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Adaptive visual servoing in the presence of intrinsic calibration uncertainty

Adaptive visual servoing in the presence of intrinsic calibr...

引用

IEEE Conference on Decision and Control

作者： J. Chen A. Behal D.M. Dawson W.E. Dixon Department of Electrical & Computer Engineering Clemson University Clemson SC USA Department of Electrical & Computer Engineering Clemson University Clemson SC Eng. Science and Tech. Div. - Robotics Oak Ridge Natioanl Lab. Oak Ridge TN

In this paper, we design an adaptive kinematic controller that asymptotically regulates a robot end-effector to a desired position and orientation under visual feedback (of points located on a fixed reference frame) from a camera mounted on the end-effector. This task is accomplished despite lack of depth measurements as well as uncertainty in the camera intrinsic parameter matrix.

关键词： Visual servoing Calibration Uncertainty Cameras Robots Adaptive control Kinematics Programmable control Servomechanisms Robust control

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Evolution of the NASA/DARPA Robonaut control system

Evolution of the NASA/DARPA Robonaut control system

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Diftler C.J. Culbert R.O. Ambrose R. Platt W.J. Bluethmann Automation and Robotics Department Houston USA Department of Computer Science University of Massachusetts Amherst MA USA Robotics Technology Branch NASA-Johnson Space Center Houston TX USA Johnson Space Center Hernandez Engineering Inc. Houston TX USA

The NASA/DARPA Robonaut system is evolving from a purely teleoperator controlled anthropomorphic robot towards a humanoid system with multiple control pathways. Robonaut is a human scale robot designed to approach the dexterity of a space suited astronaut. Under teleoperator control, Robonaut has been able to perform many high payoff tasks indicating that it could significantly reduce the maintenance workload for human's working in space. Throughout its development, Robonaut has been augmented to include new sensors and software resulting in increased skills that allow for more shared control with the teleoperator, and ever increasing levels of autonomy. These skills range from simple compliance control, and short term memory, to, most recently, reflexive grasping and haptic object identification using a custom tactile glove, and real-time visual object tracking.

关键词： NASA Control systems Teleoperators Orbital robotics Humans Robot control Anthropomorphism Humanoid robots Robot sensing systems Grasping

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Range identification for perspective vision systems

Range identification for perspective vision systems

引用

American Control Conference (ACC)

作者： W.E. Dixon Y. Fang D.M. Dawson T.J. Flynn Eng. Science and Tech. Division-Robotics Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical & Computer Engineering Clemson University Clemson SC USA Department of Computer Science Southem Illinois University Carbondale Carbondale IL USA

In this paper, a new continuous observer is developed to determine range information (and hence the 3-dimensional (3D) coordinates) of an object feature moving with affine motion dynamics (or the more general Riccati motion dynamics) with known motion parameters. The unmeasurable range information is determined from a single camera provided an observability condition is satisfied that has physical significance. To develop the observer, the perspective system is expressed in terms of the nonlinear feature dynamics. The structure of the proposed observer is inspired by recent disturbance observer results. The proposed technique facilitates a Lyapunov-based analysis that is less complex than the sliding-mode based analysis derived for recent discontinuous observer designs. The analysis demonstrates that the 3D task-space coordinates of the feature point can be asymptotically identified.

关键词： Machine vision Nonlinear dynamical systems Cameras Motion measurement Robot kinematics Network address translation computer science Riccati equations Observability Image analysis

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Robust 2.5D visual servoing for robot manipulators

Robust 2.5D visual servoing for robot manipulators

引用

American Control Conference (ACC)

作者： Y. Fang W.E. Dixon D.M. Dawson J. Chen Department of Electrical & Computer Engineering Clemson University Clemson SC USA Eng. Science and Tech. Division-Robotics Oak Ridge National Laboratory Oak Ridge TN USA

In this paper, the 3-dimensional (3D) position and orientation of a camera held by the end-effector of a robot manipulator is regulated to a constant desired position and orientation despite (i) the lack of depth information of the actual or desired camera position from a target, (ii) the lack of a geometric model of the target object, and (iii) uncertainty regarding both the angle and axis of rotation of the camera with respect to the robot end-effector (i.e., the orientation extrinsic camera parameters). By fusing 2D image-space and projected 3D task-space information (i.e., 2.5D visual servoing), a robust controller is developed that ensures exponential regulation of the position and orientation of the camera. The stability of the controller is proven through a Lyapunov-based analysis.

关键词： Robustness Visual servoing Manipulators Cameras Robot vision systems Robust control Biosensors Uncertainty Control systems Robot sensing systems

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Intelligent compensation of actuator nonlinearities

Intelligent compensation of actuator nonlinearities

引用

IEEE Conference on Decision and Control

作者： R.R. Selmic V.V. Phoha F.L. Lewis Department of Electrical Engineering and Institute for Micromanufactwing Louisiana Tech University Ruston LA USA Department of Computer Science Louisiana Tech University Ruston LA USA Department of Electrical Engineering and Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA

Inaccuracy of mechanical components and nature of physical laws make actuators nonlinear devices. Actuator nonlinearities can be static like friction, deadzone, saturation, and/or dynamic like backlash and hysteresis. In this paper, we present recent developments in four basic problems in actuator control-friction, deadzone, backlash, and saturation. We apply intelligent control techniques for compensation of those nonlinearities for a class of nonlinear systems. Static and dynamic compensators using neural networks are considered. Different control structures are developed for common actuator nonlinearities. We present tuning algorithms for those intelligent compensation techniques that guarantee small tracking error and bounded internal states. Simulation results show that the proposed compensation schemes are efficient way of improving the tracking performance of nonlinear systems with backlash.

