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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

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IEEE International Conference on Imaging Systems and Techniques

作者： Nalpantidis, Lazaros Sirakoulis, Georgios Ch. Carbone, Andrea Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Autoagent Laboratory for Cognitive Robotics Department of Computer and Systems Science University of Rome La Sapienza Via Ariosto 25 00185 Rome Italy

ISBN: (纸本)9781424464944

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed. © 2010 IEEE.

关键词： Stereo vision

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Lazaros Nalpantidis Georgios Ch. Sirakoulis Andrea Carbone Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Autoagent Laboratory of Cognitive Robotics Department of Computer and Systems Science University of Roma La Sapienza Rome Italy

关键词： Simultaneous localization and mapping Area measurement Robustness computer vision Robot vision systems Cameras Robot sensing systems robotics and automation Image analysis Algorithm design and analysis

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Parameter identification of a linear permanent magnet motor using particle swarm optimization

Parameter identification of a linear permanent magnet motor ...

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7th Annual International Conference on Electrical engineering/electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Therdbankerd, Tithiwat Sanposh, Peerayot Chayopitak, Nattapon Fujita, Hideaki Department of Electrical Engineering Intelligent Mechatronics Automation Robotics and Control Laboratory Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-18 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

Accurate and effective parameter identification is an important engineering task in high performance control system design. One emerging approach to effectively identify such nonlinear or dynamic unknown parameters is to use Particle Swarm Optimization (PSO) algorithm. Linear Permanent Magnet (LPM) motor is a high performance actuator employed in many applications that require direct linear motion without mechanical transmission for high acceleration and accurate positioning. Therefore, accurate motor parameters are necessary to effectively control the LPM motors. This paper proposes a simple PSO based method with chirp inputs to identify the LPM motor's parameters. The simulations and experiments are conducted to verify the results and determine the effectiveness of the proposed method.

关键词： Parameter estimation

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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7th Annual International Conference on Electrical engineering/electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Suteeratanapirom, Wijin Rattanawaorahirankul, Rapeepong Laosapan, Chutima Sanposh, Peerayot Chayopitak, Nattapon Tungpimolrut, Kanokvate Kunieda, Hiroaki TAIST Tokyo Tech ICTES Program Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-65 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward Controller (FFC-PFC) are presented.

关键词： Friction

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Parameter identification of a Linear Permanent Magnet motor using Particle Swarm Optimization

Parameter identification of a Linear Permanent Magnet motor ...

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International Conference on Electrical engineering/electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Tithiwat Therdbankerd Peerayot Sanposh Nattapon Chayopitak Hideaki Fujita Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

关键词： Parameter estimation Permanent magnet motors Particle swarm optimization Synchronous motors Signal processing robotics and automation Chirp Intelligent robots Control systems Laboratories

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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International Conference on Electrical engineering/electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Wijin Suteeratanapirom Rapeepong Rattanawaorahirankul Chutima Laosapan Peerayot Sanposh Nattapon Chayopitak Kanokvate Tungpimolrut Hiroaki Kunieda TAIST Tokyo Technology China Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

关键词： Friction computer numerical control Metalworking machines Servomotors Three-term control Fasteners Rails Servomechanisms Torque control Error correction

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A structured approach to fuzzy abduction based on contraposition property of propositional logic

A structured approach to fuzzy abduction based on contraposi...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Aruna Chakraborty Amit Konar Atulya K. Nagar Visiting Faculty in the M.Tech Course on Intelligent Automation and Robotics Jadavpur University Calcutta India Artificial Intelligence Laboratory Department of Electronics and Telecommunication Engineering Jadavpur University Calcutta India Department of Computer Science Liverpool Hope University Liverpool UK

The paper proposes a new approach to fuzzy abduction by extending the contraposition rule of propositional logic. The main difficulty of fuzzy abduction is due to the restriction of single antecedent clause in a fuzzy production rule. When more than one antecedent clause occurs jointly in a fuzzy rule, the membership value of the derived antecedent clauses become equal, which should not be the case in general. The paper overcomes this problem and demonstrates a simple but elegant method to compute premises in a multi-chained reasoning system.

关键词： Production Firing Cognition Fuzzy sets Electronic mail computer science

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Modeling a spatial communication activity in wireless sensors network

Modeling a spatial communication activity in wireless sensor...

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8th International Workshop on Modeling and Applied Simulation, MAS 2009, Held at the International Mediterranean and Latin American Modeling Multiconference, I3M 2009

作者： Nikodem, Jan Klempous, Ryszard Nikodem, Maciej Woda, Marek Chaczko, Zenon Institute of Technical Cybernetics Wroclaw University of Technology Poland Institute of Computer Engineering Automatics and Robotics Wroclaw University of Technology Poland Institute of Computer Science Control and Robotics Faculty of Electronics Wroclaw University of Technology Poland University of Technology Sydney NSW Australia

ISBN: (纸本)9781629934747

This paper presents a novel method of modeling spatial communication activity in wireless sensor network (WSN). We define native aspects of communication in WSN. Focusing on local/global activity dilemma, cooperation, interference, network topology, and optimization aspects. A neighborhood abstraction is defined and we involve three binary relations: subordination, tolerance and collision to describe the cooperation in WSN. Using digital terrain model tools we model communication activity aspects as surfaces, stretched over WSN network. A network topology features are modeled using bare drainage surface. It is a component of a topographic map, which gives a direction towards the base station, determined by a slope of the modeled surface. Modeling node's instant energy level, we construct another surface represents node's instant level of consumed energy. Finally, we construct a drainage surface spread over each node neighborhood as superposition of bare drainage surface, energy consumed and relational surfaces.

关键词： Topology

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Dense disparity estimation using a hierarchical matching technique from uncalibrated stereo vision

Dense disparity estimation using a hierarchical matching tec...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： L. Nalpantidis A. Amanatiadis G. Sirakoulis N. Kyriakoulis A. Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

In motion estimation, the sub-pixel matching technique involves the search of sub-sample positions as well as integer-sample positions between the image pairs, choosing the one that gives the best match. Based on this idea, the proposed disparity estimation algorithm performs a 2-D correspondence search using a hierarchical search pattern. The disparity value is then defined using the distance of the matching position. Therefore, the proposed algorithm can process non-rectified stereo image pairs, maintaining the computational load within reasonable levels.

关键词： Stereo vision Motion estimation Cameras Robot vision systems Laboratories Pixel Layout Machine vision robotics and automation Production systems

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Pose estimation of a volant platform with a monocular visuo-inertial system

Pose estimation of a volant platform with a monocular visuo-...

引用

IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Nikolaos Kyriakoulis Evangelos Karakasis Antonios Gasteratos Angelos Amanatiadis Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

One of the serious problems in robotics applications is the estimation of the robot's pose. A lot of research effort has been put on finding the pose via inertial and proximity sensors. However, the last decades many systems adopt vision to estimate the pose, by using homographies and projection geometry. In this paper the pose estimation is achieved by the identification of a geometrically known platform from one camera and from the measurements of an inertial unit. The extended Kalman filter (EKF) is used for data fusion and error compensation. The novelty of this system is that the visual sensor and the inertial unit are mounted on different mobile systems. The proposed pose estimation system exhibits high accuracy in real-time.

关键词： Cameras Frequency estimation Robot vision systems Robot sensing systems Biosensors Laboratories computer vision Real time systems Image sensors Machine vision

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