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IEEE Conference on Decision and Control

作者： R. Ghabcheloo A. Pascoal C. Silvestre I. Kaminer Institute for Systems and Robotics (ISR) and Department of Electrical Engineering Instituto Superior Técnico Lisboa Portugal Department of Mechanical and Astronautical Engineering Naval Postgraduate School Monterrey CA USA

The paper addresses the problem of steering a fleet of wheeled robots along a set of given spatial paths, while keeping a desired inter-vehicle formation pattern. This problem arises for example when multiple vehicles are required to scan a given area in cooperation. In a possible mission scenario, one of the vehicles acts as a leader and follows a path accurately, while the other vehicles follow paths that are naturally determined by the formation pattern imposed. The solution adopted for coordinated path following builds on Lyapunov-based techniques and addresses explicitly the constraints imposed by the topology of the inter-vehicle communications network, which is captured in the framework of directed graph theory. With this set-up, path following (in space) and inter-vehicle coordination (in time) are essentially decoupled. Path following for each vehicle amounts to reducing a conveniently defined error variable to zero. Vehicle coordination is achieved by adjusting the speed of each of the vehicles along its path, according to information on the position of the other vehicles, as determined by the communications topology adopted. Simulations illustrate the efficacy of the solution proposed.

关键词： Communication system control Mobile robots Robot kinematics Communication networks Motion control Graph theory Remotely operated vehicles Orbital robotics Aerospace control Laplace equations

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BioImplantable bone stress sensor

BioImplantable bone stress sensor

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2005 27th Annual International Conference of the engineering in Medicine and Biology Society, IEEE-EMBS 2005

作者： Fernando Alfaro, J. Weiss, Lee E. Campbell, Phil G. Miller, Mark C. Heyward, Christa Doctor, John S. Fedder, Gary K. Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 Institute for Complex Engineered Systems Department of Biomedical Engineering Carnegie Mellon University Pittsburgh PA 15213 School of Health Sciences Duquesne University Pittsburgh PA 15282 Department of Biological Sciences Duquesne University Pittsburgh PA 15282

ISBN: (纸本)0780387406

The clinical management of skeletal trauma and disease relies on radiographic imaging to infer bone quality. However, bone strength does not necessarily correlate well with image intensity. There is a need for a safe and convenient way to measure bone strength in situ. This paper presents a new technique to directly measure bone strength in situ at a micro-level scale through a MicroElectroMechanical System (MEMS) sensor. The proposed MEMS stress sensor comprises an array of piezoresistive sensor "pixels" to detect stress across the interfacial area between the MEMS chip and bone with resolution to 100 Pa, in 1 sec averaging. The sensors are located within a textured surface to accommodate sensor integration into bone. From initial research, surface topography with 30-60 μm features was found to be conducive to guiding new cell growth. Finite element analysis has led to a sensor design for normal and shear stress detection. © 2005 IEEE.

关键词： Biosensors

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Cooperative Multi-Robot systems A study of Vision-based 3-D Mapping using Information Theory

Cooperative Multi-Robot Systems A study of Vision-based 3-D ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Rocha J. Dias A. Carvalho Institute of Systems and Robotics Faculty of Sciences and Technology University of Coimbra Coimbra Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porta Porto Portugal

Building cooperatively 3-D maps of unknown environments is one of the application fields of multi-robot systems. This article introduces a distributed architecture, within a probabilistic framework for vision-based 3-D mapping, whereby each robot is committed to cooperate with other robots through information sharing. An entropy-based measure of information utility is defined, which a robot uses for communicating to its teammates the most useful measurements, thus preventing the robot to overwhelm communication resources with redundant information. Experiments with real robots, equipped with stereo-vision, yielded important conclusions about the way robots should cooperate on sharing information.

关键词： Multirobot systems Information theory Robot kinematics Robot vision systems Mobile robots Robot sensing systems Entropy Simultaneous localization and mapping computer vision Application software

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Exploring information theory for vision-based volumetric mapping

Exploring information theory for vision-based volumetric map...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

This article presents an innovative probabilistic approach for building volumetric maps of unknown environments with autonomous mobile robots, which is based on information theory. Each mobile robot uses an entropy gradient-based exploration strategy, with the aim of maximizing information gain when building and improving a 3D map upon measurements yielded by an on-board stereo-vision sensor. The proposed framework was validated through experiments with a real mobile robot equipped with stereo-vision, in order to be further used on cooperative volumetric mapping with teams of mobile robots.

关键词： Information theory Robot kinematics Mobile robots Robot sensing systems Entropy Orbital robotics Navigation Sonar Uncertainty Simultaneous localization and mapping

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Experimental validation of multi-vehicle coordination strategies

Experimental validation of multi-vehicle coordination strate...

