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The study on the wireless power transfer system for mobile robots

World Academy of Science, engineering and Technology 2010年 72卷 182-184页

作者： Kim, Hyung-Nam Chae, Won-Yong Shin, Dong-Sul Kim, Ho-Sung Kim, Hee-Je Interdisciplinary program in Robotics Pusan National University Pusan Korea Republic of Electronic and Electrical Engineering Department Pusan National University Pusan Korea Republic of

A wireless power transfer system can attribute to the fields in robot, aviation and space in which lightening the weight of device and improving the movement play an important role. A wireless power transfer system was investigated to overcome the inconvenience of using power cable. Especially a wireless power transfer technology is important element for mobile robots. We proposed the wireless power transfer system of the half-bridge resonant converter with the frequency tracking and optimized power transfer control unit. And the possibility of the application and development system was verified through the experiment with LED loads.

关键词： Light emitting diodes

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Visual motion observer-based stabilizing receding horizon control via image space navigation function

Visual motion observer-based stabilizing receding horizon co...

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IEEE Conference on Control Technology and Applications (CCTA)

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

This paper investigates stabilizing receding horizon control via an image space navigation function for a three-dimensional (3-D) visual feedback system. Firstly, a brief summary of a visual motion observer is given. Next, a visual motion error system is reconstructed in order to apply to time-varying desired motion. Then, visual motion observer-based stabilizing receding horizon control for the 3-D visual feedback system, highly nonlinear and relatively fast system, is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through the image space navigation function to keep all features into a camera field of view. Finally, simulation results are shown in order to confirm the proposed method.

关键词： Visualization Navigation Cameras Aerospace electronics Lyapunov method Estimation error Feedback control

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Visual Motion Observer-based Pose Control with Panoramic Camera via Passivity Approach

Visual Motion Observer-based Pose Control with Panoramic Cam...

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American Control Conference

作者： Hiroyuki Kawai Toshiyuki Murao Masayuki Fujita Department of Robotics Kanazawa Institute of Technology Ishikawa 921-8501 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo 140-0011 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8550 Japan

ISBN: (纸本)9781424474264

This paper considers the vision-based estimation and control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After that, we propose a visual motion observer to estimate the relative rigid body motion from the measured camera data. We show that the estimation error system with a panoramic camera has the passivity which allows us to prove stability in the sense of Lyapunov. After that, stability and L_(2)-gain performance analysis for the closed-loop system are discussed. Finally, simulation and experimental results are shown in order to confirm the proposed method.

关键词： panoramic cameras Passivity rigid body motion Standing Orders

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Telepresence robot system for English tutoring

Telepresence robot system for English tutoring

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Oh-Hun Kwon Seong-Yong Koo Young-Geun Kim Dong-Soo Kwon Robotics Program Korea Advanced Institute of Science and Technology Taejon South Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Taejon South Korea Rastech Taejon South Korea

This paper introduced a telepresence robot system for English tutoring. The system consists of the user system, the server system and the robot system. The robot is controlled by the collision prevention system, direct interface, server interface with assistant teacher and remote interface with native teacher. A remote native teacher had given lessons in English using this system for a month and several issues of telepresence robot system for remote lecture are found from the lecture.

关键词： Education Collision avoidance Servers Robot sensing systems Materials Electronic mail

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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7th Annual International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Suteeratanapirom, Wijin Rattanawaorahirankul, Rapeepong Laosapan, Chutima Sanposh, Peerayot Chayopitak, Nattapon Tungpimolrut, Kanokvate Kunieda, Hiroaki TAIST Tokyo Tech ICTES Program Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-65 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward Controller (FFC-PFC) are presented.

