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Towards Linear Nano Servomotors with Integrated Position Sensing

Towards Linear Nano Servomotors with Integrated Position Sen...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Lixin Dong B.J. Nelson T. Fukuda F. Arai M. Nakajima Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan

Nanoscale linear servomotors with integrated position sensing are investigated from experimental, theoretical, and design perspectives. Prismatic motion is realized using the interlayer motion of telescoping multi-walled carbon nanotubes (MWNTs). Position sensing can be achieved by monitoring field emission or by measuring resistance change between a MWNT and a gold substrate during sliding movement. Experimental results demonstrate resolution in the nanometer range. Actuation experiments demonstrate the feasibility of a linear nano servomotor with integrated position sensing based on field emission. A local “kink”-like fluctuation of emission current is observed, which is caused by the change of the protruding length of the nanotube core, thus demonstrating the potential of using emission as a “linear encoder”. Complete extension of the inner core is observed and the electrostatic force is calibrated to be tens of nano-Newtons for individual nanotubes— 13.3 to 23.3 nN for voltages from 20 to 30V. These results demonstrate the possibility of fabricating linear servomotors at the nanometer scale with integrated position sensing.

关键词： Servomotors Actuators Carbon nanotubes Laser feedback Micromotors intelligent robots Space technology Electrostatics Muscles Polymers

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Development of a vision system for an outdoor service robot to collect trash on streets

Development of a vision system for an outdoor service robot ...

引用

Eighth IASTED International Conference on Computer Graphics and Imaging, CGIM 2005

作者： Fuchikawa, Y. Nishida, T. Kurogi, S. Kondo, T. Ohkawa, F. Suehiro, T. Watanabe, Y. Kawamura, Y. Obata, M. Miyagawa, H. Kihara, Y. Department of Control Engineering Kyushu Institute of Technology Kitakyushu Fukuoka 804-8550 Japan Department of Systems Innovation and Informatics Kyushu Institute of Technology Iizuka Fukuoka 820-8502 Japan Mechanics and Electronics Research Institute Fukuoka Industrial Technology Center Kitakyushu Fukuoka 807-0831 Japan FAIS Robotics Research Institute Kitakyushu Fukuoka 808-0135 Japan Yaskawa Information Systems Co. Kitakyushu Fukuoka 806-0037 Japan Kihara Iron Works Kitakyushu Fukuoka 820-1111 Japan

ISBN: (纸本)0889865140

The outdoor service robot which we call OSR-01 is presently under development intending for cleaning up urban areas by means of collecting discarded trash such as PET bottles, cans, plastic bags and so on. We, in this paper, describe the architecture of OSR-01 consisting of hardwares such as sensors, a manipulator, driving wheels, etc. for searching for and picking up trash, and softwares such as fast pattern matching for identifying various trash and distance measurement for picking up via the manipulator. After describing the vision system in detail, which is one of the most critical parts of the trash collection task, we show the result of an open experiment in which OSR-01 collects plastic PET bottles on a real shopping street in the special zone for robot research and development in Kitakyushucity.

关键词： Computer vision

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A four degree of freedom MEMS microgripper with novel bi-directional thermal actuators

A four degree of freedom MEMS microgripper with novel bi-dir...

引用

2005 IEEE/RSJ International Conference on intelligent Robots and systems

作者： M.A. Greminger A.S. Sezen B.J. Nelson Department of Mechanical Engineering University of Minnesota Minneapolis MN USA Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland

A four degree of freedom thermally actuated MEMS microgripper is presented in this paper. Each jaw of the microgripper has independent x and y degrees of freedom. These extra degrees of freedom give the gripper added dexterity for manipulating microparts. The motion of each gripper jaw is provided by a two degree of freedom compliant mechanism which is based on a five bar rigid link mechanism. This gripper also introduces a novel thermal microactuator design that is capable of bi-directional actuation giving it a greater range of motion than previous thermal actuator designs. The actuator provides a total range of motion of 12.7 /spl mu/m and a maximum force of 1.9 mN. Also, since this microgripper is based on a compliant mechanism, deformable object tracking can be used to provide force as well as position feedback for the gripper. This combination of an increased number of degrees of freedom and increased sensory feedback provides a level of dexterity that has not been previously available in microassembly.

