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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Drews P. Núñez R. Rocha M. Campos J. Dias Dept. Computer Science Federal University of Minas Gerais Brazil ISIS Group Universidad de Málaga Spain Department Tecnología de los Computadores y las Comunicaciones Universidad de Extremadura Spain Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal Dept. Tecnología de los Computadores y las Comunicaciones Universidad de Extremadura Spain Dept. Electrical and Computer Engineering University of Coimbra Portugal

There are several applications for which it is important to both detect and communicate changes in data models. For instance, in some mobile robotics applications (e.g. surveillance) a robot needs to detect significant changes in the environment (e.g. a layout change) which it may achieve by comparing current data provided by its sensors with previously acquired data (e.g. map) of the environment. This often constitutes an extremely challenging task due to the large amounts of data that must be compared in real-time. This paper proposes a framework to detect, and represent changes through a compact model. The main steps of the procedure are: multi-scale sampling to reduce the computation burden; change detection based on Gaussian mixture models; fitting superquadrics to detected changes; and refinement and optimization using the split and merge paradigm. Experimental results in various real and simulated scenarios demonstrate the approach's feasibility and robustness with large datasets.

关键词： Shape Sampling methods Mobile robots Robot sensing systems Navigation robotics and automation Information retrieval Data models Surveillance Simultaneous localization and mapping

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A Passivity based Stability Analysis of Disturbance Observer based Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robot

A Passivity based Stability Analysis of Disturbance Observer...

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2010 IEEE/ASME international conference on advanced intelligent mechatronics (AIM 2010)

作者： Mohammad Noorbad Alireza Mohammad Shahri Khoshnam Shojaei Behzad Tabibian Electrical Engineering Department Mechatronics and Robotics Research Laboratory Electronic Research Center Iran University of Science and Technology Tehran Iran Computer Engineering Department Iran University of Science and Technology Tehran Iran

This paper proposes a disturbance observer (DOB) algorithm to solve the trajectory tracking problem of a nonholonomic WMR in presence of external disturbances. To obtain a high performance trajectory tracking controller, a computed torque controller (CTC) is integrated into a kinematic controller by back-stepping technique. The disturbance observer as a part of the proposed controller estimates the external disturbances and cancel-out them. By decoupling the estimation errors from disturbances and its passivity property, it is demonstrated that the overall closed-loop system is asymptotically stable. Simulation results show that the performance of the CTC is significantly improved and the DOB achieves good ability of disturbance attenuation.

关键词： Computed Torque Control Disturbance Observer Nonholonomic WMR Weakly Strictly Passive

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Rapid image completion system using multiresolution patch-based directional and nondirectional approaches

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IEEE Transactions on Image Processing 2009年第12期18卷 2769-2779页

作者： Fang, Chih-Wei Lien, Jenn-Jier James Robotics Lab. Department of Computer Science and Information Engineering National Cheng Kung University Tainan 70101 Taiwan

This study presents a rapid image completion system comprising a training (or analysis) process and an image completion (or synthesis) process. The proposed system adopts a multiresolution approach, which not only improves the convergence rate of the synthesis process, but also provides the ability to deal with large replaced regions. In the training process, a down-sampling approach is applied to create a patch-based texture eigenspace based on multiresolution background region information. In the image completion process, an up-sampling approach is applied to synthesize the replaced foreground regions. To ensure the continuity of the geometric texture structure between the original background scene regions and the replaced foreground regions, directional and nondirectional image completion approaches are developed to reconstruct the global geometric structure and to enhance the local detailed features of the replaced foreground regions in the lower and higher resolution level images, respectively. Moreover, the synthesis priority order of the individual patches and the appropriate choice of completion scheme (i.e., directional or nondirectional) are both determined in accordance with a Hessian matrix decision value (HMDV) parameter. Finally, a texture refinement process is performed to optimize the resolution of the synthesized result. © 2009 IEEE.

关键词： Image analysis

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Robotic Manipulation with Large Time Delay on Visual Feedback Systems

Robotic Manipulation with Large Time Delay on Visual Feedbac...

