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Fractional-Order Signal Processing using a Polymer-Electrolyte Transistor

Fractional-Order Signal Processing using a Polymer-Electroly...

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51st Midwest Symposium on Circuits and Systems (MWSCAS 2008), vol.2

作者： Robert L. Ewing Hoda S. Abdel-Aty-Zohdy Michael C. Hollenbeck Kenneth S. Stevens Information Directorate US Air Force Research Laboratory OH USA Microelectronics System Design Laboratory Department of Electrical and Systems Engineering Oakland University Rochester MI USA Department of Electrical and Computer Engineering University of Utah Salt Lake UT USA

Fractional-order systems have applications in the areas of Flight Control, robotics, Missile Guidance, Control of Structural Vibrations of Space Platforms and Sensor Technology. Fractional-order transfer functions can characterize complex nonlinear dynamics with many fewer parameters than integer-order functions. This paper addresses the use of a polymer-electrolyte transistor (PET) for use in implementating fractional-order algorithms for signal processing. The PET's advantage over the conventional RC and RL circuits is that it can be both functionally scaled and varied for dynamic fractional-order parameter controllability.

关键词： Fractional-Order Signal Processing Polymer-electrolyte transistor Acid/base chemistry Diffusion Electrokinetic flow

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Tracking ground targets with measurements obtained from a single monocular camera mounted on an unmanned aerial vehicle

Tracking ground targets with measurements obtained from a si...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dustin Deneault Dale Schinstock Chris Lewis Graduate Research Assistant for the Autonomous Vehicle Systems Laboratory Kansas State University USA Department of Mechanical and Nuclear Engineering Kansas State University USA Department of Electrical and Computer Engineering Kansas State University USA

In this paper, a novel method is presented for tracking ground targets from an unmanned aerial vehicle (UAV) outfitted with a single monocular camera. The loss of observability resulting from the use of a single monocular camera is dealt with by constraining the target vehicle to follow ground terrain. An unscented Kalman filter (UKF) provides a simultaneous localization and mapping solution for the estimation of aircraft states and feature locations, which define the target's local environment. Another filter, a loosely coupled Kalman filter for the target states, receives 3D measurements of target position with estimated covariance obtained by an unscented transformation (UT). The UT uses the mean and covariance from the camera measurements and from the UKF estimated aircraft states and feature locations to determine the estimated target mean and covariance. Simulation results confirm the concepts developed.

关键词： Target tracking Cameras Unmanned aerial vehicles State estimation Aircraft Observability Land vehicles Road vehicles Simultaneous localization and mapping Filters

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Multiple laser polar scan matching with application to SLAM

Multiple laser polar scan matching with application to SLAM

引用

2007 Australasian Conference on robotics and Automation, ACRA 2007

作者： Tungadi, Fredy Kleeman, Lindsay Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University VIC 3800 Australia

ISBN: (纸本)9780958758390

Polar Scan Matching is one of the methods of point to point scan matching for Simultaneous Localization and Mapping Application. It works in the original laser polar coordinate system and therefore eliminates the need for an expensive correspondence search as in other scan matching methods by using the matching bearing association rule. However, most of the low-cost laser range finders available on the market have limited field of view and therefore the use of more than one laser range finder is necessary to cover 360 degree field of view and hence to provide a better Scan-Matching SLAM performance. This paper presents extensions of Polar Scan Matching to allow for matching with multiple laser scans simultaneously. Also a method for updating reference scans while mapping the environment is introduced. This paper also illustrates the advantages of using multiple laser range finders for SLAM. The results are illustrated with results from SLAM with a mobile robot equipped with two laser rangefinders.