关键词： Micromechanical devices Grippers Bidirectional control Force feedback Microassembly Thermal engineering intelligent actuators intelligent robots Force sensors Force measurement

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A Deformable Object Tracking Algorithm Robust to Occlusions and Spurious Edges

A Deformable Object Tracking Algorithm Robust to Occlusions ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Greminger B.J. Nelson Department of Mechanical Engineering University of Minnesota Minneapolis MN USA Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland

Deformable object tracking is used in many robotics applications including biomanipulation, vision-based force sensing, and the control of deformable structures. A tracking algorithm that is robust to occlusions and to spurious edges is essential since these situations can arise unexpectedly in the unstructured environments in which robots must operate. This paper presents a deformable object tracking algorithm that is robust to occlusion and to spurious edges. Robust statistical methods are used to handle occlusion and a modification of the Canny edge detector is presented to handle spurious edges. The modification of the Canny edge operator makes use of information about the object being tracked in order to eliminate spurious edges. The deformable object tracking algorithm's performance is evaluated visually and quantitively by tracking a four degree-of-freedom compliant gripper.

关键词： Robustness Grippers Robot vision systems Robot sensing systems intelligent robots Force measurement Image edge detection Micromechanical devices Deformable models Mechanical engineering

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A detection method of moving ships by image processing as a support system of AIS

A detection method of moving ships by image processing as a ...

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institute of Navigation, 2005 National Technical Meeting, NTM 2005

作者： Shimpo, M. Hirasawa, M. Nakajima, A. Shoji, R. Oshima, M. Tokyo University of Marine Science and Technology Information Systems Planning and Development Department Mitsubishi Electric Corporation Japan Institute of Navigation Robotics Society of Japan Institute of Electronics Information and Communication Engineers Japan Institute of Navigation Image Processing Radar Network System Faculty of Marine Technology Tokyo University of Marine Science and Technology Electro Technical Laboratory Ibaraki Japan Tokyo University of Mercantile Marine Tokyo Japan Institute of Electronics Information and Communication Engineers Information Processing Society of Japan Japanese Society for Artificial Intelligence Marine Engineering Society in Japan Law and Computers Association of Japan

This paper proposes a detection method of moving ships from the navigational image sequence that was taken with cameras installed on the bridge of the ship. The image is influenced by roll and pitch of the ship. Therefore, usual technique of image processing cannot be used such as Finite Difference method. Moreover, as many sea waves appear in the images, the image cannot be dealt without rejecting sea waves. The technique in this paper proposes how to get rid of the influence of roll, pitch and sea waves. After that, we detect the ships. An interval between each of the frames is one-thirty second in this experiment. The size of the images is 640 pixels in width and 480 pixels in height. At first, the frames are segmented into about 5000 regions using brightness value of the image. About 100 regions were estimated with the ship. Each region was matched with another two frames, which passed 0.33 second and 0.66 second. 0.33 second corresponds to 10 frames. The movement of the ship is less than 50 pixels in this interval. The SSDA method is used for matching processing to be more efficiently. Both the coordinate points of an original region and the matched one are recorded on the table. It is used to calculate the deflection, the speed and the direction of the moving vector of each region. The ships can be detected with these parameters. The detected ships can be displayed clearly as a result of processing. We have taken a lot of video images in Tokyo Bay and Tokyo Port. It becomes possible to show that the ships can be detected from the video images.

关键词： Navigation systems

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Autofocusing algorithm selection in computer microscopy

Autofocusing algorithm selection in computer microscopy

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2005 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Yu Sun S. Duthaler B.J. Nelson Department of Mechanical and Industrial Engineering Institute of Biomaterials and Biomedical Engineering University of Toronto Toronto Canada Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland

Autofocusing is a fundamental technology for automated biological and biomedical analyses and is indispensable for routine use of microscopes on a large scale. This paper presents a comprehensive comparison study of 18 focus algorithms in which a total of 139,000 microscope images are analyzed. Six samples were used with three observation methods (bright field, phase contrast, an d differential interference contrast (DIC)) under two magnifications (100/spl times/ and 400/spl times/). A ranking methodology is proposed, based on which the 18 focus algorithms are ranked. Image pre-processing is also conducted to extensively reveal the performance and robustness of the focus algorithms. The presented guidelines allow for the selection of the optimal focus algorithm for different microscopy applications.

关键词： Microscopy Focusing Biology computing Biomedical computing Large-scale systems Image analysis Algorithm design and analysis Interference Robustness Guidelines

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A MEMS micro force sensor for drosophila flight characterization

A MEMS micro force sensor for drosophila flight characteriza...

