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Analysis of Gait Control of Wall-Climbing Caterpillar Robot

Analysis of Gait Control of Wall-Climbing Caterpillar Robot

2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： G. H. Zong W. Wang K. Wang D. Z. Li X. Y. Ma H. X. Zhang Robotics Institute School of Mechanical Engineering and AutomationBeihang University100191Beijing Institute of Technical Aspects of Multimodal Systems Department of Computer ScienceUniversity of Ha

ISBN: (纸本)9781424447749

In order to verify the benefit of four links kinematical method, the mathematical model of four links kinematics is established. The kinematical parameters of passive joints can be calculated according to the rotation of active joint. Then the wall-climbing robot can climb the vertical wall through the coordinated rotation of active joint and passive joints. To testify the feasibility of the four links kinematical method, a wall-climbing caterpillar robot based on vibrating suction method is developed. An experiment of wall-climbing confirms the kinematical method mentioned above. The result shows that the four links kinematical method is simple and reliable although some errors exist. At last, the conclusions and future works are present.

关键词： CLIMBING WALL Gait control Caterpillar Joints Joints Robot Analysis kinematics

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Noncontact manipulation of Ni nanowires using a rotating magnetic field

Noncontact manipulation of Ni nanowires using a rotating mag...

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IEEE Conference on Nanotechnology

作者： Li Zhang Yang Lu Lixin Dong R. Pei Jun Lou Bradley E. Kratochvil Bradley J. Nelson Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Department of Mechanical Engineering & Materials Science Rice University Houston TX USA Department of Electrical & Computer Engineering Michigan State University East Lansing MI USA

ISBN: (纸本)9781424448326

Ni nanowires (NWs) are driven in water using a rotating magnetic field. The NWs show various locomotion performances under different boundary conditions. Pure rotation occurs when the two ends of the NWs are homogenously constrained. However, if the boundary conditions are different at the two ends of the NWs, tumbling motion, i.e., rotation plus translation, will be generated, which leads to the propulsion of NWs near a wall. These motions of NWs can be steered by the magnetic field. In addition, we present that the two NWs self-assemble to form a single NW with the magnetic field. The results imply that magnetic field is a promising approach for noncontact manipulation of Ni NWs or other 1-D ferromagnetic nanostructures at low Reynolds number aqueous environment in a controllable fashion.

关键词： Nanowires Magnetic fields Nanostructures Propulsion Boundary conditions intelligent robots Biomedical optical imaging Optical sensors Magnetic liquids Electrodes

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Pedestrian Detection Fusion Method Based on Mean Shift

Pedestrian Detection Fusion Method Based on Mean Shift

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International Conference on Machine Vision (ICMV)

作者： Liping Yu Wentao Yao College of Computer Science and Technology Shandong Institute of Business and Technology Yantai China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science & Technology Tsinghua University Beijing China

Detecting pedestrians is a challenging task, which requires precise localization of pedestrians that appear in images and videos. Window-scanning based detection methods have demonstrated their promise by scanning the image densely with multi-scale detection window. However, an essential and critical issue, i.e., how to fuse these dense detections obtained through pedestrian detector and yield the final target detection, is not well addressed in the literature. This paper proposes and implements a general method for fusing pedestrian detections. In this method, detection fusion is regarded as a kernel density estimate and implemented through mean shift iterative procedure. Moreover, the notion of nearest neighbor consistency is adopted, which significantly accelerates the fusion procedure. Experimental results demonstrate the efficiency of the mean shift-based fusion method.

关键词： Phase detection Fuses Nearest neighbor searches Support vector machines Support vector machine classification computer science Detectors Object detection Shape Humans

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Decentralized adaptive control of a class of discrete-time multi-agent systems for hidden leader following problem

Decentralized adaptive control of a class of discrete-time m...