关键词： Mapping

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Anomaly detection and tracking for a patrolling robot

Anomaly detection and tracking for a patrolling robot

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2007 Australasian Conference on robotics and Automation, ACRA 2007

作者： Chakravarty, Punarjay Zhang, Alan M. Jarvis, Ray Kleeman, Lindsay Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3800 Australia

ISBN: (纸本)9780958758390

This paper presents a mobile robot capable of repeating a manually trained route and detects any visual anomalies that were not present during the training run. A monocular panoramic vision sensor is used for both repeating the route and anomaly detection. Anomalies are detect by extracting the differences between images captured during autonomous runs and reference images captured during training runs. This enables detection of both mobile anomalies, such as an intruder, and stationary anomalies, eg. a suspicious suitcase. However, routes are not repeated exactly and small deviations from the reference route leads to differences in image appearance. Two stereo correspondence algorithms are used to mitigate this problem and a performance comparison using manually segmented ground truth is performed in this paper. Anomalous regions are subsequently tracked using a particle filter. Experiments in three different environments are presented, a cluttered robotics laboratory, a corridor, and an office environment.

关键词： Intrusion detection

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Robust appearance based visual route following in large scale outdoor environments

Robust appearance based visual route following in large scal...

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2007 Australasian Conference on robotics and Automation, ACRA 2007

作者： Zhang, Alan M. Kleeman, Lindsay Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3800 Australia

ISBN: (纸本)9780958758390

Route following is defined as the ability to repeat the same route after having traversed it once under the control of a human operator. This paper presents a fast and robust appearance based route following algorithm that utilises only monocular panoramic vision and odometry in large scale outdoor environments. Extensive experimental results have shown robustness against lighting variations and occlusion not yet demonstrated in the literature. The cumulative distance traveled by the robot in these experiments exceeds 20km and the longest repeated route is 732 meters.

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High performance differential elastic actuator for robotic interaction tasks

High performance differential elastic actuator for robotic i...

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2007 AAAI Spring Symposium

作者： Lauria, Michel Legault, Marc-Antoine Lavoie, Marc-André Michaud, François LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrooke Sherbrooke Que. J1K2R1 Canada

ISBN: (纸本)9781577353164

For complex robotic tasks (manipulation, locomotion, haptics, ...), the lack of knowledge of precise interaction models, the difficulties to precisely measure the task associated physical quantities (force, speed, ...) in real time and the non-collocation of sensors and transducers have negative effects on performance and stability of robots when using simple force or simple movement controllers. To cope with these issues, some researchers proposed a new approach named «interaction control» that refers to regulation of the robot's dynamic behavior at its ports of interaction with the environment. Interaction control involves specifying a dynamic relationship between motion and force, and implementing a control law that attempts to minimize deviation from this relationship [1]. The implementation of machines able to precisely control interaction with its environment begins with the use of actuators specially designed for that purpose. To that effect, a new compact implementation design for high performance actuators that are especially adapted for integration in robotic mechanisms is presented, this design making use of a mechanical differential as central element. Differential coupling between an intrinsically high impedance transducer and an intrinsically low impedance spring element provides the same benefits as serial coupling [4]. However differential coupling allows new interesting design implementations possibilities, especially for rotational actuators.

关键词： robotics

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Multimodal human-robot interaction in an assistive technology context

Multimodal human-robot interaction in an assistive technolog...

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2007 Australasian Conference on robotics and Automation, ACRA 2007

作者： Harte, Elizabeth Jarvis, Professor Raymond Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3800 Australia ARC Centre for Perceptive and Intelligent Machines in Complex Environments Australia

ISBN: (纸本)9780958758390

In this paper, we present a prototype robotic system that captures, processes and fuses speech, vision and laser-depth data to more accurately interpret and perform simple tasks in a domestic environment. We can never assume that any one of these inputs are completely accurate, but by using a combination, a more accurate interpretation could be found. For each speech, gesture recognition and object recognition input, an associated probability of correctness is calculated. Using these probabilities, a predefined associative map between specific words and gestures, and contextual information, we update the associated probability until some threshold has been reached. This contextual information includes the history of recently uttered phrases, as well as the information about known objects in the environment. Once an interpretation, complete or otherwise, is found, a response is formulated. This system has been developed using a Mitsubishi Heavy Industries robot, Wakamaru, as a platform.