关键词： Intelligent actuators Friction Aerodynamics Hysteresis Nonlinear systems Neural networks Control nonlinearities Neurofeedback Control systems robotics and automation

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Automatic face region tracking for highly accurate face recognition in unconstrained environments

Automatic face region tracking for highly accurate face reco...

引用

IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Y.-O. Kim J. Paik Jingu Heo A. Koschan B. Abidi M. Abidi Korea Electronics and Technology Institute Puchon Gyeonggi South Korea Image Processing Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul South Korea Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville USA

We present a combined real-time face region tracking and highly accurate face recognition technique for an intelligent surveillance system. High-resolution face images are very important to achieving accurate identification of a human face. Conventional surveillance or security systems, however, usually provide poor image quality because they use only fixed cameras to record scenes passively. We have implemented a real-time surveillance system that tracks a moving face using four pan-tilt-zoom (PTZ) cameras. While tracking, the region-of-interest (ROI) can be obtained by using a low-pass filter and background subtraction with the PTZ. Color information in the ROI is updated to extract features for optimal tracking and zooming. FaceIt/sup /spl reg//, which is one of the most popular face recognition software packages, is evaluated and then used to recognize the faces from the video signal. Experimentation with real human faces showed highly acceptable results in the sense of both accuracy and computational efficiency.

关键词： Face recognition Surveillance Real time systems Humans Cameras Intelligent systems Security Image quality Layout Low pass filters

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GA Optimized Sliding Mode Control of a Mobile Robot

GA Optimized Sliding Mode Control of a Mobile Robot

引用

2003年中国智能自动化会议

作者： Simon X．Yang Peter X．Liu Advanced Robotics and Intelligent Systems(ARIS)Lab School of Engineering University of Guelph Guelph ON N1G 2W1 Canada Department of Systems and Computer Engineering Carleton University Ottawa Canada K1S 5B6 School of Computer Science University of Windsor Windsor ON N9B 3P4 Canada

Due to the nonholonomic constraint and restricted mobility, the design of stabilizing control laws for a mobile is a challenging problem. Sliding mode control is a robust design methodology based on a sliding surface and a Lyapunov's stability theorem, where the system uncertainties and external disturbances can be handled under the invariance characteristics of system's sliding condition with guaranteed system stability. In this paper, a genetic algorithm is used to optimize the parameters in sliding mode controller for a nonholonomic mobile robot. The effectiveness of the proposed GA based sliding model controller is demonstrated by simulation studies.

关键词： Mobile GA Optimized Sliding Mode Control of a Mobile Robot

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Visual servoing of a miniature robot toward a marked target 14

Visual servoing of a miniature robot toward a marked target

引用

14th International Conference on Digital Signal Processing, DSP 2002

作者： Rofiler, Patrick Stoeter, Sascha A. Rybski, Paul E. Gini, Maria Papanikolopotilos, Nikolaos Department of Computer Science and Engineering Center for Distributed Robotics University of Minnesota Minneapolis United States

ISBN: (纸本)0780375033

The paper describes a system that servos a miniature robot toward a. marked target based on visual information from the robot's own camera. This task is divided into two subtasks: recognition of the target and driving toward it. The system deals with the problems introduced by noisy camera images and unstructured, non-static backgrounds. A description of the control software is given and experimental results are discussed. © 2002 IEEE.

关键词： Visual servoing

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Using intrinsic images for shadow handling 5

Using intrinsic images for shadow handling

引用

5th IEEE International Conference on Intelligent Transportation Systems, ITSC 2002

作者： Martin, Robert F.K. Masoud, Osama Papanikolopoulos, Nikolaos Department of Computer Science and Engineering Artificial Intelligence Vision and Robotics Lab University of Minnesota United States

ISBN: (纸本)0780373898

The ability to detect shadows Is a critical feature of any Intelligent transportation system (ITS). The Improper handling of shadows can be the cause of erroneous conclusions in traffic analysis. Because vision-based ITS applications are becoming more popular, It la Important to minimize the fillets of shadows. Here, we present a novel method for shadow handling in a sequences of Images, fallowing recent work motivated by studies of the statistics of natural Images, we show that this new method Is a reliable detector of shadows and can be easily Implemented In real time. © 2002 IEEE.

关键词： Intelligent systems

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Mobility enhancements to the Scout robot platform

Mobility enhancements to the Scout robot platform

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： A. Drenner I. Burt T. Dahlin B. Kratochvil C. McMillen B. Nelson N. Papanikolopoulos P.E. Rybski K. Stubbs D. Waletzko K.B. Yesin Center for Distributed Robotics and Department of Computer Science and Engineering University of Minnesota France Center for Distributed Robotics and Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

When a distributed robotic system is assigned to perform reconnaissance or surveillance, restrictions inherent to the design of an individual robot limit the system's performance in certain environments. Finding an ideal portable robotic platform capable of deploying and returning information in spatially restrictive areas is not a simple task. The Scout robot, developed at the University of Minnesota, is a viable robotic platform for these types of missions. The small form factor of the Scout allows for deployment, placement, and concealment of a team of robots equipped with a variety of sensory packages. However, the design of the Scout requires a compromise in power, sensor types, locomotion, and size; together these factors prevent an individual Scout from operating ideally in some environments. Several attempts to address these deficiencies have been implemented and are discussed. Among the prototype solutions are actuating wheels, allowing the Scout to increase ground clearance in varying terrains, a grappling hook enabling the Scout to obtain a position of elevated observation, and infrared emitters to facilitate low light operation.

关键词： Mobile robots Robot sensing systems Wheels Hardware computer science Reconnaissance Surveillance Packaging Prototypes Orbital robotics

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