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A novel intention prediction strategy for a shared control tele-manipulation system in unknown environments

A novel intention prediction strategy for a shared control t...

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International Conference on Mechatronics (ICM)

作者： Haitham El-Hussieny Samy F. M. Assal A. A. Abouelsoud Said M. Megahed Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology (E-JUST) Egypt Department of Production Engineering and Mechanical Design Tanta University Egypt Electronics and Communications Eng. Dept. Cairo University Egypt Mechanical Design and Production Engineering Department Cairo University Egypt

This paper addresses the problem of controlling a slave robot with a shared control scheme of a tele-manipulation system in unknown environments. Shared control schemes may be useful for reducing the communication delay in time-critical tele-manipulation systems. Shared control scheme consists of two key components: intention prediction and command arbitration. An intuitive and novel strategy under which the human operator intention could be extracted seamlessly from the hand point to point path during the tele-manipulation process is developed in this paper. The new strategy is based on the environment scene awareness conducted at the remote side at the beginning of the tele-manipulation task. The developed strategy is tested experimentally with a simulation of a robot model in several remote environments to verify its accuracy and effectiveness. The results confirmed significant performance improvement in terms of reduced time using the proposed shared control scheme compared to the direct tele-manipulation scheme.

关键词： Manipulators Trajectory Service robots Accuracy Master-slave Three-dimensional displays

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A novel propeller-type climbing robot for vessels inspection

A novel propeller-type climbing robot for vessels inspection

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Mohamed G. Alkalla Mohamed A. Fanni Abdelfatah M. Mohamed Production Eng. and Mechanical Design Dept. Mansoura University Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology (E-JUST) Egypt Electrical Engineering Department Assiut University Egypt

This paper is proposing and designing a novel propeller-type climbing robot for exploring the interiors of industrial vessels and enables a human outside it to implement required regular inspection tasks efficiently. There are two main adhesion systems in the literature: magnetic and air suction systems. The magnetic system climbs surfaces made of ferromagnetic materials only, while air suction system can handle neither irregular surfaces due to possible seal damage nor cylindrical surfaces. Opposite to previous climbing robots, the proposed robot here can climb and navigate vessels made from different materials besides handling possible irregular or cylindrical surfaces. Its main task is visual inspection of welds and any critical spots inside these vessels. The novelty of this robot comes from utilizing a hybrid actuation system consists of upturned propellers fixed on mobile robot with motorized wheels. The pressure generated from the upturned propellers increases the friction force between the wheels of the mobile robot and the wall. The wheels' motors generate the required torque either to fix the robot at any position or to move it to any place. Since the motion of the robot comes mainly from the motorized wheel, the stability of the system during navigation is guaranteed. Simulation and control results of the designed robot using ADAMS and Matlab softwares prove the success and feasibility of the robot concept.

关键词： Wheels Climbing robots Propellers Force Optimization

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Kinematic-free position control of a 2-DOF planar robot arm

Kinematic-free position control of a 2-DOF planar robot arm

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： P. Kormushev Y. Demiris D. G. Caldwell Imperial College London Dyson School of Design Engineering United Kingdom Department of Advanced Robotics Istituto Italiano di Tecnologia (ITT) Genoa Italy Department of Electrical and Electronic Engineering Imperial College London United Kingdom

This paper challenges the well-established assumption in robotics that in order to control a robot it is necessary to know its kinematic information, that is, the arrangement of links and joints, the link dimensions and the joint positions. We propose a kinematic-free robot control concept that does not require any prior kinematic knowledge. The concept is based on our hypothesis that it is possible to control a robot without explicitly measuring its joint angles, by measuring instead the effects of the actuation on its end-effector. We implement a proof-of-concept encoderless robot controller and apply it for the position control of a physical 2-DOF planar robot arm. The prototype controller is able to successfully control the robot to reach a reference position, as well as to track a continuous reference trajectory. Notably, we demonstrate how this novel controller can cope with something that traditional control approaches fail to do: adapt to drastic kinematic changes such as 100% elongation of a link, 35-degree angular offset of a joint, and even a complete overhaul of the kinematics involving the addition of new joints and links.

关键词： Kinematics Robot control Cameras Robot vision systems Actuators

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Incremental learning of reach-to-grasp behavior: A PSO-based Inverse optimal control approach

Incremental learning of reach-to-grasp behavior: A PSO-based...

