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Shared control for obstacle avoidance in intelligent wheelchairs

Shared control for obstacle avoidance in intelligent wheelch...

引用

2010 IEEE International Conference on robotics, Automation and Mechatronics, RAM 2010

作者： Petry, Marcelo R. Moreira, Antonio Paulo Braga, Rodrigo A. M. Reis, Luis Paulo Robotics and Intelligent Systems - INESCPorto Faculty of Engineering of the University of Porto - FEUP Porto Portugal Artificial Intelligence and Computer Science Laboratory Faculty of Engineering of the University of Porto - FEUP Porto Portugal

ISBN: (纸本)9781424465033

Intelligent wheelchairs operating in dynamic environments need to sense its neighborhood and adapt the control signal, in real-time, to avoid collisions and protect the user. In this paper we propose a robust, real-time obstacle avoidance extension of the classic potential field methodology. Our algorithm is specially adapted to share the wheelchair's control with the user avoiding risky situations. This method relies on the idea of virtual forces, generated by the user command (attractive force) and by the objects detected on each ultrasonic sensor (repulsive forces), acting on the wheelchair. The resultant wheelchair's behavior is obtained by the sum of the attractive force and all the repulsive forces at a given position. Experimental results from drive tests in a cluttered office environment provided statistical evidence that the proposed algorithm is effective to reduce the number of collisions and still improve the user's safety perception. ©2010 IEEE.

关键词： Wheelchairs

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Engineering for industrial robots in content based virtual space

Engineering for industrial robots in content based virtual s...

引用

19th International Workshop on robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Horváth, László Rudas, Imre J. Jezernik, Karel Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Óbuda University Budapest Hungary Institute of Robotics Faculty of Electrical Engineering and Computer Science University of Maribor Maribor Slovenia

ISBN: (纸本)9781424468867

One of the main recent achievements in engineering is description of complex products and their physical environment in a single object model. This model has capabilities to serve engineering from the first specification of a product to recycling. New research programs were needed in order to establish a new style of engineering where engineers communicate model creation and application procedures. The authors joined to these efforts and developed new modeling methods for the above purpose. In this paper they introduce some of these methods considering needs by the complex and knowledge intensive engineering for robot systems. Paper starts with an outline of application of virtual spaces in robot system modeling. Following this, a content based contextual object definition is explained considering robotic application. Next, application of human control by contextual spaces for adaptive definition of engineering objects and the related control of product definition are shown. Finally, object space for robot system is outlined as application related issue of the proposed modeling. © 2010 IEEE.

关键词： Industrial robots

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Projects in mechatronics program: practical examples

Projects in mechatronics program: practical examples

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IEEE International Workshop on robotics in Alpe-Adria-Danube Region (RAAD)

作者： Andreja Rojko Marijan Španer Karel Jezernik Faculty of Electrical Engineering and Computer Science Institute of Robotics Maribor Slovenia

This paper describes organization, educational approach and contents of students' project work in mechatronic program at the University of Maribor, Slovenia. Program is executed by two faculties; faculty of Electrical Engineering and computer science, and faculty of Mechanical Engineering. Three courses Project I, II, III, are assigned to the project work in second and third year. The students in Project I are lead by the mentors. The portion of autonomous work is then increasing with each following course. Project work typically ends with a diploma. By a careful choice of interesting up-to-date real life problems, project work provides the students with the practical skills and a broad knowledge of the essential contents from mechanical engineering, control theory, electronics, power electronics, automatic control and mechatronics design, but it still allows the students to specialize in a field of their choice.

关键词： Mechatronics Mechanical engineering computer science Electrical capacitance tomography Educational robots Power electronics Control theory Automatic control Electrical engineering Documentation

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Mechatronics E-course for regular students and adults: Realization and comparison of efficiency

Mechatronics E-course for regular students and adults: Reali...