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IEEE International Conference on robotics and Biomimetics

作者： Yun Sun C.F. Graetzel S.N. Fry B.J. Nelson Advanced Micro and Nanosystems Laboratory University of Toronto Canada Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Switzerland Institute of Neuroinformatics University of Zürich Switzerland

This paper reports a MEMS micro force sensor with a novel configuration of differential tri-plate comb drives suitable for bulk micromachining. A high-yield fabrication process using DRIE on SOI wafers is utilized to construct the high aspect ratio devices. The sensor has a high sensitivity, good linearity, and a large bandwidth, which are required for characterizing flight behavior of fruit flies (Drosophila). The technique allows for the instantaneous measurements of flight forces, which result from a combination of aerodynamic and inertial forces generated by the wings. The potential impact of this research extends beyond gathering flight data on Drosophila melanogaster by demonstrating how MEMS technology can be used to provide valuable tools for biomechanical investigations

关键词： Micromechanical devices Force sensors Force measurement Insects Biological system modeling intelligent robots intelligent systems Turning Organisms Biomechanics

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An hybrid training method for B-spline neural networks

An hybrid training method for B-spline neural networks

引用

2005 IEEE International Workshop on intelligent Signal Processing

作者： Cabrita, Cristiano Botzheim, János Ruano, Antonio E. B. Kóczy, László T. Centre for Intelligent Systems Campus de Gambelas Universidade do Algarve 8000 Faro Portugal Department of Telecommunication and Mediainformatics Budapest University of Technology and Economics Hungary Institute of Information Technology and Electrical Engineering Széchenyi István University Györ Hungary

ISBN: (纸本)078039030X

Current and past research has brought up new views related to the optimization of neural networks. For a fixed structure, second order methods are seen as the most promising. From previous works we have shown how second order methods are of easy applicability to a neural network. Namely, we have proved how the Levenberg-Marquard possesses not only better convergence but how it can assure the convergence to a local minima. However, as any gradient-based method, the results obtained depend on the startup point. In this work, a reformulated Evolutionary algorithm - the Bacterial Programming for Levenberg-Marquardt is proposed, as an heuristic which can be used to determine the most suitable starting points, therefore achieving, in most cases, the global optimum. © 2005 IEEE.

关键词： Neural networks

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Constraints on body movement during visual development affect behavior of evolutionary robots

Constraints on body movement during visual development affec...

引用

International Joint Conference on Neural Networks (IJCNN)

作者： M. Suzuki D. Floreano E.A. Di Paolo Laboratory of Intelligent Systems Swiss Federal Institute of Technology Lausanne Switzerland Centre for Computational Neuroscience and Robotics University of Sussex Brighton UK

We explore the role of active body movement in the developmental process of the visual system. Receptive fields of an evolved mobile robot are developed during active or passive movement with the generalized Hebbian algorithm by Sanger, T.D., (1989). In accordance to experimental observations of kitten, we show that the receptive fields and behavior of the robot developed under active condition significantly differ from those developed under passive condition. A possible explanation of this difference is derived by correlating receptive field formation and behavioral performance in the two conditions.

关键词： Visual system intelligent robots Mobile robots Robot sensing systems Layout Orbital robotics Laboratories intelligent systems Feedback Plasma welding

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A generic shape matching with anchoring of knowledge primitives of object ontology

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2nd International Conference on Image Analysis and Recognition, ICIAR 2005

作者： Han, Dongil You, Bum-Jae Kim, Yong Se Suh, Il Hong Vision and Image Processing Lab. Sejong University Seoul Korea Republic of Intelligent Robotics Research Center Korea Institute of Science and Technology Seoul Korea Republic of Creative Design and Intelligent Tutoring Systems Research Center Sungkyunkwan University Suwon Korea Republic of Intelligence and Interaction Lab. Hanyang University Seoul Korea Republic of

ISBN: (纸本)3540290699

We have developed a generic ontology of objects, and a knowledge base of everyday physical objects. Objects are represented as assemblies of functional features and their spatial relations. Generic shape information of objects and features is stored using a partial boundary representation. Form-function reasoning is applied to deduce geometric shape elements from a feature's functions. We have also developed a generic geometric shape based object recognition method which uses many local features. The proposed recognition method considers the concept of ontology for representation of generic functions of objects. And the use of a general shape-function reasoning with context understanding enhances the performance of object recognition. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Object recognition

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