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International Conference of Soft Computing and Pattern Recognition (SOCPAR)

作者： Haitham El-Hussieny Samy F. M. Assal A. A. Abouelsoud Said M. Megahed Tsukasa Ogasawara Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology (E-JUST) Egypt Nara Institute of Science and Technology Nara Japan Department of Production Engineering and Mechanical Design Tanta University Egypt Electronics and Communications Eng. Dept. Cairo University Egypt Mechanical Design and Production Engineering Department Cairo University Egypt

In recent years, there has been an increasing interest in modeling natural human movements. The main question to be addressed is: what is the optimality criteria that human has optimized to achieve a certain movement. One of the most significant current discussions is the modeling of the reach-to-grasp movements that human naturally perform while approaching a certain object for grasping. Recent advances in Inverse Reinforcement Learning (IRL) approaches have facilitated investigation of reach-to-grasp movements in terms of the optimal control theory. IRL aims to learn the cost function that best describes the demonstrated human reach-to-grasp movements. Thus far, gradient-based techniques have been used to obtain the parameters of the underlying cost function. Such approaches, however, have failed to find the global optimal parameters since they are limited by locating only local optimum values. In this research, learning of the cost function for the reach-to-grasp movements is addressed as an Inverse Linear Quadratic Regulator (ILQR) problem, where linear dynamic equations and a quadratic cost are assumed. An efficient evolutionary optimization technique, Particle Swarm Optimization (PSO), is used to obtain the unknown cost for the reach-to-grasp movements under consideration. Moreover, an incremental-ILQR Algorithm is proposed to adjust the learned cost once new untrained demonstrations exist to overcome the over-fitting issue. The obtained results are encouraging and show harmony with those in neuroscience literature.

关键词： Cost function Optimal control Linear programming Heuristic algorithms Regulators Trajectory

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A method to determine the nominal diameter for hip joint with no "pre-wear" data

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International Conference on Advancements of Medicine and Health Care through Technology, MEDITECH 2014

作者： Neamţu, Calin Popişter, F. Ghinea, R. Tompa, V. Technical University of Cluj-Napoca Department of Design Engineering and Robotics Romania

ISBN: (纸本)9783319076522

This paper presents a methodology for determining the initial diameter of the explanted hip prosthesis based on scanning/measuring using coordinate measuring machines (CMM) and CAD processing of the obtained data. ISO 14242- 2:2000 shows two methods for determining wear of hip joint: gravimetric and measuring using CMMs. Only the second method (measuring using a CMM) can provide information regarding the position and the geometry of the wear print. Using CMMs to determine the hip joint’s wear with no "prewear" data involves finding the initial diameter of the prosthesis and then comparing the ideal surface with the real one which was determined using the explained scanning procedure. Most times there is no accurate measurement of the prosthesis before implantation to determine the real surface of the prosthesis. The presented methodology involves scanning the sphere so that it can calculate the deviation of the scanned points compared to a theoretical circle determined using CAD or numerical methods (roundness deviation). The scanning of the prosthesis or of a sphere can be done using at least three strategies: one of them offers the possibility of scanning complete circles and the other two only allow the scanning of arcs (½ or ¼ of a complete circle’s circumference). The strategy enables the use of scan points for determine the deviation from circularity. Items that have a significant deviation from the nominal circle are the removed in a CAD program using for this purpose the roundness error map. The remaining points are used to calculate the sphere’s diameter and the center will then be taken as a reference to determine the area of the prosthesis that has wear. © Springer International Publishing Switzerland 2014.

关键词： Coordinate measuring machines

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Unscented Kalman Filter for Position Estimation of UAV by using Image Information

Unscented Kalman Filter for Position Estimation of UAV by us...

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The Society of Instrument and Control Engineers Annual Conference 2015

作者： Swee Ho Tang Takaaki Kojima Toru Namerikawa Che Fai Yeong Eileen Lee Ming Su Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Department of System Design Engineering Keio University Center for AI and Robotics Universiti Teknologi Malaysia Faculty of Electrical Engineering Universiti Teknologi Malaysia

In this paper, the position estimation problem is solved by using unscented Kalman filter with observation uncertainty’s compensations. These observation uncertainties causing the estimation become inaccurate in position estimate problem. Visual observation is difficult for an unmanned aerial vehicle equipped with only a monocular-vision camera and often results in observation error because of the detected blurred images. A method to weight the observations is proposed in order to improve the position estimation. Simulation is performed using MATLAB and Simulink to verify the proposed method. The simulation result shows that the proposed method can estimate the position accurately.

关键词： UKF EKF UAV Position Estimation

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Application of a modified Genetic Algorithm for enhancing grasp quality on 3D objects

Application of a modified Genetic Algorithm for enhancing gr...

