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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： P. Krishnamurthy F. Khorrami T. L. Ng IntelliTech Microsystems Inc. Bowie MD USA Control/Robotics Research Laboratory CRRL Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

We address the control design problem for stabilization and tracking of unmanned sea surface vehicles (USSVs). To this end, we describe the design and implementation of a high-accuracy real-time six degree-of-freedom (DOF) hardware-in-the-loop (HITL) simulation platform for use in development and evaluation of controllers for USSVs. The HITL platform incorporates a nonlinear dynamic model of the USSV, emulation of sensors and instrumentation onboard the USSV, and the actual hardware and software components used for control of the USSV in the experimental testbed. Detailed models of hydrodynamic effects, actuators including thrusters/propellers and control surfaces, and disturbances including ocean currents, waves, and wind are included in the dynamic simulation. The fidelity of the developed HITL simulator is demonstrated through comparisons with experimental data collected from a USSV. We also propose a nonlinear backstepping-based controller for stabilization and tracking for USSVs and present closed-loop results from HITL simulation and experimental testing.

关键词： Control design Sea surface Vehicle dynamics Emulation Instruments Hardware Software testing Hydrodynamics Actuators Propellers

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computer Vision Studies Using Stochastic Resonance/Information-theoretic Methods

Computer Vision Studies Using Stochastic Resonance/Informati...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： D. W. Repperger R. G. Roberts A. R. Pinkus Air Force Research Laboratory OH USA Department of Electrical and Computer Engineering FAMU and FSU College of Engineering Tallahassee FL USA

An investigation into computer vision techniques is conducted using a procedure from nonlinear dynamics termed "stochastic resonance." This work involves concepts from detection theory, information theory and nonlinear dynamics. An information distance metric is synthesized which helps define the dependent measure to be used with the stochastic resonance optimization. Monte Carlo simulations show the efficacy of the proposed method. A class of test objects are presented to fairly evaluate the utility of the proposed methods introduced.

关键词： computer vision Stochastic resonance Strontium Signal processing Physics Information theory Application software Object recognition Noise figure Computational intelligence

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Investigation of Performance of Distributed Complex Systems Using Information-theoretic Means and Genetic Algorithms

Investigation of Performance of Distributed Complex Systems ...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： D. W. Repperger R. L. Ewing J. B. Lyons R. G. Roberts Air Force Research Laboratory OH USA Department of Electrical and Computer Engineering FAMU and FSU College of Engineering Tallahassee FL USA

An investigation is conducted into performance measures to evaluate network-centric systems via their information or other flow properties. To approach this problem, concepts are borrowed from Graph Theory Information Theory, and current methods to analyze network-centric systems. A number of tools are presented to help better understand how to measure the flow in distributed networks. The efficacy of the proposed method is demonstrated by taking a known distributed paradigm (logistics system) and examining situations that produce maximum and minimum flow conditions. The optimization problem involving flow variables is computationally complex (NP-hard) and thus is determined via genetic algorithms.

关键词： Genetic algorithms Fluid flow measurement Military computing Man machine systems Graph theory Information analysis Computational intelligence robotics and automation USA Councils Robustness

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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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Location tracker for a mobile robot

Location tracker for a mobile robot

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Abdul Bais Robert Sablatnig Jason Gu Yahya M. Khawaja Robotic Research Laboratory Dalhousie University Canada Institute of Computer Technology University of Technology Vienna Vienna Austria University of Technology Vienna Vienna Austria Department of Electrical and Computer Engineering Dalhousie University Halifax Canada Department of Electrical Engineering NWFP University of Engineering and Technology Peshawar Pakistan

This paper presents landmark based self-localization of a two-wheeled differential drive autonomous mobile robot in a known but highly dynamic environment. The robot is equipped with a pivoted stereo vision system, two digital encoders, a gyro sensor, two lOg accelerometers and a magnetic compass. Global position of the robot is estimated using range measurements of distinct features such as color transitions, corners, junctions and line intersections in the robot environment. However, due to scarcity of distinct features, it is not possible to extract the minimum required features for global position estimation from everywhere in the state space. Therefore, the robot position is tracked between intermittent global localization to have an all time position estimate available to the robot. The robot observation vector is composed of range and bearing measurements of distinct features in the robot environment which is merged with the current position estimate to suppress the accumulating errors. Simulation results illustrate the performance of the location tracker.

关键词： Mobile robots Orbital robotics Robot sensing systems Position measurement Robot vision systems Stereo vision Magnetic sensors Sensor systems Accelerometers State estimation

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Quantum Robots for Teenagers

Quantum Robots for Teenagers

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International Symposium on Multiple-Valued Logic

作者： Arushi Raghuvanshi Yale Fan Michal Woyke Marek Perkowski Valley Catholic Middle School Beaverton OR USA The Catlin Gabel School Portland OR USA Warsaw Poland Intelligent Robotics Laboratory Department of Electrical and Computer Engineering Portland State University Portland OR USA

Extending the ideas of quantum Braitenberg vehicles from (A. Raghuvanshi, 2006), 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 (Ch. Brawn et al, 2006) 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.

