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Towards a generic BRDF/BTF measurement system: Improving visual realism in robot simulators using robots

Towards a generic BRDF/BTF measurement system: Improving vis...

IEEE International Conference on Emerging Technologies and Innovative Business Practices for the Transformation of Societies (EmergiTech)

作者： Andreas Bihlmaier Fabian Stein Heinz Wörn Intelligent Process Control and Robotics Lab (IPR) Institute for Anthropomatics and Robotics (IAR) Karlsruhe Germany

It is well understood that the Bidirectional Reflectance Distribution Function (BRDF) and the Bidirectional Texture Function (BTF) are the most adequate description of real world surface appearances. However, their use is still marginal in robotics simulators, even though real-time simulation of visual sensors is common nowadays. For visual realism two aspects of the simulated objects are important: geometric and surface properties. Assuming a sufficiently accurate geometric model is available, through CAD modeling or a 3D scan, its surface or reflectance properties have to be defined. This paper describes a generic measurement system to acquire a BRDF/BTF as basis for an analytic reflectance model that can be used for simulation of visual sensors in real-time robotics simulators. We designed the system and its architecture under the constraints that it is easy to setup, does not permanently need storage space and only requires components that are already available in most robotic labs, while providing sufficiently accurate results. Our goal is to lower the entry barrier for roboticists to the extent that they can benefit in practice from the progress in BRDF/BTF research.

关键词： Service robots Real-time systems Cameras Solid modeling Robot vision systems Rendering (computer graphics)

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Self-localization by eavesdropping in acoustic underwater sensor networks

Self-localization by eavesdropping in acoustic underwater se...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Sergej Neumann David Oertel Heinz Woern Intelligent Process Control and Robotics (lPR) Karlsruhe Institute for Technology (KIT) Karlsruhe Germany

ISBN: (纸本)9781467397087;9781467397094

Localization is a common problem in underwater sensor networks. Since global navigation satellite systems do not work underwater, geo-referencing of underwater sensors requires other technologies. In this paper, we present an novel localization approach for nodes in an acoustic underwater sensor network. By combining pressure sensors with the functionality of modern acoustic USBL modems, the nodes are able to self-localize their position inside the network. This can be done in a passive manner, just by listening to the transmitted messages of other network nodes, thereby saving energy and sparing the communication channel from additional traffic. In order to evaluate the performance of the method, experiments have been conducted in simulation and under real conditions in the Middle Atlantic Ocean.

关键词： Sea measurements Sensors Acoustics Wireless sensor networks Modems Acoustic measurements Position measurement

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Fault Diagnosis Method Based on Probability Extended SDG and Fault Index

Fault Diagnosis Method Based on Probability Extended SDG and...

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World Congress on Intelligent control and Automation

作者： Ying-Jie Liu Qing-Hao Meng Ming Zeng Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University

ISBN: (纸本)9781467384155

A novel fault diagnosis method based on probability extended SDG (Signed Directed Graph) and fault index inference has been proposed. First, the SDG model is extended by fuzzification method and probability distribution. Furthermore, the model structure is simplified to reduce the search space, and the set of fault source candidates is obtained by the hierarchical method. When the system has multiple fault candidates, the fault source can be identified according to the rank order of fault index, which is calculated by fuzzy deviation, fault propagation speed and marginal probability without path information. The reactor of Tennessee Eastman process (TEP) has been taken as a simulation example. The result shows that the diagnosis method has high fault resolution and is suitable for fault location.

关键词： secoisolariciresinol diglucoside Fault diagnosis faults Rank order Fault location Model structures Probability Probability distribution

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Sliding mode tracking control for miniature unmanned helicopters

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Chinese Journal of Aeronautics 2015年第1期28卷 277-284页

作者： Xian Bin Guo Jianchuan Zhang Yao Zhao Bo The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and Automation Tianjin University

A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter＇s dynamic model is divided into two subsystems,such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles＇ dynamic effects and external disturbances. The global asymptotic stability（GAS） of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportionalintegral-derivative（PID） and linear-quadratic regulator（LQR） cascaded controller in the presence of wind gust disturbances.

关键词： unmanned sliding miniature compensate quadratic cascaded subsystem disturbance facilitate linearized

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Fusing Sound and Dead Reckoning for Multi-robot Cooperative Localization

Fusing Sound and Dead Reckoning for Multi-robot Cooperative ...