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2010 IEEE/ASME international conference on advanced intelligent mechatronics (AIM 2010)

作者： Takahiro Inoue Shinichi Hirai Faculty of Department of Systems Engineering of Sports Computer Science and Systems Engineering Okayama Prefectural University Soja Okayama Japan Laboratory of Integrated Machine Intelligence and Faculty of Department of Robotics Ritsumeikan University Japan

A difference between the human and robots from the viewpoint of motor control is a sampling time in everyday movements. That is, the sampling time for controlling conventional robot systems is required to become approximately 1 ms. On the other hand, the motor control based on human nervous system permits considerably large time-delay due to the transmission latency on afferent/efferent pathways of the central nervous system. To date, it has been difficult for the robot to acquire dexterous tasks and precise movements as long as the robot system has an unexpected large delay in terms of sensory informations. Based on the above observation, this paper provides a new control strategy to accomplish precise orientation control of a target object grasped by a robotic hand consisting of two degrees-of-freedom (DOFs). The controller, named as serial two-phased (STP) controller, proposed in this study can realize secure grasping and manipulation in the case that a large visual feedback delay induced by the low specification of a camera is hiding in the control loop. Finally, through several simulations, we indicate that the closed loop dynamics designed by integrating the STP controller and a soft-fingertip structure is robust even in at most 100 ms-delay relating to the updating of camera images.

关键词： Robots Delay Trajectory Joints Visualization Muscles Humans

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Nonlinear IBVS Controller for the Flare Maneuver of Fixed-Wing Aircraft using Optical Flow

Nonlinear IBVS Controller for the Flare Maneuver of Fixed-Wi...

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2010 49th IEEE Conference on Decision and Control

作者： Pedro Serra Florent Le Bras Tarek Hamel Carlos Silvestre Rita Cunha Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Tecnico 1049-001 Lisboa Portugal Laboratoire de Recherches Balistiques et Aerodynamiques (LRBA) of the French Delegation Generale pour 1Armement Vernon France I3S UNSA-CNRS Nice-Sophia Antipolis France

ISBN: (纸本)9781424477456

This paper describes a nonlinear Image-Based Visual Servo (IBVS) controller for the Flare phase of the landing maneuver of a fixed-wing aircraft in the presence of wind gust. Optic-Flow and 2D image features are exploited from the image of the runway to design a feedback controller for the automatic maneuver. The controller is divided into two parts. The first part guarantees the horizontal alignment with the center of the runway and uses the two lines delimiting the runway represented through a modification of the so-called Plucker coordinates. The second part takes advantage of the Optic-Flow measurements to ensure a smooth touchdown. Simulation results are presented to illustrate the performance of the control approach.

关键词： RUNWAY Fixed wing aircraft Optic Flow Wings feedback controller Controllers

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Experiment of Measurement and Control using Embedded System for Undergraduate Students

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IFAC Proceedings Volumes 2010年第24期42卷 77-82页

作者： Nobutomo MATSUNAGA Tetsuo SHIOTSUKI Hiroshi OKAJIMA Nobuaki OHMURA Hironori TERAMURA Kumamoto University Department of Computer Science and Electrical Engineering Kurokami 2–39–1 Kumamoto 860-8555 JAPAN (Tel: 96-342-3639 e-mail: matunaga@cs.kumamoto-u.ac.jp) Tokyo Denki University Department of Robotics and Mechatronics Kanda Nishiki-cho 2–2 Chiyoda-Ku Tokyo 101-8457 JAPAN (Tel: 3-5280-3914 e-mail: shiotsuki@fr.dendai.ac.jp) Kumamoto University Technical Division Faculty of Engineering Kurokami 2–39–1 Kumamoto 860-8555 JAPAN

In the department of computer science and electrical engineering (CSEE), Kumamoto university, a series of student experiments are prepared for 2nd and 3rd graders. In the technical educations, experiments about the computer science and electrical engineering are important to study the engineering comprehensively. In experiment I, 2nd graders study the fundamental treatment of measurement equipments, behaviors of major devices and technical writing of engineering reports. In experiment II, 3rd graders study technical issues about computer science and electrical engineering in more detail. This paper concerns the experimental program entitled “measurement and control using embedded system” in experiment II for 3rd graders. The purpose of this experiment is to design a simple PID controller on the micro control units (Lenesas M16C/26 MCU). To implement the PID controller, students program the software functions step by step, e.g. PWM signal generation using interrupted handling, encoder counter using the event timer. The detail of experimental program using embedded system is explained in this paper.

关键词： Embedded system MCU Student experiments PID control

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GABOR-BASED TEXTURE CLASSIFICATION THROUGH EFFICIENT PROTOTYPE SELECTION VIA NORMALIZED CUT

GABOR-BASED TEXTURE CLASSIFICATION THROUGH EFFICIENT PROTOTY...