关键词： Friction

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A portable workcell design for robotics industry

A portable workcell design for robotics industry

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2009 ASEE Annual Conference and Exposition

作者： Padir, Taskin Department of Robotics Engineering Program Worcester Polytechnic Institute United States Department of Electrical and Computer Engineering Lake Superior State University United States

This paper presents how a senior capstone project can be utilized to build partnerships between the academia and several companies representing key industries in modern robotics technology. The project can be described as designing a portable robotic workcell for industry to showcase state-of-the-art equipment and technologies in robotics. The industrial sponsor for this project is Applied Manufacturing Technologies (AMT) located in Orion, Michigan. AMT plans to use the workcell for demonstrating current robotics technology in tradeshows, industrial open houses and/or robotics conferences. In addition, the workcell is to be used as a platform to provide training to engineers working in robotics industry on robot programming, machine vision and systems integration. The small size, flexible design and durability make the workcell appealing to many other applications in robotics engineering. An engineering senior project design team composed of one computer engineer, two electrical engineers and two manufacturing engineering technologists at Lake Superior State University has worked on this project as their capstone design requirement through the 2007-2008 academic year. Lake Superior State University offers ABET accredited programs in computer, electrical and mechanical engineering as well as in manufacturing engineering technology. robotics and automation is a degree option in all majors. The capstone senior design project is an integral part of all the degree programs and provides a real-life experience for the engineering senior students. The two-semester course has been an important tool to introduce students to soft skills such as project management, communications, engineering economics, and engineering ethics. The paper illustrates how a capstone design project can be used to build partnerships in robotics technology. An educational partnership between Lake Superior State University and Applied Manufacturing Technologies has quickly expanded to include many oth

关键词： engineering education

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Designing an undergraduate robotics engineering curriculum: Unified robotics I and II

Designing an undergraduate robotics engineering curriculum: ...

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2009 ASEE Annual Conference and Exposition

作者： Ciaraldi, Michael Cobb, Eben Looft, Fred Norton, Robert Padir, Taskin Robotics Engineering Program Worcester Polytechnic Institute United States Department of Electrical and Computer Engineering Lake Superior State University United States

robotics engineering (RBE) is a new undergraduate degree program at the Worcester Polytechnic Institute (WPI). As of the fall semester of 2008, the program is the fourth largest discipline at the institution in terms of freshman enrollment. At the core of the curriculum are four signature courses called Unified robotics I-IV. The goal of these courses is to introduce students to the multidisciplinary theory and practice of robotics engineering, integrating the fields of computer science, electrical and computer engineering and mechanical engineering. The sophomore level courses, RBE 2001 and RBE 2002, introduce students to the foundational concepts of robotics such as kinematics, pneumatics, circuits, electric motors, sensors, signal processing and embedded system programming. The junior level courses, RBE 3001 and RBE 3002, build on this foundation to ensure that students understand the analysis of selected components and learn system-level design and development of a robotic system including embedded design. This paper discusses the development of a two-course sequence in undergraduate robotics education, Unified robotics I and II, in detail. Learning outcomes and sample schedules illustrating our approach to designing a new robotics engineering program at the undergraduate level are presented. The paper exemplifies the robotics systems designed by the students within the scope of laboratory experiences and course projects. Finally, we discuss lessons learned, future directions, and student feedback. The initial observations and results are in favor of promoting robotics engineering as a new undergraduate engineering program. © American Society for engineering Education, 2009.

关键词： Students

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Virtual Door-Based Coverage Path Planning for Mobile Robot

Virtual Door-Based Coverage Path Planning for Mobile Robot

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12th International FIRA RoboWorld Congress

作者： Myung, Hyun Jeon, Hae-min Jeong, Woo-Yeon Bang, Seok-Won Department of Civil and Environmental and Engineering KAIST Daejeon 305-701 Yuseong-gu South Korea Samsung Advanced Institute of Technology Samsung Electronics Co. Ltd. Giheung Yongin 449-712 South Korea Robotics Institute Carnegie Mellon Univ. Pittsburgh PA 15213 5000 Forbes Avenue United States KIUSS(KAIST Institute for Urban Space and Systems) Robotics Program South Korea

