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25th IEEE/RSJ International Conference on robotics and Intelligent Systems, IROS 2012

作者： Paull, Liam Severac, Gaetan Raffo, Guilherme V. Angel, Julian Mauricio Boley, Harold Durst, Phillip J. Gray, Wendell Habib, Maki Nguyen, Bao Ragavan, S. Veera Saeedi G., Sajad Sanz, Ricardo Seto, Mae Stefanovski, Aleksandar Trentini, Michael Li, Howard COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton NB E3B 5A3 Canada ONERA-University of Toulouse France Department of Automation and Systems Federal University of Santa Catarina Brazil Department of Computer Engineering Pontificia Universidad Javeriana Bogot Colombia National Research Council Canada US Army ERDC 3909 Halls Ferry Road Vicksburg MS 39180 United States Mechanical Engineering Department School of Sciences and Engineering American University in Cairo New Cairo Egypt Defence Research and Development Canada-CORA Ottawa ON Canada Monash University Sunway Campus Australia Systems Engineering and Automatic Control Autonomous Systems Laboratory Research Group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada-Atlantic Dartmouth NS Canada Department of Computer Science George Washington University United States Defence R and D Canada-Suffield PO Box 4000 Station Main Medicine Hat AB T1A 8K6 Canada

ISBN: (纸本)9781467317375

The IEEE RAS Ontologies for robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the development of ontologies for autonomous systems. For autonomous systems, the focus is on the cooperation, coordination, and communication of multiple unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and autonomous underwater vehicles (AUVs). The ontologies serve as a framework for working out concepts of employment with multiple vehicles for a variety of operational scenarios with emphasis on collaborative and cooperative missions. © 2012 IEEE.

关键词： Ontology

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Dominant sources of variability in passive walking

Dominant sources of variability in passive walking

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IEEE International Conference on robotics and Automation (ICRA)

作者： Thrishantha Nanayakkara Katie Byl Hongbin Liu Xiaojing Song Tim Villabona Division of Engineering Kings College University of London London UK Electrical and Computer Engineering Department University of California Santa Barbara CA USA Tim Villabona is with the Research Laboratory of Electronics Massachusetts Institute of Technology Cambridge MA USA

This paper investigates possible sources of variability in the dynamics of legged locomotion, even in its most idealized form. The rimless wheel model is a seemingly deterministic legged dynamic system, popular within the legged locomotion community for understanding basic collision dynamics and energetics during passive phases of walking. Despite the simplicity of this legged model, however, experimental motion capture data recording the passive step-to-step dynamics of a rimless wheel down a constant-slope terrain actually demonstrate significant variability, providing strong evidence that stochasticity is an intrinsic-and thus unavoidable-property of legged locomotion that should be modeled with care when designing reliable walking machines. We present numerical comparisons of several hypotheses as to the dominant source(s) of this variability: 1) the initial distribution of the angular velocity, 2) the uneven profile of the leg lengths and 3) the distribution of the coefficients of friction and restitution across collisions. Our analysis shows that the 3rd hypothesis most accurately predicts the noise characteristics observed in our experimental data while the 1st hypothesis is also valid for certain contexts of terrain friction. These findings suggest that variability due to ground contact dynamics, and not simply due to geometric variations more typically modeled in terrain, is important in determining the stochasticity and resulting stability of walking robots. Although such ground contact variability might be an expected result in field robotics on significantly rough terrain, we again note our experimental data applies seemingly deterministic-looking terrains: our results suggest that stochastic ground collision models should play an important role in the analysis and optimization of dynamic performance and stability in robot walking.

关键词： Legged locomotion Wheels Equations Friction Energy loss Mathematical model

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Towards an Ontology for Autonomous Robots

Towards an Ontology for Autonomous Robots

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Liam Paull Gaetan Severac Guilherme V. Raffo Julian Mauricio Angel Harold Boley Phillip J Durst Wendell Gray Maki Habib Bao Nguyen S. Veera Ragavan Sajad Saeedi G. Ricardo Sanz Mae Seto Aleksandar Stefanovski Michael Trentini Howard Li COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton Canada ONERA - University of Toulouse France Department of Automation and Systems Federal University of Santa Catarina Brazil Department of Computer Engineering Pontificia Universidad Javeriana Bogot Colombia National Research Council Canada US Army ERDC Vicksburg Ms Mechanical Engineering Department School of Sciences and Engineering The American University in Cairo New Cairo Egypt Defence Research and Development Canada - CORA Ottawa ON Canada Monash University Sunway Campus Systems Engineering and Automatic Control Autonomous Systems Laboratory research group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada - Atlantic NS Canada Department of Computer Science The George Washington University Defence R&D Canada - Suffield Medicine Hat AB Canada

ISBN: (纸本)9781467317375

关键词： Ontologies Robot kinematics Sensors Planning Mobile robots Navigation

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Residual muscle contraction and prosthetic socket interface force in a transtibial amputee upon the osteomyoplastic procedure - A preliminary study

Residual muscle contraction and prosthetic socket interface ...

