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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Adam Ratajczak Krzysztof Tcho(n) Institute of Computer Engineering Control and RoboticsWroc(l)aw University of TechnologyJaniszewski str. 11/1750-372 Wroc(l)aw

The paper presents a task–priority motion planning algorithm for a balancing robot, derived from the endogenous configuration space approach. The motion planning problem is composed of three sub–tasks. Firstly, the robot has to reach a desirable point in task space (proper motion planning). Secondly, the upward position of the robot torso should be maintained during the motion. Thirdly, the motion should save the control energy. Performance of our algorithm is presented in simulations.

关键词： Jacobian matrices Planning Heuristic algorithms Mobile robots Aerospace electronics Minimization

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Synergy level impedance control for multifingered hands

Synergy level impedance control for multifingered hands

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thomas Wimböck Benjamin Jahn Gerd Hirzinger Institute of Robotics and Mechatronics German AeroSpace Center (DLR) Wessling Germany Control Engineering Group Computer Science and Automation Faculty Ilmenau University of Technology Ilmenau Germany

In many robotic manipulation tasks a robotic hand is used to just grasp and fix the object of interest while the object motion is performed by the arm. Motivated by the analysis on human grasping using data reduction techniques, we applied this concept to the DLR Hand II. Therefore, we analyzed the grasp database that was grown over the past years to find suitable robotic ¿synergy coordinates¿. 74% of these grasps can be represented by two coordinates that were originally defined by 12 joint variables. As a second step, a synergy impedance controller was derived and implemented extending the work on passivity based hand control at DLR. This controller for torque-controlled robot hands allows to imitate the behavior of a synergistic, respectively underactuated, hand. Such a controller provides furthermore a simplified interface for higher level grasping strategies and allows furthermore to manually teach new grasps easily. The controller was evaluated on the DLR Hand II by commanding steps that demonstrate the desired transient behavior. Finally, two objects were successfully grasped validating our approach.

关键词： Robot kinematics Joints Impedance Databases Grasping Symmetric matrices

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Revealing Cluster Formation over Huge Volatile Robotic Data

Revealing Cluster Formation over Huge Volatile Robotic Data

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IEEE International Conference on Data Mining Workshops (ICDM Workshops)

作者： Nikos Mitsou Irene Ntoutsi Dirk Wollherr Costas Tzafestas Hans-Peter Kriegel Institute of Automatic Control Engineering Technische Universität München Germany School of Electrical and Computer Engineering Division of Signals Control and Robotics National and Technical University of Athens Greece Institute of Informatics Ludwig-Maximilians University of Munich Germany

In this paper, we propose a driven by the robotics field method for revealing global clusters over a fast, huge and volatile stream of robotic data. The stream comes from a mobile robot which autonomously navigates in an unknown environment perceiving it through its sensors. The sensor data arrives fast, is huge and evolves quickly over time as the robot explores the environment and observes new objects or new parts of already observed objects. To deal with the nature of data, we propose a grid-based algorithm that updates the grid structure and adjusts the so far built clusters online. Our method is capable of detecting object formations over time based on the partial observations of the robot at each time point. Experiments on real data verify the usefulness and efficiency of our method.

关键词： Vectors Three dimensional displays Robot sensing systems Robot kinematics Clustering algorithms

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Periodic disturbance rejection of a PMSM with adaptive control algorithms

Periodic disturbance rejection of a PMSM with adaptive contr...

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IEEE International Conference on Electric Machines and Drives (IEMDC)

作者： Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Department of Electrical and Computer Engineering University of Utah Salt Lake UT USA

Permanent magnet synchronous motors (PMSMs) produce a parasitic oscillating torque due to several reasons. This contribution cancels the oscillating torque with adaptive control algorithms. Therefore a mathematical model of the PMSM is necessary. A model with nonlinear dynamics and a Fourier approach for the ripples is used as a mathematical description. Through comparisons between measured data and simulated data it is shown that the model assumptions are valid. The adaptive algorithm is implemented as an add-on controller to the already existing control system which consists of a feedforward part and a basis controller. The challenge is that the closed loop system has a resonant frequency and the algorithm should have the same performance for all frequencies. Experimental results show the performance and convergence of the adaptive algorithm at constant and non constant velocity.

关键词： Torque Mathematical model Transfer functions control systems Feedforward neural networks Equations Adaptation models

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Fast and energy-efficient constant-coefficient FIR filters using residue number system 11

Fast and energy-efficient constant-coefficient FIR filters u...

