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Flexirigid, a novel two phase flexible gripper

Flexirigid, a novel two phase flexible gripper

引用

IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Mahmoud Tavakoli Lino Marques Anibal T. de Almeida Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9781467363563

This paper introduces a novel grasping mechanism that combines caging and force closure approaches in order to grasp an object. The main advantage of the gripper is its adaptability to various object shapes and sizes with low DOF. The two DOF gripper takes advantage of two tendon driven trunks. Inspired from the continuum manipulator concept, the trunks do not include discrete joints and rather an elastomer plays the role of the joints. The tendon driven trunks in the first phase of grasping act as rigid links and in the second phase act as flexible mechanisms. Two prototype of the gripper are developed, tested and evaluated. The under-actuated prototypes showed a very good adaptability to different object shapes and sizes.

关键词： trunks TWO-PHASE Grasp caging elastic bodies FLEXIBLE second phase Tendon

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Mean-centric equilibrium: An equilibrium concept for learning in large-scale games

Mean-centric equilibrium: An equilibrium concept for learnin...

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IEEE Global Conference on Signal and Information Processing (GlobalSIP)

作者： Brian Swensony Soummya Kar João Xavier Carnegie Mellon University Pittsburgh PA US Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics (ISR) Technical University of Lisbon Portugal

The paper is concerned with learning in large-scale multi-agent games. The empirical centroid fictitious play (ECFP) algorithm is a variant of the well-known fictitious play algorithm that is practical and computationally tractable in large-scale games. ECFP has been shown to be an effective tool in learning consensus equilibria (a subset of the Nash equilibria) in certain games. However, the behavior of ECFP has only been characterized in terms of convergence of the networked-average empirical frequencies as opposed to the more traditional notion of learning mixed equilibria, namely the notion of convergence of individual empirical frequencies. The behavior of ECFP in terms of convergence in empirical frequencies is herein studied and the equilibrium concept of mean-centric equilibrium (MCE) is introduced. The concept of MCE is similar in spirit to that of Nash equilibrium (NE) but, in MCE each player is at equilibrium with respect to a centroid representing the aggregate behavior, as opposed to NE where players are at equilibrium with respect to the strategies of individual opponents. The MCE concept is well suited to large scale games where it is reflective of the fact that in many large scale games of interest, utilities are greatly affected by changes in the aggregate behavior but less susceptible to changes in the strategy of a particular opposing player. MCE is also well suited to large-scale games in that it can be learned using practical, low-information-overhead behavior rules (e.g. ECFP).

关键词： Games Convergence Joints Aggregates Vectors Cognition Economics

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Active CMOS-MEMS dual probe array for STM based parallel imaging and nanopatterning

Active CMOS-MEMS dual probe array for STM based parallel ima...

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IEEE International Conference on Micro Electro Mechanical systems

作者： Y. Zhang Y. Tang L. R. Carley G. K. Fedder Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering Institute for Complex Engineered Systems Robotics Institute Carnegie Mellon University Pittsburgh PA USA

This paper reports on development of a dual-probe scanning tunneling microscopy (STM) system suitable for scaling to 1D array parallel imaging and batch nanofabrication. The 1-D probe array is fabricated using thin-film post CMOS micromachining. Each probe is individually addressable, with its own respective microactuator and on-chip tunneling current sensing electronics. A corresponding external servo-loop array is built for separate control of probe scanning. A macro-goniometer is introduced for probe chip-sample alignment. Using the dual-probe array system, two STM images on a gold calibration sample are obtained simultaneously, and TiO 2 nanowires are written on a Ti surface.

关键词： Probes Arrays Imaging Tunneling Nanopatterning CMOS integrated circuits Substrates

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Large-displacement parametric resonance using a shaped comb drive

Large-displacement parametric resonance using a shaped comb ...

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IEEE International Conference on Micro Electro Mechanical systems

作者： Congzhong Guo Erdinc Tatar Gary K. Fedder Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering Institute for Complex Engineered Systems The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

This paper is the first demonstration of large-stroke parametric resonance excited by an in-plane “shaped-finger” electrostatic comb drive. A custom-shaped comb finger profile is used to produce a quadratic capacitance-engagement response. The ability in selecting electrostatic stiffness coefficients by engineering the comb finger profile allows the excitation of the nonlinear parametric resonance for various applications such as the mode-matched gyroscopes and gravimetric sensors. The shaped-finger comb enables the study of the parametric resonance in systems with high energy storage. The shaped-finger comb parametric resonator is fabricated by a 15 μm-thick SOI-MEMS process.

关键词： Fingers Electrostatics Resonant frequency Tuning Springs Bifurcation Optical resonators

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A novel leader-following strategy applied to formations of quadrotors

A novel leader-following strategy applied to formations of q...

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European Control Conference (ECC)

作者： Valter Roldão Rita Cunha David Cabecinhas Carlos Silvestre Paulo Oliveira Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Técnico 1046-001 Lisbon Portugal

ISBN: (纸本)9781479901890

This paper presents a strategy for formation control of autonomous vehicles using a leader-following approach. A trajectory planner prescribes the motion of a group of virtual vehicles, using a Lyapunov-based nonlinear controller that stabilizes the position of the leader in the reference frame of the virtual vehicles at a predefined distance vector. This strategy differs from the standard approach of defining the desired distance vector in an inertial frame and can be used to obtain rich formation trajectories with varying curvatures between vehicles. By imposing adequate constraints on the motion of the virtual vehicles, the planner naturally guarantees the generation of valid formation trajectories, without requiring the parametrization of the space curve described by the leader. The trajectories are generated online and provided to a trajectory tracking controller specifically designed for quadrotor vehicles. Results of experimental tests are presented demonstrating the performance of the proposed solution for formation control of autonomous vehicles.