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International Conference on robotics, Automation, Control and Embedded Systems (RACE)

作者： Venkataramani Rakesh Utkarsh Sharma B.P.C. Rao S. Venugopal T. Asokan Robotics & Remote Handling Section Indira Gandhi Centre for Atomic Research (IGCAR) Kalpakkam Tamil Nadu India Department of Engineering Design Indian Institute of Technology Madras Chennai India

Robots are increasingly being inducted to perform a variety of complex handling operations in various industries. In contrast to use of parallel jaw grippers, automated grasping by robot fingers, offer more challenges in synthesis and task planning. In this paper, a meta-heuristic optimization method based on a modified Genetic Algorithm (GA) has been formulated for automated synthesis of high quality grasps. This unique modified GA scheme is applied on initially feasible grasps. The widely used largest ball criterion is employed to calculate the quality of the resulting grasps. The performance of the method is numerically presented by the use of tessellated 3D objects for the implementation of the algorithm. The optimization for these test cases is conducted for both frictional and non-frictional cases.

关键词： Robots Genetic algorithms Optimization Friction Planning Thumb

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Robot control as a service - Towards cloud-based motion planning and control for industrial robots 10

Robot control as a service - Towards cloud-based motion plan...

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10th International Workshop on Robot Motion and Control, RoMoCo 2015

作者： Vick, Axel Vonásek, Vojtěch Pěnička, Robert Krüger, Jörg Department of Industrial Automation Technology Institute for Machine Tools and Factory Management Technische Universität Berlin Pascalstr. 8-9 Berlin10587 Germany Czech Technical University in Prague Faculty of Electrical Engineering Technicka 2 Prague16627 Czech Republic Department of Robotics and Automation Fraunhofer Institute for Production Systems and Design Technology IPK Pascalstr. 8-9 Berlin10587 Germany

ISBN: (纸本)9781479970438

This paper introduces a new concept for flexible motion planning and control of industrial robots. Instead of a closed monolithic architecture, an open service-based framework is proposed. The services can be run hardware-independent on a decentralized IT infrastructure (Cloud) allowing a fast reconfiguration of control modules and their multiple usage in different tasks. The services can be run on a dedicated PC or on individual virtual machines inside a single computing cluster. The proposed service-based framework was implemented and tested for the motion planning of a robotic manipulator. Effects on control performance, availability and scalability are investigated and documented. © 2015 IEEE.

关键词： Motion planning

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design and Control of a Novel Contactless Active Robotic Joint Using AMB

Design and Control of a Novel Contactless Active Robotic Joi...

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Mohamed Selmy Mohamed Fanni Abdelfatah M. Mohamed Faculty of Engineering at Shoubra Benha University Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Prod. Eng. Mechanical Design Dept. Mansoura University Egypt Electrical Engineering Department Assiut University Egypt

This paper investigates the design, modelling and control of a novel contactless active robotic joint using active magnetic bearing (AMB). A robot with such contactless joint avoids dust generation, oil lubrication and friction. This makes such robot suitable for applications in extreme clean environments such as clean rooms, vacuums chambers and surgery rooms. Also, such joint can be used in space robots, self-reconfiguration robots and robots with selective compliance. Opposite to the passive joint with AMB that needs the control of 5-DOFs, the proposed active robotic joint here needs the control of 6-DOFs. The additional variable to be controlled is the robot joint angle. Frameless, brushless, direct drive, high torque DC motor (BLDC) is used to control the robot joint angle. A contactless sensor for robot joint angle measurement is proposed. The mutual interaction between the control of the BLDC motor and the AMB is studied. Although in this paper tracking control of the rotor roll angle (robot joint angle) and the stabilization of the other 5-DOFs to their null values are carried out, it is possible to carry out tracking control of all the 6-DOFs. This leads to enlarge the mobility of the joint from 1-DOF to 6-DOFs. The proposed system is designed and simulated using CATIA and MATLAB/SIMULINK software. The results prove the feasibility of the proposed robotic joint from design and control view points.

关键词： Joints Rotors Robot sensing systems Payloads Brushless DC motors

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Dynamic Control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Dynamic Control of a Walking Robot Using the Versatile Intel...

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International Conference on Control Systems and Computer Science (CSCS)

作者： Victor Vladareanu Corina Boscoianu Radu I. Munteanu Hongnian Yu Luige Vladareanu Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest ROMANIA Department of Automatic Control and Systems Engineering Faculty of Electrical Engineering Technical University of Cluj-Napoca Napoca ROMANIA School of Design Engineering and Computing Bournemouth University Poole UK Bournemouth UK

This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effect or and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.

关键词： Legged locomotion Stability analysis Control systems Real-time systems Robot kinematics Dynamics

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