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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： W. Wang H. X. Zhang W. P. Yu G. H. Zong J. W. Zhang Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

To overcome the overshoot and oscillation in the normal Bang-Bang controller applied in the pneumatic driving glass-wall cleaning robot, this paper presents a F&A compensating variable Bang-Bang control algorithm for the pneumatic position servo. Besides a new cylinder driving plan is designed, the control algorithm is also improved by adding a fiction force compensating item in the chamber force evaluation equation. To adjust the controlling parameters dynamically, certain increasing functions, such as step function, linear function and arc-tangent function, are used to define the piston's expectative acceleration along with the reduction of the piston's position error. To testify the feasibility of the control algorithms with the above three expectative acceleration setting functions respectively, a pneumatic glass-wall cleaning robot "Sky Cleaner 4" is used as a testing platform to implement a series of on-load position servo experiments. And the different results of them are compared.

关键词： Bang-bang control Cleaning Robots Servomechanisms Testing Algorithm design and analysis Force control Equations Acceleration Error correction

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Advances in Telerobotics 1

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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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Editorial: IJRR special issue on ISER 04

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International Journal of robotics Research 2006年第5-6期25卷 399-401页

作者： Ang, Jr., Marcelo H. Khatib, Oussama Department of Mechanical Engineering National University of Singapore Singapore Departement of Computer Science Stanford University United States International Foundation of Robotics Research IFRR

No abstract available

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Social coordination without communication in multi-agent territory exploration tasks 06

Social coordination without communication in multi-agent ter...

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Fifth International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS

作者： Schermerhorn, Paul Scheutz, Matthias Artificial Intelligence and Robotics Laboratory Department of Computer Science and Engineering University of Notre Dame Notre Dame IN 46556

ISBN: (纸本)1595933034

In the recent past, several different methods for coordinating behavior in multi-robot teams have been proposed. Common to most of them is the use of communication to coordinate behavior. For many practical applications, however, communication might not be an option (e.g., because of energy constraints of embedded platforms, limited communication range of wireless transmitters, security risks of potential interception of messages in hostile territory, etc.). In this paper we examine low-complexity, low-cost strategies without communication for coordinated agent behavior. Specifically, we investigate the utility of a "social preference mechanism" and a "pairing mechanism" in territory exploration tasks, where agents have to explore their environment to find and visit k checkpoints, which only count as "visited" when n agents are present at them at the same time. Experimental results indicate that pairing is the better strategy, raising interesting questions about tradeoffs between agent complexity and group size (e.g., whether fewer, more expensive agents with the ability to visit checkpoints individually are a better choice than more less expensive agents). Copyright 2006 ACM.

关键词： Multi agent systems

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DIARC: A testbed for natural human-robot interaction

DIARC: A testbed for natural human-robot interaction

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21st National Conference on Artificial Intelligence and the 18th Innovative Applications of Artificial Intelligence Conference, AAAI-06/IAAI-06

作者： Schermerhorn, Paul Kramer, James Middendorff, Christopher Scheutz, Matthias Artificial Intelligence and Robotics Laboratory Department of Computer Science and Engineering University of Notre Dame Notre Dame IN 46556 United States

No abstract available

ISBN: (纸本)1577352815

No abstract available

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Discover vision: A framework for building, evaluating, and testing performance based machine vision applications

Discover vision: A framework for building, evaluating, and t...