关键词： Trajectory Vehicles Lead Vectors Tracking Vehicle dynamics Angular velocity

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GAS tightly coupled LBL/USBL position and velocity filter for underwater vehicles

GAS tightly coupled LBL/USBL position and velocity filter fo...

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European Control Conference (ECC)

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics Universidade Técnica de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering University of Macau

ISBN: (纸本)9781479901890

This paper presents a novel navigation filter for estimation of linear motion quantities based on a combined Long Baseline / Ultra Short Baseline (LBL/USBL) acoustic positioning system with application to underwater vehicles. The filtering algorithm does not resort to any algebraic inversion techniques and no linearizations are carried out whatsoever. In this way, the nonlinear sensor-based system dynamics are considered to their full extent and globally asymptotically stable (GAS) error dynamics are achieved. Finally, it is shown, under simulation environment, that the filter achieves very good performance in the presence of sensor noise.

关键词： Vehicles Acoustics Receivers Observability Vehicle dynamics Nonlinear dynamical systems

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Experimental validation of a nonlinear quadrotor controller with wind disturbance rejection

Experimental validation of a nonlinear quadrotor controller ...

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European Control Conference

作者： David Cabecinhas Rita Cunha Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa

ISBN: (纸本)9781479901890

This paper addresses the problem of designing and experimentally validating a controller for steering a quadrotor vehicle along a trajectory, while rejecting wind disturbances. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and torque actuation that asymptotically stabilizes the closed-loop system in the presence of constant force disturbances, used to model the wind action, and ensures that the actuation does not grow unbounded as a function of the position errors. A prototyping and testing architecture, developed to streamline the implementation and the tuning of the controller, is also described. Experimental results are presented to demonstrate the performance and robustness of the proposed controller.

关键词： Controllers Induction loop systems Activation location error state feedback controller Disturbance rejection Closed loop systems thrust Wind tuning trajectory asymptotic wind action nonlinearity

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Pedestrian detection based on LIDAR-driven sliding window and relational parts-based detection

Pedestrian detection based on LIDAR-driven sliding window an...

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IEEE Symposium on Intelligent Vehicle

作者： Luciano Oliveira Urbano Nunes Intelligent Vision Research Laboratory Federal University Bahia Brazil Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

The most standard image object detectors are usually comprised of one or multiple feature extractors or classifiers within a sliding window framework. Nevertheless, this type of approach has demonstrated a very limited performance under datasets of cluttered scenes and real life situations. To tackle these issues, LIDAR space is exploited here in order to detect 2D objects in 3D space, avoiding all the inherent problems of regular sliding window techniques. Additionally, we propose a relational parts-based pedestrian detection in a probabilistic non-iid framework. With the proposed framework, we have achieved state-of-the-art performance in a pedestrian dataset gathered in a challenging urban scenario. The proposed system demonstrated superior performance in comparison with pure sliding-window-based image detectors.

关键词： Detectors Laser radar Feature extraction Support vector machines Training Probabilistic logic Vectors

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A new algorithm for linearization up to multi-output and multi-input injection for a class of systems with implicitly defined outputs

A new algorithm for linearization up to multi-output and mul...

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European Control Conference (ECC)

作者： Sérgio S. Rodrigues A. Pedro Aguiar Öaw Institute for Computational and Applied Mathematics (RICAM) Linz Austria Department of Electrical and Computer Engineering Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Lisbon Portugal

ISBN: (纸本)9781479901890

Given a class of nonlinear systems with implicitly defined outputs, we provide a new algorithm to find appropriate local coordinates, in which the resulting system takes a desired target form that is state-affine, up to output and input injection. Once in the target form, it is possible to construct a state-space observer with linear, possibly time-varying, error dynamics.

关键词： Vectors Equations Observers Gold Geometry Nonlinear dynamical systems

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Hand gesture recognition using color and depth images enhanced with hand angular pose data

Hand gesture recognition using color and depth images enhanc...

引用

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent systems, MFI 2012

作者： Trindade, Pedro Lobo, Jorge Barreto, Joao P. ISR - Institute of Systems and Robotics University of Coimbra Portugal ISR - Institute of Systems and Robotics and the Department of Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781467325110

In this paper we propose a hand gesture recognition system that relies on color and depth images, and on a small pose sensor on the human palm. Monocular and stereo vision systems have been used for human pose and gesture recognition, but with limited scope due to limitations on texture, illumination, etc. New RGB-Depth sensors, that reply on projected light such as the Microsoft Kinect, have overcome many of those limitations. However, the point clouds for hand gestures are still in many cases noisy and partially occluded, and hand gesture recognition is not trivial. Hand gesture recognition is much more complex than full body motion, since we can have the hands in any orientation and can not assume a standing body on a ground plane. In this work we propose to add a tiny pose sensor to the human palm, with a minute accelerometer and magnetometer that combined provide 3D angular pose, to reduce the search space and have a robust and computationally light recognition method. Starting with the full depth image point cloud, segmentation can be performed by taking into account the relative depth and hand orientation, as well as skin color. Identification is then performed by matching 3D voxel occupancy against a gesture template database. Preliminary results are presented for the recognition of Portuguese Sign Language alphabet, showing the validity of the approach. © 2012 IEEE.

关键词： Image enhancement

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