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World Congress on Intelligent control and Automation

作者： Yu-Han Cheng Qing-Hao Meng Ying-Jie Liu Ming Zeng Le Xue Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Tianjin China

ISBN: (纸本)9781467384155

This paper presents a multi-robot distributed cooperative localization method based on the fusion of sound and dead reckoning. First, each robot computes its position and orientation by dead reckoning. In order to correct the accumulative error of the dead reckoning, we periodically fuse the dead-reckoning results with the sound based relative localization using the extended Kalman filter (EKF) algorithm. Two self-made small mobile robots are adopted to carry out indoor experiments, and unknown robot is equipped with cheap sound transmitting device and the known robot is equipped with sound receiving device. By comparing the dead-reckoning results, the EKF fusion results and the motion capture localization, we find that the proposed sound based EKF algorithm might be a new solution to the multi-robot localization problem.

关键词： Robot kinematics Dead reckoning Covariance matrices Mobile robots Microphone arrays

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A Numerical Model to Simulate the Aerodynamic Olfactory Effect of the Gas-Sensitive UAV

A Numerical Model to Simulate the Aerodynamic Olfactory Effe...

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World Congress on Intelligent control and Automation

作者： Bing Luo Qing-Hao Meng Jia-Ying Wang Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Tianjin China

ISBN: (纸本)9781467384155

The attempts of robot implementations and simulation framework designs for the solution to three dimensional robot active olfaction problems are reviewed. A numerical model is proposed to dynamically simulate the gas dispersion under the air flow disturbance introduced by the rotating propellers of gas-sensitive unmanned aerial vehicles (UAVs). The model is an interdisciplinary approach that integrates free vortex methods and statistical approaches. Both velocity field and gas dispersion calculation processes are described. Theoretically the model is suitable for the simulation of all gas-sensitive UAVs which gain thrust with propellers.

关键词： Atmospheric modeling Computational modeling Robot sensing systems Three-dimensional displays Dispersion Blades three-dimensional displays Manipulator sensing systems Atmospheric models Blades Computational modeling Unmanned Aerial Vehicle gas dispersion PROPELLER drone honey bees simulating Smell dispersion Dispersion

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Boosting-Based One-Class SVM for Recognizing True-Fake Chinese Liquors Using Electronic Noses

Boosting-Based One-Class SVM for Recognizing True-Fake Chine...

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World Congress on Intelligent control and Automation

作者： Zhi-Hua Li Qing-Hao Meng Pei-Feng Qi Yu Zhou Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Department of Robotics College of Science and Engineering Ritsumeikan University

ISBN: (纸本)9781467384155

The true-fake detection of Chinese liquors can be considered as a one-class classification problem. Using only positive sample in training process brings about difficulties in determining the optimal parameters of one-class SVM and its kernel. And one-class SVM optimized with conventional grid search method has a low recognition rate of positive test samples. Hence, we proposed a new idea for recognition, namely boosting-based one-class SVM. Six different kinds of liquors were sampled by a self-designed electronic nose system. After the preprocessing and feature extraction of sample data, 18 groups of optimum parameters of one-class SVM were chosen from specified parameter range, each group was used to train a classifier with training algorithm. Then the true-fake decisions were made for test samples with boosting integration rules. Finally the recognition rates of Hongjinjiu and Lanjinjiu positive sample reached 95.24% and 100%, and the recognition rates of both positive and negative sample reached 97.04% and 94.83%, respectively.

关键词： Support Vector Network optimal parameter Electronic Nose Recognition (Psychology) Search methods Chinese Chinese Chinese philosophy Chinese art Feature extraction test sample

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Rapid Detection of Chinese Liquors Using a Portable E-nose Based on C-SVM

Rapid Detection of Chinese Liquors Using a Portable E-nose B...

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World Congress on Intelligent control and Automation

作者： Pei-Feng Qi Qing-Hao Meng Ya-Qi Jing Ming Zeng Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Department of Robotics College of Science and Engineering Ritsumeikan University

ISBN: (纸本)9781467384155

We designed a portable electronic nose (e-nose) for rapid detection of Chinese liquors. The e-nose had an evaporation chamber wrapped with silicone heating band, which could vaporize the liquor samples in 1 minute. The sequential sampling and clean-out lasted 100 seconds and 3 minutes, respectively. Hence, one fast detection process could be finished within 3 minutes without regard to clean-out. In order to acquire enough information from array's sampling curves for classification, we chose 60 features (including 6 features per sensor) according to the response curves, the derivative of the response curves and the relative change rate curves of conductivity. Then the dimension of features was reduced by principle component analysis (PCA). Finally, classification of Chinese liquors was performed using C-Support Vector Machine (C-SVM) and the classification rate was 96.7%.