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International Symposium on Low Power Electronics and Design (ISLPED)

作者： Piotr Patronik Krzysztof Berezowski Stanisław J. Piestrak Janusz Biernat Aviral Shrivastava Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland IRISA Lannion France Compiler Microarchitecture Laboratory Arizona State University Tempe AZ USA

ISBN: (纸本)9781612846606

In this paper, we present constant-coefficient finite impulse response (FIR) filters design using residue number system (RNS) arithmetic. The novelty of our approach rests in an attempt to maximize the accumulated benefit of the application of RNS to the design of constant coefficient filters. To achieve this, we consider the impact of RNS on many layers: from coefficient representation and techniques of sharing of subexpressions in the multiplier block (MB), to its optimized usage in the MB and accumulation pipeline hardware design. As a result, we propose a common subexpression elimination (CSE) based synthesis technique for RNS-based MBs, along with a high-performance RNS-based FIR filter architecture that employs RNS arithmetic principles but implements them mainly using more efficient 2's complement hardware. Several filters with numbers of taps ranging from 25 to 326 and dynamic ranges from 24 to 50 bits have been synthesized using TSMC 90 nm LP kit and Cadence RTL Compiler. Comparison of power, delay, and area of the new filters implemented using the 4- and 5-moduli RNSs against various equivalent 2's complement counterparts show uniform improvement in performance and power efficiency, often accompanied by significant reduction in area/power consumption as compared to 2's complement implementations. We observed up to 22% improvement in peformance (19% reduction in area) within bounded power envelope, or up to 14% reduction in power consumption (12% reduction in area) at same frequency.

关键词： Finite impulse response filter Adders Pipelines Hardware Spirals Power demand Delay

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Extracting salient lines by Visual Attention for omnidirectional image classification

Extracting salient lines by Visual Attention for omnidirecti...

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IEEE Symposium on Computational Intelligence for Multimedia, Signal and Vision Processing (CIMSIVP)

作者： AmirHossein Habibian Majid Nili-Ahmadabadi Babak Nadjar Araabi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran School of Cognitive Sciences Institute for Research in Fundamental Sciences Tehran Iran

Representing an image as a set of its key and interesting lines facilitates the image understanding and classification. In this paper, we propose a method to extract the significant and interesting lines of the scene, which probably are useful in image classification. The proposed method is inspired from the Visual Attention, which is a perceptual mechanism in human and other primates that direct their perceptions to the limited regions of the scene. The attended regions are usually valuable in performing the task. Since the approach of using the lines to classify the images is particularly useful for omnidirectional images, we specialize our method to deal with these kinds of images. In the experiments, we demonstrate how our proposed methods improve the image classification performance with processing only small parts of the input images.

关键词： Feature extraction Visualization Image classification Gabor filters Image edge detection Histograms Computational modeling

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Gearbox Ripple Rejection of Robots Using Observer and Adaptive control Theory

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IFAC Proceedings Volumes 2011年第1期44卷 893-898页

作者： Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Muenchner Str. 20 Department of Electrical and Computer Engineering University of Utah 50 S Central Campus Dr. Salt Lake City UT 84112 USA

Abstract Robots are often run with permanent magnet synchronous motors (PMSM) with a high ratio gearbox. Both parts can produce parasitic oscillations (ripples), which let the robot shake at tool center point. The gearbox ripple problem is more complicated to be solved with control theory because only motor side sensors should be used. Due to the internal model principle gearbox side information is necessary to solve the problem. The first algorithm uses an observer to get gearbox side information where the second algorithm uses a gearbox side rate sensor. The algorithms are tested with a nonlinear SISO problem and with a nonlinear MIMO system. In both cases the ripples are canceled with an adaptive controller which estimates the phase and magnitude of the ripple. This adaptive controller is designed separately and is added to the existing basis controller. The algorithms are tested in simulation and on a testbed, which is an industrial application.

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Introduction

Communications and Control Engineering

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Communications and control Engineering 2011年第9780857292551期 1-15页

作者： Sun, Zhendong Ge, Shuzhi Sam College Automation Science & Engineering Center for Control and Optimization South China University of Technology Guangzhou510640 China Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore Robotics Institue and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China

Chapter 1 briefly introduces the problem formations and the organization of the book. In particular, given a feasible set of switching signals, the concepts of stability and stabilizability are introduced, and the related problems of stability and stabilization are briefly formulated and discussed. Examples and simulations are provided to exhibit the primary features of the problems with various switching mechanisms. © 2011, Springer-Verlag London Limited.

关键词： Stabilization

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Differential evolution for multi-objective optimization with self adaptation

Differential evolution for multi-objective optimization with...

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14th International Conference on Intelligent Engineering Systems, INES 2010

作者： Cichoń, A. Szlachcic, E. Kotowski, J.F. Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

ISBN: (纸本)9781424476527

In the paper an adapted version of the differential evolution algorithm has been created to solve a multiobjective optimization problem. Multi-objective Differential Evolution Algorithm using vector differences for perturbing the vector population with self adaptation is introduced. Through the combination of mutation strategies and self adaptation of crossover and differentiation constants the proposed MO algorithm performs better than the one with the simple DE scheme in terms of computation speed and quality of the generated multi-objective non-dominated solutions. © 2010 IEEE.

关键词： Multiobjective optimization

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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

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IEEE International Conference on robotics and Biomimetics

作者： Shuai Yuan Lianqing Liu Zhidong Wang Ning Xi Yuechao Wang Zaili Dong Zhiyu Wang Zhibo Wang College of Information & Control Engineering of Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Department of Advanced Robotics Chiba Institute of Technology Department of Electrical and Computer Engineering Michigan State University

ISBN: (纸本)9781457721366

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm.

关键词： Atomic Force Microscopy terminal interface processor nonlinearity based model parameters Drift models

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