关键词： Probability

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Spartacus attending the 2005 AAAI conference

Spartacus attending the 2005 AAAI conference

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作者： Michaud, F. Côté, C. Létourneau, D. Brosseau, Y. Valin, J.-M. Beaudry, E. Raïevsky, C. Ponchon, A. Moisan, P. Lepage, P. Morin, Y. Gagnon, F. Giguère, P. Roux, M.-A. Caron, S. Frenette, P. Kabanza, F. LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrooke Sherbrooke Qué. J1K 2R1 Canada CSIRO ICT Center Sydney Australia

Spartacus is our robot entry in the 2005 AAAI Mobile Robot Challenge, making a robot attend the National Conference on Artificial Intelligence. Designing robots that are capable of interacting with humans in real-life settings can be considered the ultimate challenge when it comes to intelligent autonomous systems. One key issue is the integration of multiple modalities (e.g., mobility, physical structure, navigation, vision, audition, dialogue, reasoning). Such integration increases the diversity and also the complexity of interactions the robot can generate. It also makes it difficult to monitor how such increased capabilities are used in unconstrained conditions, whether it is done while the robot is in operation of afterwards. This paper reports solutions and findings resulting from our hardware, software and decisional integration work on Spartacus. It also outlines perspectives in making intelligent and interaction capabilities evolve for autonomous robots. © Springer Science+Business Media, LLC 2007.

关键词： Robots

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Design of MIMO controller for a manipulator using Tabu Search algorithm

Design of MIMO controller for a manipulator using Tabu Searc...

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International Conference on Intelligent and Advanced Systems, ICIAS

作者： I. Hassanzadeh S. Mobayen H. Kharrati Research Laboratory of Robotics Control Engineering Department Faculty of Electrical & Computer Engineering University of Tabriz Tabriz Iran

In this paper, we present an optimum approach to design a MIMO controller for a manipulator using discrete tabu search (TS) algorithm. In the first step, the TS algorithm is reviewed and then we employ the proposed method in order to assign efficiently the optimal PID controller parameters. The design goal is to minimize the integral absolute error and reduce transient response by minimizing overshoot, settling time and rise time of the system. A 5-bar-linkage is considered as a case study. We define an objective function including these indexes. Then by minimizing this function using discrete TS algorithm, controller parameters design is performed efficiently and quickly. Superior features of this algorithm are fast tuning of PID parameters, rapid convergence, less computational burden and capability to avoid from local minima. Simulation results demonstrate that our proposed TS method compared with other heuristic method, i.e., the genetic algorithm (GA) is more efficient in terms of improving the step response of the robot.

关键词： Robots Algorithm design and analysis Manipulators Cost function MIMO Mathematical model Heuristic algorithms

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Quantum robots for teenagers

Quantum robots for teenagers

引用

37th International Symposium on Multiple-Valued Logic, ISMVL 2007

作者： Raghuvanshi, Arushi Fan, Yale Woyke, Michal Perkowski, Marek Intelligent Robotics Laboratory Department of Electrical and Computer Engineering Portland State University Portland OR Valley Catholic Middle School Beaverton OR United States Catlin Gabel School Portland OR 97225-6599 United States Gymnasium Number 20 Raszyńska 22 Warsaw Poland

ISBN: (纸本)0769528317

Extending the ideas of Quantum Braitenberg Vehicles from [14], we present here a family of Lego robots controlled by multiple-valued quantum circuits. The robots have at most 6 degrees of freedom (motors) and 6 sensors. Their basic architecture is a generalization of robots from [16] to more versatile multiple-valued quantum automata (simulated in software). We believe that building robots with "quantum brains" is an excellent future application of quantum computing and now it helps students to learn principles of quantum circuits. We present a one-year project in "quantum robotics for teenagers". Our project brings research and educational perspectives, which are both presented in this paper. © 2007 IEEE.

关键词： Intelligent robots

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