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AUVSI Unmanned Systems North America Conference 2006

作者： Becker, Brian C. Barber, Daniel Gonzalez, Fernando Robotics Laboratory University of Central Florida United States Department of Engineering and Computer Science University of Central Florida United States

ISBN: (纸本)9781605604589

This paper presents Discover Vision, a framework for the fast creation, evaluation, and testing of machine vision applications used in real time systems such as autonomous vehicles. The framework utilizes user edited scripts describing what image processing and feature extraction techniques to employ. Users can easily and quickly build a vision system by altering these scripts without changing the underlying framework, thus saving time when testing new methods. A graphical user interface is used to display the real time performance in the form of visual displays, processed frame rates, and system accuracy based on validation sets. It is possible to evaluate the effectiveness of a script by loading in live or recorded video for visual or numerical analysis. Scripts developed in Discover Vision can be used within a custom framework through the use of the scripting engine. Extensibility is achieved through a plug-in architecture. This paper describes the Discover Vision framework, demonstrates its application in an autonomous ground vehicle, and analyzes the resulting performance.

关键词： computer vision

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RADIC - A generic component for the integration of existing reactive and deliberative layers 06

RADIC - A generic component for the integration of existing ...

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Fifth International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS

作者： Scheutz, Matthias Kramer, James Artificial Intelligence and Robotics Lab. Department of Computer Science and Engineering University of Notre Dame Notre Dame IN 46556 United States

ISBN: (纸本)1595933034

Hybrid architectures have been developed to preserve the responsiveness of reactive layers while also providing the benefits of higher level deliberative capabilities. The challenge of hybrid architecture design is to integrate layers of very different functional roles. We propose a component, called RADIC, that uses a generic technique for the construction of hybrid architectures from pre-existing reactive and deliberative layers that requires only minimal modifications to each layer. In particular, we give a high-level description of the operation and benefits of the component and its algorithms. Copyright 2006 ACM.

关键词： robotics

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Multimode locomotion via SuperBot reconfigurable robots

Multimode locomotion via SuperBot reconfigurable robots

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作者： Shen, Wei-Min Krivokon, Maks Chiu, Harris Everist, Jacob Rubenstein, Michael Venkatesh, Jagadesh Information Sciences Institute Computer Science Department University of Southern California University of Southern California Polymorphic Robotics Laboratory Information Science Institute Polymorphic Robotics Laboratory Product Development Engineering Program University of Southern California

One of the most challenging issues for a self-sustaining robotic system is how to use its limited resources to accomplish a large variety of tasks. The scope of such tasks could include transportation, exploration, construction, inspection, maintenance, in-situ resource utilization, and support for astronauts. This paper proposes a modular and reconfigurable solution for this challenge by allowing a robot to support multiple modes of locomotion and select the appropriate mode for the task at hand. This solution relies on robots that are made of reconfigurable modules. Each locomotion mode consists of a set of characteristics for the environment type, speed, turning-ability, energy-efficiency, and recoverability from failures. This paper demonstrates a solution using the SuperBot robot that combines advantages from M-TRAN, CONRO, ATRON, and other chain-based and lattice-based robots. At the present, a single real SuperBot module can move, turn, sidewind, maneuver, and travel on batteries up to 500 m on carpet in an office environment. In physics-based simulation, SuperBot modules can perform multimodal locomotions such as snake, caterpillar, insect, spider, rolling track, H-walker, etc. It can move at speeds of up to 1.0 m/s on flat terrain using less than 6 W per module, and climb slopes of no less 40 degrees.

关键词： Robots

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Fast Separation of Reflection Components using a Specularity-Invariant Image Representation

Fast Separation of Reflection Components using a Specularity...

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IEEE International Conference on Image Processing

作者： Kuk-jin Yoon Yoojin Choi In So Kweon Department Electrical Engineering and Computer Science KAIST Robotics and Computer Vision Laboratory South Korea Dept. Electrical Engineering and Computer Science Robotics and Computer Vision Lab. Korea

In this paper, we propose a fast method for separating reflection components using a single color image. We first propose a specular-free two-band image that is a specularity-invariant color image representation. Reflection components separation is achieved by comparing local ratios at each pixel and making those ratios equal in an iterative framework. The proposed method is very fast and shows reasonable results for textured indoor/outdoor images.

关键词： Reflection Image representation Layout Color Polarization computer vision Image segmentation Filters Lighting Argon

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