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16th IEEE International Conference on Image Processing

作者： Melendez, Jaime Puig, Domenec Angel Garcia, Miguel Intelligent Robotics and Computer Vision Group Department of Computer Science and Mathematics Rovira I Virgili University Spain Department of Informatics Engineering Autonomous University of Madrid Spain

ISBN: (纸本)9781424456536

This paper presents a new efficient technique for supervised pixel-based texture classification. The proposed scheme first performs a selection process that automatically determines a subset of prototypes that characterize each texture class based on the outcome of a multichannel Gabor wavelet filter bank. Then, every image pixel is classified into one of the given texture classes by using a K-NN classifier fed with the prototypes determined previously. The proposed technique is compared to previous texture classifiers by using both Brodatz and real outdoor textured images.

关键词： Pixel-based texture classification multichannel Gabor wavelet filters prototype selection

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A two-stage neural network classifier for condition-based maintenance in wireless sensor networks

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International Journal of COMADEM 2010年第2期13卷 17-26页

作者： Ramani, A. McMurrough, C. Middleton, M. Ballal, P. Athamneh, A. Lee, W. Kwan, C. Lewis, F. Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd. S Fort Worth TX 76118-7115 United States Energy Systems Research Center University of Texas at Arlington 416 S. College St Arlington TX 76019-0048 United States Signal Processing Inc. 13619 Valley Oak Circle Rockville MD 20850-3572 United States Computer Science Engineering University of Texas at Arlington United States Electrical Engineering Department United States

Motor failures in aerospace applications can lead to serious compromises in safety, overall effectiveness, and maintenance costs. In mission critical applications, it is important that motor fault signatures are identified before a failure occurs. It is known that 40% of mechanical failures occur due to bearing faults. Bearing faults can be identified from the motor vibration signatures. Three key contributions are outlined in this paper. First, we develop a low cost test bed for simulating bearing faults in a motor. Second, we develop a wireless sensor module for collection of vibration data from the test bed. Finally, we use a novel two stage neural network to classify various bearing faults using the Generalized Hebbian Algorithm (GHA) in the first stage and a supervised learning vector quantization network (SLVQ) with a self organizing map approach for fault classification in the second stage. © 2010 COMADEM International.

关键词： Wireless sensor networks

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Nonlinear trajectory tracking control of a quadrotor vehicle 10

Nonlinear trajectory tracking control of a quadrotor vehicle

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2009 10th European Control Conference, ECC 2009

作者： Cunha, Rita Cabecinhas, David Silvestre, Carlos Department of Electrical Engineering and Computer Science Institute for Systems and Robotics Instituto Superior Técnico Lisboa1046-001 Portugal

ISBN: (纸本)9783952417393

This paper addresses the problem of steering a quadrotor vehicle along a time-dependent trajectory. The problem is formulated so as to take into account force disturbances acting on the vehicle and enforce bounds on the actuation. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and torque actuation that i) guarantees asymptotic stability of the closed-loop system in the presence of constant force disturbances and ii) ensures that the actuation does not grow unbounded as a function of the position errors. Simulation results are presented to assess the performance and robustness of the proposed controller. © 2009 EUCA.

关键词： Asymptotic stability

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Crawling gait realization of the mini-modular climbing caterpillar robot

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Progress in Natural science:Materials International 2009年第12期19卷 1821-1829页

作者： Wei Wang~(a,*),Kun Wang~a,Houxiang Zhang~b a robotics Institute,School of Mechanical engineering and Automation,Beihang University,Beijing 100083,China b TAMS,department of computer science,University of Hamburg,Vogt-Koelln-Strasse 30,Hamburg 22527,Germany [a]Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing 100083 China [b]TAMS Department of Computer Science University of Hamburg Vogt-Koelln-Strasse 30 Hamburg 22527 Germany

The concept of a modular climbing caterpillar robot is inspired by the kinematics of real *** typical kinematics models and gaits are investigated based on the crawling motion of the inchworm and the tobacco *** to the fixed constraints between the suckers and the wall,the gait of a caterpillar robot engages a changing kinematic chain which is from an open chain to a closed chain,and then to an open chain in *** the open chain periods,an unsymmetrical phase method(UPM) is used to ensure the reliable attachment of the passive suckers to the *** the closed-chain state,a four-link kinematics model is adopted to fulfill the fixed *** combining the two methods together,the complete joint control trajectories are acquired for a modular caterpillar robot with seven *** last,on-site tests confirm the proposed principles and the validity of the climbing gait.

关键词： Climbing robot Modular Biologically inspired Gait

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