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[email protected] : Analysis and results of evolving competitions for domestic and service robots

Artificial Intelligence 2015年 229卷 258-281页

作者： Luca Iocchi Dirk Holz Javier Ruiz-del-Solar Komei Sugiura Tijn van der Zant Department of Computer Control and Management Engineering Sapienza University of Rome Italy Autonomous Intelligent Systems Group University of Bonn Germany Department of Electrical Engineering & Advanced Mining Technology Center Universidad de Chile Chile Information Services Platform Laboratory National Institute of Information and Communications Technology Japan Cognitive Robotics Laboratory University of Groningen The Netherlands

Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions. In this article, we present the [email protected] competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that [email protected] robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in [email protected] for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and robotics.

关键词： Robotic competitions Artificial intelligence and robotics Benchmarking

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Wheel-Legged Robot – Construction and obstacle detection sensors

Wheel-Legged Robot – Construction and obstacle detection se...

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作者： Gronowicz, A. Sperzyński, P. Szrek, J. Jakubiak, J. Wroclaw University of Technology Division of Machine Theory and Mechatronic Systems Poland Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Poland

ISBN: (纸本)9789400774841

This paper presents the general structure of wheel-legged robot module and sensory systems. The scheme, interfaces and system components will be presented. Basing on initial experiments the sensor properties and suitability for a particular task – detection, identification and overcoming encountered obstacles on the robot’s path were assessed. © Springer Science+Business Media Dordrecht 2014.

关键词： Wheels

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Corrigendum to `Parallel machine scheduling and common due window assignment with job independent earliness and tardiness costs' [Information Sciences, 224 (2013) 109–117]

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Information Sciences 2016年 357卷 217-217页

作者： Adam Janiak Władysław Janiak Mikhail Y. Kovalyov Erhan Kozan Erwin Pesch Institute of Computer Engineering Control and Robotics Wroclaw University of Technology 11/17 Janiszewskiego Str. 50-372 Wroclaw Poland Faculty of Computer Science and Management Wroclaw University of Technology 5 Lukasiewicza Str. 50-373 Wroclaw Poland United Institute of Informatics Problems National Academy of Sciences of Belarus Surganova 6 2200120 Minsk Belarus School of Mathematical Sciences QUT GPO Box 2434 Brisbane Qld 4001 Australia Institute of Information Systems University of Siegen 57068 Siegen Germany

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Autonomous parking using a highly maneuverable robotic vehicle 19

Autonomous parking using a highly maneuverable robotic vehic...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Schaub, Alexander De La Cruz, Juan Carlos Ramirez Burschka, Darius Institute of System Dynamics and Control Robotics Mechatronics Center - DLR Wessling82234 Germany Institute of Robotics and Mechatronics Robotics Mechatronics Center - DLR Wessling82234 Germany Department of Computer Science Technische Universität München Garching bei München85748 Germany

ISBN: (纸本)9783902823625

This work presents a novel autonomous parking concept for a four wheel-steerable robotic electric vehicle called ROboMObil (ROMO). Its extraordinary maneuverability, including rotations and lateral driving, and its capability of autonomous driving is demonstrated in the application of parallel parking. The whole process is described starting with the perception to identify a suitable parking spot in the near environment, planning the maneuver, and executing it autonomously. The proposed parking method is free of assumptions and does not use any information about the environment from an external source. Test results with the real vehicle are presented to show the feasibility of the concept. © IFAC.

关键词： Maneuverability

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A Hands-On Demonstration of control Performance Optimization Using Tensor Product Model Transformation and Convex Hull Manipulation

A Hands-On Demonstration of Control Performance Optimization...

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IEEE International Conference on Systems, Man and Cybernetics

作者： József Kuti Péter Galambos Péter Baranyi Péter Várlaki Antal Bejczy Center for Intelligent Robotics Obuda University Hungary Dept. of Telecommunication & Media Informatics Budapest University of Technology and Economics Magyar Hungary Institute for Computer Science and Control Hungarian Academy of Sciences Hungary Dept. of Logistics-and Forwarding Széchenyi István University Hungary

ISBN: (纸本)9781479986989

In polytopic model based controller synthesis, the vertices of the model determine the achievable performance. This paper demonstrates a complete and tractable design process exposing the polytopic qLPV model generation and a polytopeshaping technique through the example of the TORA (Translational Oscillator with a Rotational Actuator) system. The demonstrated apparatus allows for systematically improving the control performance through the manipulation of the polytopic structure based on the MVSA (Minimal Volume Simplex Analysis) algorithm. The proposed approach fits to the framework of TP Model Transformation.