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2009 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Shuzhi Sam Ge Chenguang Yang Yanan Li Tong Heng Lee Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu China Department of Electrical and Computer Engineering National University of Singapore Singapore

In this paper, adaptive control is investigated for a class of discrete-time nonlinear multi-agent systems (MAS). Each agent is of uncertain dynamics and is affected by other agents in its neighborhood. An agent is able to sense the outputs of the agents inside its neighborhood but is unable to sense those outside its neighborhood. Among all the agents, there is a hidden leader, which knows the desired tracking trajectory, but it is affected by and can only affect those agents inside its neighborhood while all other agents are not aware of its leadership. The decentralized adaptive control is designed for each agent by using the information of its neighbors. Under the proposed decentralized adaptive controls, both rigid mathematical proof and simulation studies are provided to show that all the agents are guaranteed to reach their common goal, i.e., following the desired reference.

关键词： Adaptive control Multiagent systems Automatic control Distributed control intelligent robots Control systems Trajectory computer architecture Robot kinematics Delay

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Micromanipulation using artificial bacterial flagella

Micromanipulation using artificial bacterial flagella

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2009 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Li Zhang Jake J. Abbott Lixin Dong Bradley E. Kratochvil Haixin Zhang Kathrin E. Peyer Bradley J. Nelson Multi Scale Robotics Lab Institute of Robotics and intelligent Systems ETH Zurich Zurich Switzerland Department of Mechanical Engineering University of Utah Salt Lake UT USA Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA

Artificial bacterial flagella (ABF) are swimming microrobots that mimic the swimming motion of bacteria. The helical swimmer consists of an InGaAs/GaAs/Cr helical nanobelt tail fabricated by a self-scrolling technique with dimensions similar to a natural flagellum, and a thin soft-magnetic metal ¿head¿ consisting of a Cr/Ni/Au multi-layer. The swimming locomotion of ABF is precisely controlled in 3-D by external rotating magnetic fields. Microsphere manipulation is performed by ABF, and experimental results show that both the position and the orientation of microspheres can be precisely controlled. The propelling force of ABF is in the pico-Newton range. We also describe a swarm-like behavior in which three ABF swim in a pack, indicating the potential to handle several micro objects in parallel. Self-propelled devices such as these are candidates for wireless 6-DOF micro and nanomanipulation tools for handling cellular and sub-cellular objects.

关键词： Microorganisms Chromium Indium gallium arsenide Gallium arsenide Tail Gold Magnetic fields Propulsion Force control Nanoscale devices

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Optimal braking control for UW-Car using sliding mode

Optimal braking control for UW-Car using sliding mode

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IEEE International Conference on robotics and Biomimetics

作者： Feng Ding Jian Huang Yongji Wang Xueshan Gao Takayuki Matsuno Toshio Fukuda Kosuke Sekiyama Department of Control Science & Engineering Huazhong University of Science and Technology Wuan Hubei China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Department of Intelligent System Design Engineering Toyama Prefectural University Imizu Japan Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan

ISBN: (纸本)9781424447749;9781424447756

There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel structure including an MWIP system and a movable seat called UW-Car is proposed in the study. The dynamic model of UW-Car system running in the flat ground is obtained by applying Lagrange's motion equation. A sliding mode control (SMC) method is proposed for the dynamic model, which is capable of both handling the mismatched perturbation and keeping the body upright. An optimal braking scheme is introduced which reduces the velocity of UW-Car to zero first and adjusts the displacement of seat to the centre position. Genetic Algorithm (GA) is adopted to search the optimal parameters for sliding mode controller. The optimal braking scheme is implemented by on-line switching three sliding mode controllers. The effectiveness of the proposed methods is finally confirmed by numerical simulation.

关键词： Optimal control Sliding mode control Vehicle dynamics Mechanical systems Mobile robots intelligent robots intelligent vehicles Lagrangian functions Equations Genetic algorithms

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Probabilistic structure from sound

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Advanced robotics 2009年第12-13期23卷 1687-1702页

作者： Wang, Chieh-Chih Lin, Chi-Hao Hu, Jwu-Sheng Department of Computer Science and Information Engineering Graduate Institute of Networking and Multimedia National Taiwan University Taipei 10617 Taiwan Intelligent Robotics Program of Industrial Technology Research Institute Department of Electrical and Control Engineering National Chiao Tung University HsinChu 310 Taiwan

Auditory perception is one of the most important functions for robotics applications. Microphone arrays are widely used for auditory perception in which the spatial structure of microphones is usually known. In practice, microphone array calibration can be tedious and other devices or means are required. The structure from sound (SFS) approach addresses the problem of simultaneously localizing a set of microphones and a set of acoustic events that provides a great flexibility to calibrate different setups of microphone arrays. However, the existing method does not take measurement uncertainty into account and does not provide uncertainty estimates of the SFS results. In this paper, we propose a probabilistic structure from sound (PSFS) approach using the unscented transform in which the uncertainties of the PSFS results are also available. In addition, a probabilistic sound source localization approach using the PSFS results is provided to improve sound source localization accuracy. The ample results of simulation and experiments using low-cost, off-the-shelf microphones demonstrate the feasibility and performance of the proposed PSFS approach. © 2009 VSP.