ISBN: (纸本)9783642039829

This paper presents a novel coverage path planning method in indoor environment for a mobile robot such as cleaning robot. Overall region is divided into several sub-regions based on the virtually extracted doors. The algorithm is inspired from the usual way of dividing an indoor environment into sub-regions, i.e., rooms based on the identification of doors. The virtual door algorithm extracts the virtual doors by combining a Generalized Voronoi Diagram (GVD) and a configuration space eroded by the half of the door size. The region to region cleaning algorithm is also proposed based on the closing and opening operations of virtual doors. The performance of the proposed algorithm has been tested on various real indoor environments using a commercially available cleaning robot.

关键词： Virtual Door Coverage Path Planning Mobile Robot

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Fusion of stereoscopic video and laparoscopic ultrasound for minimally invasive partial nephrectomy

Fusion of stereoscopic video and laparoscopic ultrasound for...

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Medical Imaging 2009: Visualization, Image-Guided Procedures, and Modeling

作者： Cheung, Carling L. Wedlake, Chris Moore John Pautler, Stephen E. Ahmad, Anis Peters, Terry M. Imaging Research Laboratories Robarts Research Institute Canada Biomedical Engineering Graduate Program The University of Western Ontario Canada Department of Medical Biophysics The University of Western Ontario Canada Divisions of Urology and Surgical Oncology Department of Surgery The University of Western Ontario Canada Canadian Surgical Technologies and Advanced Robotics London Ontario ON Canada

ISBN: (纸本)9780819475121

The development of an augmented reality environment that combines laparoscopic video and ultrasound imaging for image-guided minimally invasive abdominal surgical procedures, such as partial nephrectomy and radical prostatectomy, is an ongoing project in our laboratory. Our system overlays magnetically tracked ultrasound images onto endoscopic video to create a more intuitive visualization for mapping lesions intraoperatively and to give the ultrasound image context in 3D space. By presenting data in a common environment, this system will allow surgeons to visualize the multimodality information without having to switch between different images. A stereoscopic laparoscope from Visionsense Limited enhances our current system by providing surgeons with additional visual information through improved depth perception. In this paper, we develop and validate a calibration method that determines the transformation between the images from the stereoscopic laparoscope and the 3D locations of structures represented by a tracked laparoscopic ultrasound probe. We first calibrate the laparoscope with a checkerboard pattern and measure how accurate the transformation from image space to tracking space is. We then perform a target localization task using our fused environment. Our initial experience has demonstrated an RMS registration accuracy in 3D of 2.21mm for the laparoscope and 1.16mm for the ultrasound in a working volume of 0.125m3, indicating that magnetically tracked stereoscopic laparoscope and ultrasound images may be appropriately combined using magnetic tracking as long as steps are taken to ensure that the magnetic field generated by the system is not distorted by surrounding objects close to the working volume. © 2009 SPIE.

关键词： Laparoscopy

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Passivity-based synchronized visual feedback control for eye-to-hand systems

Passivity-based synchronized visual feedback control for eye...

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Annual Conference of Industrial Electronics Society

作者： Toshiyuki Murao Hiroyuki Kawai Masayuki Fujita Master Program of Innovation of Design and Engineering Advanced Institute of Industrial Technology Japan Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Japan

This paper investigates passivity based synchronized visual feedback control for eye-to-hand systems. Firstly the brief summary of the estimation and the control error systems is given with the basic representation of a relative rigid body motion. Secondly we construct the synchronized visual feedback system with an eye-to-hand configuration by combining a synchronization error system. Next, we derive the passivity of the synchronized visual feedback system. Based on passivity, stability analysis is discussed. Finally the validity of the proposed control law can be confirmed by the simulation results.

关键词： Feedback control Manipulators Control systems Cameras Robot vision systems Paper technology Motion control Error correction Intelligent robots Technological innovation

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