引用

IEEE Education Engineering (EDUCON)

作者： Andreja Rojko Darko Hercog Karel Jezernik Faculty of Electrical Engineering and Computer Science Institute of Robotics University of Maribor Maribor Slovenia

ISBN: (纸本)9781424465682;9781424465712

This paper describes execution and gained experience with two practically oriented E-courses from mechatronics. Both courses have in common that they include remote experiments and are executed completely online, which is still rarity in the practically oriented engineering education, especially in non-university education. The execution details and educational approach applied in each course were adjusted to two specific target groups. The target groups of a first course `Control of nonlinear mechanisms' is a group of regular local and regular international students of mechatronics. The target group of second course `Basics of mechatronics' are employed and unemployed adult professionals from various engineering fields who have already finished their formal education but want to acquire new knowledge. For both courses interactive E-materials and E-tests in Slovene, English and partially also in German language are available within two learning portals, also adjusted to the needs of each target groups. First course was tested with 40 regular students and the second course with the group of 70 adult professionals mostly from industry. While adult professionals appreciated the fact that the course was executed completely online, the regular students have still preferred conventional lectures and especially conventional laboratory exercises over remote ones. Based on the teaching instructor's observances and on the results of anonymous questionnaires, the advantages and disadvantages of the replacement of traditional laboratories with remote laboratories are discussed from a critical point of view.

关键词： Mechatronics Remote laboratories Portals Engineering education Control engineering education Unemployment Testing Distance learning Motion control Feedback

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Practical blended learning approach in mechatronics

Practical blended learning approach in mechatronics

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International (EPE-PEMC) Power Electronics and Motion Control Conference

作者： Andreja Rojko Darko Hercog Karel Jezernik Faculty of Electrical Engineering and Computer Science Institute of Robotics University of Maribor Maribor Slovenia

This paper presents an adaptable learning approach applied in the teaching of the basics of mechatronics. The training is composed from several courses and it is implemented for the education of regular mechatronics' students and also for education of the professionals from industry. The training design enables the tutor to use all advantages of blended learning approach and adapt it to the needs of the current learners' group. Learning materials are given in e-form and can be used for self-study or as the handouts at conventional lectures. A special emphasis is given to the practical, experimental part. This can be executed in the laboratory and/or remotely. All devices are available within advanced remote laboratory platform and the learners can access them any time. The training includes following courses: Introduction to mechatronics, Servomotor in mechatronics, Electrical circuits, Mechatronic devices and Motion control of nonlinear systems. Practical experience, organization and execution of the training are presented.

关键词： Mechatronics Training Laboratories Robots Servomotors Motion control

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A particle swarm and neural network approach for position control of XY Piezo Actuator Stage

A particle swarm and neural network approach for position co...

引用

IEEE International Workshop on robotics in Alpe-Adria-Danube Region (RAAD)

作者： Dragan Kusić Jure Čas Faculty of Electrical Engineering and Computer Science Institute of Automation University of Maribor Slovenia Faculty of Electrical Engineering and Computer Science Institute of Robotics University of Maribor Slovenia

This paper describes a position control of 2 degrees of freedom (DOF) XY Piezo Actuator Stage (XY PAS) with Feedforward Neural Network (FNN) and additional Particle Swarm Optimization (PSO) approach, which is used as an improved learning method for optimizing the weights of FNN rather than just the standard technique of back-propagation of errors.

关键词： Particle swarm optimization Neural networks Position control Actuators Fuzzy control Hysteresis Fuzzy neural networks Mathematical model robotics and automation Springs

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SURF and spatial association correspondence applied in extraction and matching of feature points from MR images of deformed tissues

SURF and spatial association correspondence applied in extra...

引用

2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Zhang, Xubing Hirai, Shinichi Zhang, Penglin Dept. of Robotics Faculty of Science and Engineering Ritsumeikan University Kusatsu Shiga 525-8577 Japan School of Computer Science Wuhan Textile University Wuhan 430073 China School of Remote Sensing and Information Engineering Wuhan University Wuhan 430079 China

ISBN: (纸本)9781424493173

The extraction and matching of feature points is very important for measuring deformation fields of MR images. Current methods cannot extract and match enough feature points correctly when non-rigid soft biological tissues are deformed in MR images. The authors have therefore used SURF to extract feature points from initial MR images, utilizing every point in deformed MR images as feature points. Subsequently, SURF descriptors and Spatial Association Correspondence (SAC) of neighboring pixels are utilized to match the corresponding feature points of the initial and deformed MR images. Finally, by clustering the differences between deformed points matched by SURF-SAC with the corresponding points calculated by affine transformation, most incorrect match points can be eliminated. Our experimental results show that the proposed method can extract and match more correct corresponding feature point pairs than SURF and SIFT methods. © 2010 IEEE.