关键词： Microphone array

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Data communication crypto protocol for security systems sensor networks

Data communication crypto protocol for security systems sens...

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IEEE International Workshop on intelligent Data Acquisition and Advanced Computing systems: Technology and Applications

作者： P. Bykovyy V. Kochan Y. Kinakh A. Sachenko O. Roshchupkin S. Aksoy G. Markowsky Ternopil National Economic University Research Institute of Intelligent Computer Systems Ternopil Ukraine Computer Science Faculty Chernivtsi National University Chernivtsi Ukraine Electronics Engineering Department Gebze Institute of Technology Gebze Kocaeli Turkey Department of Computer Science Orono ME USA

This paper describes hardware implementations of crypto protocol elements for secured data communication in two wired networks of security system detectors. Those elements are basic to crypto protocol development for that type of network. In addition, hardware tools for the network controller and the network server that support this protocol were developed. These tools will allow us to test and debug the proposed security elements and the crypto protocol.

关键词： Data communication Cryptography Protocols Communication system security Data security Sensor systems Hardware Detectors Communication system control Network servers

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Outer shape classification in rotation manipulation by Universal Robot Hand

Outer shape classification in rotation manipulation by Unive...

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IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS

作者： Hiroyuki Nakamoto Wataru Fukui Futoshi Kobayashi Fumio Kojima Nobuaki Imamura Hidenori Shirasawa Department of Computer Science and Systems Engineering Kobe University Kobe Japan Department of Mechanics and Robotics Hiroshima International University Kure Japan Advanced Materials Processing Institute Amagasaki Japan

We propose a method for shape classification in continuous rotation manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Each tactile sensor can measure a pressure distribution once every 10(ms) while the robot hand rotates the object continuously. Our proposed classification method consists of the following processes: A kurtosis is calculated from each pressure distribution, and it quantifies shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. Finally, a evaluated value is calculated between the time-series kurtosis and reference patterns through a continuous dynamic programming (CDP) matching scheme. The contact shape is classified if the evaluated value is lower than a threshold. We show the effectiveness of our method through experiments.

关键词： Shape Robot sensing systems Tactile sensors Humans Humanoid robots Fingers Service robots Rotation measurement Pressure measurement Pattern matching

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Fatigue level estimation of bill based on feature-selected frequency band acoustic signal by using supervised SOM

Fatigue level estimation of bill based on feature-selected f...

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作者： Teranishi, Masaru Omatu, Sigeru Kosaka, Toshihisa Hiroshima Institute of Technology Department of Information Systems and Management 2-1-1 Miyake Saeki-ku Hiroshima 731-5193 Japan Osaka Prefecture University Department of Computer Science and Intelligent Systems 1-1 Gakuen-cho Sakai Osaka 599-8531 Japan Glory Ltd. 3-1 Shimoteno Himeji Hyogo 670-8567 Japan

ISBN: (纸本)9789604741274

Fatigued bills have harmful influence on the daily operation of Automated Teller Machine(ATM). To make the classification of fatigued bills more efficient, the development of an automatic fatigued bill classification method is desirable. We propose a new method to estimate the fatigue level of bill from the feature-selected frequency band acoustic energy pattern of banking machines. By using a supervised self-organizing map (SOM), we effectively estimate the fatigue level using only the feature-selected frequency band acoustic energy pattern. Furthermore, the feature-selected frequency band acoustic energy pattern improves estimation accuracy of fatigue level of bills by adding frequency domain information to acoustic energy pattern. The experimental results with real bill samples shows the effectiveness of the proposed method.

关键词： Self organizing maps

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