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2012 ISSNIP Biosignals and Biorobotics Conference: Biosignals and robotics for Better and Safer Living, BRC 2012

作者： Mai, Anh Commuri, Sesh Day, Jonathan Dionne, Carol Ertl, William J. J. School of Electrical and Computer Engineering University of Oklahoma Norman OK 73019 United States Intelligent and Robotic Systems United States Department of Orthopaedic Surgery and Rehabilitation Orthotic/Prosthetic Section University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States Mechanical Therapy Research Laboratory Department of Rehabilitation Sciences United States College of Allied Health University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States Department of Orthopedic Surgery and Rehabilitation United States College of Medicine University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States

ISBN: (纸本)9781467324762

In the Transtibial Osteomyoplastic Amputation (TOA) technique, the fibular end and the tibial end are connected to each other by a bone bridge in order to stabilize the bony anatomy of the residual limb. In addition, during the myoplasty procedure, the ends of the muscles are secured to one another and to the bony foundations to re-establish the length-tension relationship. In contrast to conventional amputation techniques in which the muscles are cut and the length-tension relationship is lost overtime, the TOA procedure is anticipated to allow muscles to actively contract and return blood to the heart more efficiently [1]. In this study, the outcomes of the TOA procedure were investigated by measuring electromyography signals from the tibialis anterior and gastrocnemius muscles on the amputated leg as well as the interface force inside the prosthetic socket at the end-bearing level of a transtibial amputee. The subject had undergone the TOA procedure and the study was conducted while the subject walked on different terrain (level ground with different speeds, stairs, and incline) with two different kinds of prosthetic feet. Preliminary results showed that (1) the residual muscles appeared to be active while walking on various terrain, and (2) the activation level of the residual tibialis anterior muscle was found to be related to the force variation inside the prosthetic socket. © 2012 IEEE.

关键词： Muscle

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Detecting CD20-Rituximab interaction forces using AFM single-molecule force spectroscopy

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Chinese Science Bulletin 2011年第35期56卷 3829-3835页

作者： LI Mi LIU LianQing XI Ning WANG YueChao DONG ZaiLi LI GuangYong XIAO XiuBin ZHANG WeiJing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate University of Chinese Academy of Sciences Beijing 100049 China Department of Electrical and Computer Engineering Michigan State University East Lansing 48824 USA Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh 15261 USA Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing 100071 China

The invention of atomic force microscopy(AFM) has provided new technology for measuring specific molecular interaction *** AFM single-molecule force spectroscopy(SMFS) techniques,CD20-Rimximab rupture forces were measured on purified CD20 proteins,Raji cells,and lymphoma patient B *** molecules were linked onto AFM tips using AFM probe functionalization technology,and purified CD20 proteins were attached to mica using substrate functionalization *** cells(a lymphoma cell line) or lymphoma patient cells were immobilized on a glass substrate via electrostatic adsorption and chemical *** topography of the purified CD20 proteins,Raji cells,and patient lymphoma cells was visualized using AFM imaging and the differences in the rupture forces were analyzed and *** results showed that the rupture forces between the CD20 proteins on Raji cells and Rituximab were markedly smaller than those for purified CD20 proteins and CD20 proteins on lymphoma patient B *** findings provide an effective experimental method for investigating the mechanisms underlying the variable efficacy of Rituximab.

关键词：原子力显微镜相互作用力单分子光谱 Raji细胞蛋白质纯化功能化技术 AFM探针

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Computational methods to locate and reconstruct genes for complexity reduction in comparative genomics

Computational methods to locate and reconstruct genes for co...

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5th International Conference on Information Processing, ICIP 2011

作者： Vidya, A. Usha, D. Rashma, B.M. Deepa Shenoy, P. Raja, K.B. Venugopal, K.R. Iyengar, S.S. Patnaik, L.M. Department of Computer Science and Engineering University Visvesvaraya College of Engineering Bangalore University Bangalore India Robotics Research Laboratory Department of Computer Science Louisiana State University Baton Rouge LA United States Defence Institute of Advanced Technology Pune India

ISBN: (纸本)9783642227851

Discovering the functions of proteins in living organisms is an important tool for understanding cellular processes. The source data for such analysis are commonly the peptide sequences. Most common algorithms used to compare a pair of nucleotide sequence are Global alignment algorithm (Needleman-Wunch algorithm) or local alignment algorithm (Smith-Waterman algorithm). Analysis of these algorithms show that time complexity required to the above mentioned algorithms is O(mn) and space complexity required is O(mn), where m is size of one sequence and n is size of the other sequence. This is one of the major bottlenecks as most of the sequences are very large. The proposed Coding Region Sequence Analysis(CRSA) algorithm presents a method to reduce both time and space complexity by meaningfully reducing the size of sequences by removing not so significant exons using wavelet transforms. DSP techniques supply a strong basis for regions identification with three-base periodicity. © Springer-Verlag 2011.