关键词： Sensor arrays Conductivity Principal component analysis Gas detectors Heating Support vector machine classification Support vector machine classification Electronic Nose Gas detectors Sensor arrays principal components analysis conductivity response curves change rate Heating Chinese Chinese Chinese philosophy Chinese art

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A data-driven large-scale optimization approach for task-specific physics realism in real-time robotics simulation

A data-driven large-scale optimization approach for task-spe...

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IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)

作者： Andreas Bihlmaier Kai Kohlhoff Institute for Anthropomatics and Robotics (IAR) — Intelligent Process Control and Robotics (IPR) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Google Inc. Mountain View CA USA

ISBN: (纸本)9781509046171

Physics-based simulation of robots requires models of the simulated robots and their environment. For a realistic simulation behavior, these models must be accurate. Their physical properties such as geometric and kinematic values, as well as dynamic parameters such as mass, inertia matrix and friction, must be modelled. Unfortunately, this problem is hard for at least two reasons. First, physics engines designed for simulation of rigid bodies in real-time cannot accurately describe many common real world phenomena, e.g. (drive) friction and grasping. Second, the prime candidate solution to the model parameter problem, classical parameter identification algorithms, although well-studied and efficient, often necessitate a significant manual engineering effort and may not be applicable due to application constraints. Thus, we present a data-driven general purpose tool, which allows to optimize model parameters for (task-specific) realistic simulation behavior. Our approach directly uses the simulator and the model under optimization to improve model parameters. The optimization process is highly distributed and uses a hybrid optimization approach based on metaheuristics and the Ceres non-linear least squares solver. The user only has to provide a configuration file that specifies which model parameter to optimize together with realism criteria and a set of reference recordings from the real robot system.

关键词： Robot sensing systems Optimization Solid modeling Friction Data models Biological system modeling

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Towards 1-Component Bragg-Grating Based Shape Sensing

Towards 1-Component Bragg-Grating Based Shape Sensing

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International Conference on Information Fusion

作者： Hendrikje Pauer Manuel Rosenberger Maiko Girschikofsky Ralf Hellmann Wilderich Tuschmann Heinz Woern Institute for Anthropomatics and Robotics Intelligent Process Control and Robotics Karlsruhe Institute of Technology 76131 Germany Applied Laser and Photonics Group University of Applied Sciences Aschaffenburg 63743 Germany Institute of Algebra and Geometry Karlsruhe Institute of Technology 76131 Germany

ISBN: (纸本)9781509020126

Shape sensing based on optical fiber-Bragg-grating technology is an important field of research that promises to bring a solution for the observation and tracking of flexible tubes. Currently for shape sensing, an optical fiber with integrated Bragg-gratings is attached to a flexible material, to measure the material strain caused by bending. In this paper, a new approach for shape sensing is presented. For the first time, the Bragg-grating structures and the optical waveguides are directly inscribed in planar cyclo-olefin copolymers that can perform characteristic deformation itself. This new method solves many present problems in shape sensing. These problems are e.g. that the placement of the fibers along the carrier material is difficult to realize in practice. Also the fiber does not always connect properly to the carrier material. Thus, the material deformation can not be sufficiently applied to the fiber. The general idea of optical shape sensing and the advantages of the new concept are explained in section I and II. Further on, the manufacturing process of a prototype is described in section II-A. To use the presented 1-component sensor for shape sensing, a geometrical model is defined and assumptions regarding the behavior of the measured values are made in section II-B. The prototype is tested and the measurement data is compared to the defined model. The obtained results are shown in section III. Finally, in section IV, a conclusion of the work is given.

关键词： Shape Robot sensing systems Fiber gratings Prototypes Optical waveguides Manipulator sensing systems Optical waveguides Fiber gratings PROTOTYPE carrier material Shape field surveys measurement data FLEXIBLE MATERIALS

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