关键词： Robot sensing systems robotics and automation Quantum computing Circuits Vehicles Automatic control Robot control computer architecture Learning automata Brain modeling

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Ubiquitous Robot: A New Paradigm for Integrated Services

Ubiquitous Robot: A New Paradigm for Integrated Services

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jong-Hwan Kim Kang-Hee Lee Yong-Duk Kim Naveen Suresh Kuppuswamy Jun Jo Robot Intelligence Technology Lab Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Application Technology Lab Telecommunication Research & Development Center Telecommunication Network business Samsung Electronics Company Limited Robotics and Computer Games Laboratory Griffith University Australia

This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed on the basis of the definition of the ubiquitous robot as that of encompassing the software robot Sobot, embedded robot Embot and the mobile robot Mobot. This tripartite partition, which independently manifests intelligence, perception and action, enables the abstraction of intelligence through the standardization of sensory data and motor or action commands. The Ubibot system itself is introduced along with its component subsystems of Embots, the position Embot, vision Embot and sound Embot, the Mobots of Mybot and HSR, the Sobot, Rity, a virtual pet modeled as an artificial creature, and finally the middleware which seamlessly enables interconnection between other components. Three kinds of experiments are devised to demonstrate the fundamental features, of calm sensing, context awareness and seamless service transcending the spatial limitations in the abilities of earlier generation personal robots. The experiments demonstrate the proof of concept of this powerful new paradigm which shows great promise.

关键词： Intserv networks Mobile robots Robot sensing systems Intelligent robots Intelligent sensors computer architecture Embedded software Artificial intelligence Standardization Positron emission tomography

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Walking Phase Recognition for People with Lower Limb Disability

Walking Phase Recognition for People with Lower Limb Disabil...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Sang Wan Lee Taeyoub Yi Jeong-Su Han Hyoyoung Jang Heon-Hui Kim Jin-Woo Jung Zeungnam Bien Electrical Engineering and Computer Science Department Korean Advanced Institute of Science and Technology Daejeon South Korea Core Technology Laboratory Digital Appliances Research and Development Center Samsung Electronics Company Limited Suwon South Korea Human-friendly Welfare Robot System Engineering Research Center Korean Advanced Institute of Science and Technology Daejeon South Korea Computer Engineering Department Dongguk University Seoul South Korea

This paper presents a total solution on EMG signal-based walking phase recognition for people with lower limb disability. Various environmental factors such as sensed location, walking speed, and ground inclination are taken into consideration in all the phases of signal sensing, feature extraction, feature selection, and classification. Based on analysis on fourteen well-known feature extraction methods in varying environmental situation, this paper proposes a methodology for selecting a good feature set, and then demonstrates effectiveness of the proposed approach with the classification results.

关键词： Legged locomotion Electromyography Muscles Feature extraction Environmental factors Humans Rehabilitation robotics Robots Systems engineering and theory Working environment noise

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Mobile scanning system for the fast digitization of existing roadways and structures

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Sensor Review 2006年第4期26卷 283-289页

作者： Grinstead, Brad Sukumar, Sreenivas Page, David Koschan, Andreas Gorsich, David Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN United States US Army RDECOM Tank-Automotive Research Development and Engineering Center Warren MI United States

Purpose - To present a Mobile Scanning System for digitizing three-dimensional (3D) models of real-world terrain. Design/methodology/approach - A combination of sensors (video, laser range, positioning, orientation) is placed on a mobile platform, which moves past the scene to be digitized. Data fusion from the sensors is performed to construct an accurate 3D model of the target environment. Findings - The developed system can acquire accurate models of real-world environments in real time, at resolutions suitable for a variety of tasks. Originality/value - Treating the individual subsystems of the mobile scanning system independently yields a robust system that can be easily reconfigured on the fly for a variety of scanning scenarios. © Emerald Group Publishing Limited.

关键词： Analog to digital conversion

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Design and control of a four steered wheeled mobile robot

Design and control of a four steered wheeled mobile robot

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IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

作者： Lauria, Michel Nadeau, Isabelle Lepage, Pierre Morin, Yan Giguère, Patrick Gagnon, Fréderic Létourneau, Dominic Michaud, François Department of Electrical Engineering and Computer Engineering Research Laboratory on Mobile Robotics and Intelligent Systems Université de Sherbrooke Sherbrooke QC J1K 2R1 Canada

ISBN: (纸本)1424401364

This paper presents the kinematical analysis of AZIMUT-2, a four steered wheeled mobile robot. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome a hypermotorization issue inherent to the wheel's geometrical properties. Finally, we describe AZIMUT-2's two operational and seven locomotion modes, along with a control algorithm based on the kinematical model of the robot. © 2006 IEEE.

关键词： Wheels

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