a facial expression recognizer and a speech analytics engine developed for speech emotion recognition. Finally, we confirmed a higher accuracy 43.40% using an artificial neural network (ANN) or the k-Nearest Neighbor (k-NN) algorithm for classification of combinations of features from EdN et and the speech analytics engine. © 2018 IEEE.

关键词： Engines

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Accurate Velocity Control based on the distance of a Mobile Robot and Obstacle using a Haptic Joystick

Accurate Velocity Control based on the distance of a Mobile ...

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International Conference on Control, Automation and Systems

作者： DongHyuk Lee KyungWook Noh SookHee Park JangMyung Lee Department of Interdisciplinary Program in Robotics Pusan National University Department of Electrical Engineering Pusan National University

ISBN: (纸本)9781467322478

In this paper, the mobile robot equipped with a single ultrasonic sensor to measure the value of the distance between the mobile robot and the obstacle will be manipulated by a haptic joystick through the value of Force Feedback. Accordingly, the mobile robot will move based on the information of the ultrasonic sensor without colliding the obstacle to precise velocity control. Vibration part which is designed and installed at the bottom of the joystick implements Haptic features using the distance data from the ultrasonic sensor. Using the Bluetooth communication, the haptic joystick and the mobile robot give and receive the data mutually to control the mobile robot's velocity. In order to realize the precise velocity control, PD controller with the advantage of stabilization system is designed and the performances of two cases before or after PD control are evaluated and compared.

关键词： Haptic Joystick Mobile Robot Ultrasonic Sensor Velocity Control PD controller

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Conceptual design and kinematic analysis of a parallel rotational robot 1

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Herrera, Fray J. Acuña, Hernan Gonzalez Lengerke, Omar Dutra, Max Suell Research Group in Control and Mechatronics Mechatronics Engineering Program Universidad Autonoma de Bucaramanga Bucaramanga Colombia Research Group in Machine Design and Robotics Department of Mechanical Engineering COPPE UFRJ Federal University of Rio de Janeiro Rio de Janeiro Brazil

ISBN: (数字)9783642335037

ISBN: (纸本)9783642335020

This paper presents the conceptual design and simulation of a rotational parallel robot. This robot is used to reproduce movement;the robot workspace, inverse kinematic study and a simulation of the system in a trajectory were analyzed. Computational tools were used to resolve equations, create a virtual design and conduct simulation in the conceptual design. The rotational parallel robot used 6 servomotors and 6 links with spherical joints that provide 360° rotational capabilities on its axis. This is a big flexibility in comparison with Stewart platform but the workspace is smaller than that of the Stewart platform. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Inverse kinematics

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Compositional planning in Markov decision processes: Temporal abstraction meets generalized logic composition

arXiv

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arXiv 2018年

作者： Liu, Xuan Fu, Jie Department of Electrical and Computer Engineering Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA United States

In hierarchical planning for Markov decision processes (MDPs), temporal abstraction allows planning with macro-actions that take place at different time scale in form of sequential composition. In this paper, we propose a novel approach to compositional reasoning and hierarchical planning for MDPs under co-safe temporal logic constraints. In addition to sequential composition, we introduce a composition of policies based on generalized logic composition: Given sub-policies for sub-tasks and a new task expressed as logic compositions of subtasks, a semi-optimal policy, which is optimal in planning with only sub-policies, can be obtained by simply composing sub-polices. Thus, a synthesis algorithm is developed to compute optimal policies efficiently by planning with primitive actions, policies for sub-tasks, and the compositions of sub-policies, for maximizing the probability of satisfying constraints specified in the fragment of co-safe temporal logic. We demonstrate the correctness and efficiency of the proposed method in stochastic planning examples with a single agent and multiple task specifications. Copyright © 2018, The Authors. All rights reserved.

关键词： Markov processes

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Obstacle avoidance of a moving sound following robot using active virtual impedance

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Journal of Institute of Control, robotics and Systems 2014年第2期20卷 200-210页

作者： Han, Jong-Ho Park, Sook-Hee Noh, Kyung-wook Lee, Dong-Hyuk Lee, Jang-Myung Department of Electrical Engineering Pusan National University Korea Republic of Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of

An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for the relative distances and velocities. However, in this research the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source against the mobile robot which carries the microphone array. Effectiveness of the proposed algorithm has been demonstrated by real experiments. © ICROS 2014.

关键词： Mobile robots

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A mobile robot estimating the real-time moving sound sources by using the curvature trajectory

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Journal of Institute of Control, robotics and Systems 2014年第1期20卷 48-57页

作者： Han, Jong-Ho Park, Sook-hee Lee, Dong-Hyuk Noh, Kyung-wook Lee, Jang-myung Department of Electrical Engineering Pusan National University Korea Republic of Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of

It is suggested that the curvature trajectory be used to estimate the real-time moving sound sources and efficiently the robot estimating the sound sources. Since the target points of the real-time moving sound sources change, the mobile robot continuously estimates the changed target points. In such a case, the robot experiences a slip phenomenon due to the abnormal velocity and the changes of the navigating state. By selecting an appropriate curvature and navigating the robot gradually by using it, it is possible to enable the robot to reach the target points without having much trouble. In order to recognize the sound sources in real time, three microphones need to be organized in a straight form. Also, by applying the cross-correlation algorithm to the TDOA base, the signals can be analyzed. By using the analyzed data, the locations of the sound sources can be recognized. Based on such findings, the sound sources can be estimated. Even if the mobile robot is navigated by selecting the gradual curvature based on the changed target points, there could be errors caused by the inertia and the centrifugal force related to the velocity. As a result, it is possible to control the velocity of both wheels of the robot through the velocity PID controller in order to compensate for the slip phenomenon and minimize the estimated errors. In order to examine whether the suggested curvature trajectory is appropriate for estimating the sound sources, two mobile robots are arranged to carry out an actual experiment. The first robot is moved by discharging the sound sources, while the second robot recognizes and estimates the locations of the discharged sound sources in real time. © ICROS 2014.

关键词： Mobile robots

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Estimate the inclination angle using traveling speed of Segway robot on the slope

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Journal of Institute of Control, robotics and Systems 2014年第11期20卷 1164-1169页

作者： Jeong, Hee-In Lee, Sang-Yong Lee, Jang-Myung Department of Electrical Engineering Pusan National University Korea Republic of Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of

This paper proposes an angle estimation of Segway robot for the slop driving. Most of Segway robot was controlled by pose control of keeping robot's balance and motor control of driving. In motor control, we analyzed Segway robot kinetically and estimated an angle of inclination using the velocity that depends on input force. In pose control, also, we used PD controller and evaluated a stability of controller through MATLAB simulation. Assuming the robot keeps its balance stably using controller, we could linearize dynamics. We could obtain the result through the experiment which estimates an angle using the velocity of Segway robot that is derived from linearized dynamics. © ICROS 2014.

关键词： Robots

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