关键词： Wavelet transforms

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Adaptive and repetitive controller for robotic manipulators with slowly updating scheme using B-spline shape function

Adaptive and repetitive controller for robotic manipulators ...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Rakprayoon, Pannatee Sanposh, Peerayot Chayopitak, Nattapon Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Pathumthani 12120 Thailand

ISBN: (纸本)9781457721373

This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory requirement. The control structure of DCLL consists of a feedforward compensator that is designed by a linear combination of shape functions that is adaptable to parameter variations;hence the selection of appropriate shape functions plays an important role in the adaptive ability and accuracy of DCLL. In this study, the B-spline shape function is proposed to be used under the slowly updating scheme and the obtained results show that the robustness and accuracy of the tracking can be greatly improved even under payload variation and torque limits. © 2011 IEEE.

关键词： Interpolation

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Adaptive backstepping and θ-D based controllers for a tilt-rotor aircraft

Adaptive backstepping and θ-D based controllers for a tilt-...

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Mediterranean Conference on Control and Automation (MED)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of New york University Brooklyn NY USA

The robust adaptive control of tilt-rotor aircraft is addressed using backstepping and θ-D based control design techniques. The designs specifically focus on providing high robustness to time-varying system parameters and disturbance effects from the environment to attain good disturbance attenuation properties in highly aerodynamically challenging environments such as shipboard environments. The control system is structured with a modular architecture combining adaptive backstepping and adaptive θ-D control algorithms and provides flexibility and customizability for various tilt-rotor aircraft configurations and operating environments. The overall control system and its constituent algorithms are designed to either be able to operate on their own to provide fully autonomous flight or to operate in conjunction with a human pilot or an existing baseline controller in a control augmentation fashion to provide additional robustness and reliability improvements under severe aerodynamic disturbance conditions. The robustness, stability, and performance of the proposed control algorithms are demonstrated through simulation based studies.

关键词： Aerodynamics Aircraft Rotors Atmospheric modeling Attitude control Control design

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Adaptive output-feedback control of planar hybrid step motors using position-only feedback

Adaptive output-feedback control of planar hybrid step motor...

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International Conference on Control and Automation (ICCA)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of New york University Brooklyn NY USA

In this paper, the design of a nonlinear robust adaptive dynamic output-feedback controller for voltage-fed dual-axis linear stepper (Sawyer) motors is addressed using a detailed motor model with electrical dynamics and significant uncertainties and disturbances. The proposed controller utilizes only position measurements in each axis, and achieves practical stabilization of position tracking errors. Velocity and current measurements are not required for feedback. Furthermore, the only electromechanical motor parameter that is required to be known is the time constant of the electrical subsystem. Adaptations are utilized to remove requirement of knowledge of any other electromechanical system parameters. The controller is robust to load torques, friction, cogging forces, and other disturbances satisfying certain bounds. The controller also corrects for the yaw rotation to achieve synchrony of motor and rotor teeth.

关键词： Permanent magnet motors Reluctance motors Observers Force Windings Robustness Current measurement

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Target object identification and localization in mobile manipulations

Target object identification and localization in mobile mani...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Jiang, Yong Xi, Ning Zhang, Qin Jia, Yunyi Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang 110016 China Mechatronic Engineering Beijing University of Posts and Telecommunications Beijing 100876 China

ISBN: (纸本)9781457721373

How to make mobile manipulator autonomously identify and locate target object in unknown environment, this is a very challenging question. In this paper, a multi-sensor fusion method based on camera and laser range finder (LRF) for mobile manipulations is proposed. Although the camera can acquire rich perceptual information, the image processing is very complex and easily influenced from the change in ambient light. Moreover, it can not directly provide the depth information of the environment. Since the LRF has the ability to directly measure 3D coordinates and the stability against the ambient light influence, meanwhile, the camera has the ability to acquire color information, the combination of the two sensors by making use of their advantages is utilized to obtain more accurate measurements as well as to simplify information processing. To overlay the camera image with the measurement points of the LRF pitching scan and to reconstruct the 3D image which includes the depth-of-field information, the model and the calibration of the system are built. Based on the combination of the color features extracted from the color image and the shape, size features extracted from the 3D depth-of-field image, the target object identification and localization are implemented autonomously. In order to extract the shape and size features, a triangular facet normal vector clustering (TFNVC) algorithm is introduced. The effectiveness of the proposed method and algorithm are validated by some experimental testing and analysis carried out on the mobile manipulator platform. © 2011 IEEE.

关键词： Cameras

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