关键词： Numerical models Solid modeling Actuators Cost function Algorithm design and analysis Trajectory

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Combined parametric-nonparametric identification of block-oriented systems

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2014年 454卷

作者： Mzyk, Grzegorz Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

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State of the art

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied Sciences and Technology 2014年第9783319039572期18卷 17-29页

作者： Freni, Pierluigi Botta, Eleonora Marina Randazzo, Luca Ariano, Paolo Applied Science and Technology Polytechnic University of Turin Turin Italy Mechanical Engineering McGill University Montreal Canada Control and Computer Engineering Polytechnic University of Turin Turin Italy Center for Space Human Robotics Italian Institute of Technology Turin Italy

ISBN: (纸本)9783319015644

In this chapter we wrap up our literature investigation, pointing out the key focuses and requirements to be considered. We will go through our evaluations upon actuators, sensors, control systems and we will present some designs examples. Although literature is rich in studies on limbs exoskeletons aimed to several target applications, (such as rehabilitation, function restoring and virtual reality), the stringent requisites of EVA make most of the actuation and sensing solutions unsuitable for our device. Safety reasons and pressurization of the space suit force to avoid modern actuation technologies (i.e. air muscles), and focus on traditional motors such as piezoelectric ones. For what concerns sensors and control systems, most of the currently developed exoskeletons use physiological signals and are based on Electroencefalography (EEG) and on Electromyograpy (EMG). In the latter case, a big advantage is due to the fact that input signals are picked up directly from the motor units involved in the hand control. In the next pages we also present several examples of exoskeletons, including a pinching device for rehabilitation based on a cable mechanism, one finger device based on pulleys-lever structure, the four bar mechanism, a tendon system glove for function restoring and the EVAK-Glove from NASA. Finally, a couple of examples of feedback devices for medical applications are presented, integrating a variety of sensors, such as accelerometers, ultrasound, flow, pressure and vibration sensors, heat infrared camera, gyroscopes. © The Author(s) 2014.

关键词： NASA

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The soft robotics approach

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied Sciences and Technology 2014年第9783319039572期18卷 31-61页

ISBN: (纸本)9783319015644

Starting from the user’s requirements previously defined, a new soft robotics approach was chosen and developed in order to overcome the criticalities arisen in the analysis of the state of the art. One of the key points of soft robotics is biomimicry: in place of heavy, rigid and noisy motors, artificial muscles are in charge of the movement of the soft structure, allowing a number of degrees of freedom unthinkable with traditional mechanics. The shift from hard to soft robotics brings the focus on materials: actuating and sensing devices are embedded in the material itself, which turns out to be smart. In particular, the attention was focused on Electroactive Polymers (EAPs): these polymeric materials work as transducers, converting electrical inputs into mechanical outputs, and vice versa. After an extensive material selection procedure among all the EAPs solutions currently available, Dielectric Elastomers (DEs) emerged as the most suitable materials for the intended application and a mathematical model of their electro-mechanical behavior is presented. The control of the hand exoskeleton is addressed in this section. Its objective is to help the astronaut accomplish the tasks he has to perform. The entire control system is composed of four phases: the recognition of the astronaut’s will (detect and distinguish the different movements), the control strategy, the enhancement of these movements and the measure of the actual position and force. The final measure system was implemented focusing on redundancy, safety control and to assure minimum performances also in off-nominal conditions. © The Author(s) 2014.

关键词： Degrees of freedom (mechanics)

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Concept layout

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied Sciences and Technology 2014年第9783319039572期18卷 63-84页

ISBN: (纸本)9783319015644

The chapter presents the design of the device actuators and sensors in terms of concept developing, dimensioning, testing and prototyping. Inspired by soft robotics concept, the design of actuators is based on the characteristics of dielectric elastomers and their relationship between voltage applied and material elongation. Smart material properties are exploited in the multiple layers actuator proposed, capable of performing both linear elongation and bending, by means of the application of different voltage levels to different layers. Calculations of the torques required by the hand actions and, consequently, the maximum stress are presented. Then, the choice of the material leads to the identification of the correct dimensioning of the system, in terms of voltage to be applied and thick of the actuator layers. In order to control the actuation according to the human will, sensors based on physiological signals are required. EMG and MMG based sensors are chosen, specifying the sensors number and positioning required for an effective human will identification. Pressure sensors, realized with dielectric elastomers, give the feedback of the system. Calculations relating voltage measured and pressure applied on the sensors are presented. Finally, the prototyping and testing phase is described, in which two mockup hands are realized for a proof of concept while EMG and MMG sensors are tested. Experimental setup and qualitative results are extensively described. © The Author(s) 2014.

关键词： Actuators

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Introduction

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied Sciences and Technology 2014年第9783319039572期 1-2页

作者： Freni, Pierluigi Botta, Eleonora Marina Randazzo, Luca Ariano, Paolo Applied Science and Technology Polytechnic University of Turin Turin Italy Mechanical Engineering McGill University MontrealQC Canada Control and Computer Engineering Polytechnic University of Turin Turin Italy Center for Space Human Robotics Italian Institute of Technology Turin Italy

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