关键词： Extraction

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Learning the consequences of actions: Representing effects as feature changes

Learning the consequences of actions: Representing effects a...

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2010 International Conference on Emerging Security Technologies, EST 2010, Robots and Security, ROBOSEC 2010, Learning and Adaptive Behavior in Robotic Systems, LAB-RS 2010

作者： Rudolph, Mathias Mühlig, Manuel Gienger, Michael Böhme, Hans-Joachim Faculty of Mathematics and Computer Science University of Applied Sciences Dresden 01069 Dresden Germany Honda Research Institute Europe Carl-Legien-Strasse 30 63073 Offenbach/Main Germany Research Institute for Cognition and Robotics Bielefeld University 33594 Bielefeld Germany

ISBN: (纸本)9780769541754

In advanced Programming by Demonstration (PbD) it is important to give a robot the ability to understand the effects of an action. This ability can enable a robot to not only mimic an action but to imitate, by determining whether an action succeeded or not, or to emulate, by finding another action that causes the same effects as observed. In this paper we propose a system that uses a Bayesian Network structure to store actions as a representation of their effects. The effects in turn are implicitly stored as representation of feature changes in the perceived environment. In a more general form the system can be used to differentiate between actions. In a more specific form it can be used to learn complex mapping functions. We will show three different experiments. The first one shows how to learn actions as a representation of effects. The second one shows how our system can be used to learn a complex mapping function on robot movement and in the third experiment, we illustrate how to combine these independently learned systems to achieve more complex tasks. © 2010 IEEE.

关键词： Bayesian networks

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Survey on team tracking techniques applied to sports

Survey on team tracking techniques applied to sports

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International Conference on Autonomous Intelligent Systems

作者： Santiago, Catarina B. Sousa, Armando Estriga, Maria Luísa Reis, Luis Paulo Lames, Martin Robotics and Intelligent Systems - INESCPorto FEUP - Faculty of Engineering of University of Porto Porto Portugal Centre of Res. Edu. Innovation and Intervention in Sport FADEUP - Faculty of Sports of the University of Porto Porto Portugal Artificial Intelligence and Computer Science Laboratory FEUP - Faculty of Engineering of University of Porto Porto Portugal Institut für Sportwissenschaften/Sportzentrum Universität Augsburg Augsburg Germany

ISBN: (纸本)9781424471072

Recent years have brought an increasing interest on analyzing efficiently the performance of sports players during training sessions and games. The information collected from such analysis is very valuable to educators and coaches since it allows them to better understand the difficulties of a trainee, a player or even an entire team and formulate adequate training and strategic plans accordingly. In order to perform this analysis in a consistent and systematic way, sophisticated sensory systems and data processing techniques are needed. This paper presents a survey on relevant work, current techniques and trends on the area of team tracking systems applied to sports. We propose a classification of these systems by distinguishing them into two main categories: intrusive and nonintrusive. Nonintrusive systems are further refined into outdoor and indoor sports applications. The specific characteristics of each system are itemized, including the identification of the strong points and limitations. Finally, the paper highlights some open issues and research opportunities on this area. © 2010 IEEE.

关键词： Sports

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Engineering for industrial robots in content based virtual space

Engineering for industrial robots in content based virtual s...

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IEEE International Workshop on robotics in Alpe-Adria-Danube Region (RAAD)

作者： László Horváth Imre J. Rudas Karel Jezernik Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Buddha University Budapest Hungary Institute of Robotics Faculty of Electrical Engineering and Computer Science University of Maribor Maribor Slovenia

关键词： Aerospace industry Service robots Orbital robotics Recycling Knowledge engineering Systems engineering and theory Modeling Humans Programmable control Adaptive control

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