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2005 American Control Conference, ACC

作者： Marshall, J.A. Fung, T. Broucke, M.E. D'Eleuterio, G.M.T. Francis, B.A. Systems Control Group Department of Electrical and Computer Engineering University of Toronto 10 King's College Rd Toronto Ont. M5S 3G4 Canada Space Robotics Group University of Toronto Institute for Aerospace Studies 4925 Dufferin St Toronto Ont. M3H 5T6 Canada

Consequent to previously published theoretical work by Marshall, Broucke, and Francis, this paper summarizes the apparatus and results of multi-vehicle coordination experiments conducted at the University of Toronto institute for Aerospace Studies. These experiments successfully demonstrated the practicality of cyclic pursuit as a distributed control strategy for multiple wheeled-vehicle systems. Moreover, the pursuit-based coordination algorithm was found to be surprisingly robust in the presence of unmodelled dynamics and delays due to sensing and information processing. © 2005 AACC.

关键词： Intelligent vehicle highway systems

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Multi-contact compliant motion control for robotic manipulators

Multi-contact compliant motion control for robotic manipulat...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jaeheung Park R. Cortesao O. Khatib Robotics Group University of Stanford CA USA Electrical and Computer Engineering Department Institute of Systems and Robotics (ISR) University of Coimbra Coimbra Portugal

The paper describes the formulation of multi-contact compliant motion control. It extends our previous work to non-rigid environments. The contact forces are controlled through active observers (AOB), based on the Kalman filter theory. Noise characteristics enter in the control design and are estimated on-line. Experimental results are provided.

关键词： Motion control Robots Manipulators Force control Matrix decomposition Orbital robotics Contacts Working environment noise Control design Robotic assembly

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Model-matching control for steer-by-wire vehicles with under-actuated structure

Model-matching control for steer-by-wire vehicles with under...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： R. Cortesao N. Bajcinca Electrical and Computer Engineering Department Institute of Systems and Robotics (ISR) Coimbra Portugal German Aerospace Center (DLR-Oberpfaffenhofen) Germany

The paper presents control architecture for steer-by-wire (SBW) vehicles based on conventional ones. Estimation techniques linked to state space design enter in the control loop. The active observer (AOB) is extended to under-actuated multiple-input-multiple-output (MIMO) systems. Stochastic strategies are presented. Simulation results for the model-matching problem are presented. In the presence of road disturbances (e.g. lateral wind), SBW vehicles have superior performance.

关键词： Gears Spline Actuators Torque Teeth Automotive engineering Road vehicles Mechanical sensors Master-slave Orbital robotics

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AUV dynamics: Modelling and parameter estimation using analytical, semi-empirical, and CFD methods

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IFAC Proceedings Volumes 2004年第10期37卷 369-376页

作者： E.A. de Barros A. Pascoal E. de Sa Department of Mechatronics Engineering and Mechanical Systems University of São Paulo São Paulo SP. Brazil Institute for Systems and Robotics (ISR) and Dept. Electrical Engineering and Computers Instituto Superior Técnico Lisbon Portugal. National Institute of Oceanography Dona Paula Goa India

The paper addresses the problem of autonomous underwater vehicle (AUV) modeling and parameter estimation as a means to predict the expected dynamic performance of underwater vehicles and thus provide solid guidelines during their design phase. The use of analytical and semi-empirical (ASE) methods to predict the hydrodynamic derivatives of a large class of AUVs with conventional, streamlined bodies is discussed. An application is made to the estimation of the hydrodynamic derivatives of the MAYA AUV, an autonomous vehicle that is being developed under a joint Indian-Portuguese project. The estimates are used to predict the behavior of the vehicle in the vertical plane and to assess the impact of stern plane size on its expected performance.

关键词： Autonomous Underwater Vehicles AUV Modeling Parameter Estimation Computational Fluid Dynamics

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Learning self-organizing maps for navigation in dynamic worlds

Learning self-organizing maps for navigation in dynamic worl...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Araujo G. Gouveia N. Santos Institute for Systems and Robotics (ISR) and Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

Mobile robots must be able to build their own maps to navigate in unknown worlds. Expanding a previously proposed method [Rui Araujo et al., April 1999], based on the fuzzy ART neural architecture (FARTNA), this paper introduces a new on-line method for learning maps of dynamic worlds. For this purpose the Prune-Able fuzzy ART neural architecture (PAFARTNA) is introduced. It extends the FARTNA self-organizing neural network to include the ability to selectively perform the following additional operation on recognition categories: remove, directly update spatial span, or forced create. A method is proposed for the perception of object removals, and then integrated with PAFARTNA. Experimental results obtained with a Nomad 200 robot are presented demonstrating the feasibility and effectiveness of the proposed methods.

关键词： Self organizing feature maps Navigation Subspace constraints Mobile robots Orbital robotics Sensor phenomena and characterization Buildings computer architecture Neural networks Path planning

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Real-time adaptive control for haptic manipulation with Active Observers

Real-time adaptive control for haptic manipulation with Acti...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： R. Cortesao JaeHeung Park O. Khatib Electrical and Computer Engineering Department Institute of System and Robotics (ISR) University of Coimbra Coimbra Portugal Robotics Group University of Stanford CA USA

The paper discusses compliant motion control using Active Observers (AOBs) applied in robotic manipulators. Stochastic estimation strategies for haptic manipulation are introduced. Stability and robustness analysis is... 详细信息

关键词： Adaptive control Haptic interfaces Robot kinematics Motion control Robust stability Manipulator dynamics Iron Control system synthesis Force control Torque control

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