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Line moments and invariants for real time processing of vectorized contour data 8th

8th International Conference on Image Analysis and Processing, ICIAP 1995

作者： Lambert, Georg Gao, Hua Control System Theory and Robotics Dept. Technical University of Darmstadt Landgraf-Georg-Str.4 Darmstadt Germany Institute of Production Engineering and Machine Tools Technical University of Darmstadt Petersenstr. 30 Darmstadt64287 Germany

ISBN: (纸本)3540602984

In this article a new concept for real time analysis of images based on the vectorized contours is presented. Given the polygone approximation of contours the geometric moments can be formulated for line contours. The resulting line moments (LM’s) can be calculated for an arbitrary collection of contour fragments. Neither the existence of an area nor a closed contour is prerequisite to characterize an object by line moments. Due to these properties of the LM’s time consuming preprocessing of noisy object contours is not required. Even objects with structured surfaces can be characterized by LM’s. The formalism to apply the geometric moments to contour patterns is derived. A direct and a recursive algorithm to efficiently compute the LM’s is given. As an application of the LM’s an analysis system for structured textures is presented and results are discussed. © Springer-Verlag Berlin Heidelberg 1995.

关键词： Computers

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Time-Optimal Trajectory Planning Based on Dynamics for Industrial Robot

Time-Optimal Trajectory Planning Based on Dynamics for Indus...

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Automation, Control and robotics engineering (CACRE), International Conference on

作者： Rundong Wang Minxiu Kong Yanchun Cheng Marco Castellani School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System University of Birmingham Department of Mechanical Engineering

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

Given the trajectory of the industrial robot in Cartesian space, the existing methods only consider the kinematic constraints when optimizing the time trajectory planning, and ignore the maximum driving ability of the motor, which is likely to cause an overrun alarm and greatly reduce the trajectory accuracy. Therefore, this paper studies the timeoptimal trajectory planning algorithm based on dynamics. Firstly, the algorithm discretizes the path, calculates the Cartesian coordinates of each discrete point and the differential about the path length. Then, this algorithm considers the constraints of dynamics and kinematics, uses the principle of linear programming, recursively calculates the upper limit value of speed and the maximum acceleration value at each discrete point, and calculates the speed value at each discrete point and keeps it within its allowable ranges. Finally, this algorithm uses the speed to calculate the corresponding time of each discrete point, and according to the interpolation period, outputs the path position of each period, the position and orientation in the Cartesian space and joint parameters. The MATLAB program is written to verify the feasibility and efficiency of the algorithm.

关键词： industrial robot trajectory planning time-optimal dynamics multiple constraints

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Modified strategy to inertia weight in PSO for searching threshold of Otsu rule

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Guangxue Jingmi Gongcheng/Optics and Precision engineering 2008年第10期16卷 1907-1912页

作者： Cheng, Wan-Sheng Zang, Xi-Zhe Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Electronic and Information Engineering Liaoning University of Science and Technology Anshan 114044 China

In order to searching the best threshold of Otsu rule rapidly, a modified strategy to the inertia weight in Particle Swarm Optimization (PSO) is introduced. The strategy correlates the inertia weight in PSO with the globally best position and the individual best position in particle swarm and modifies the inertial weight by the distance between the best individual position and the globally best position. With the reduction of the distance between the globally best position and the individual best position, the inertia weight of the individual particle will be reduced, vice versa. The experimental results indicate that this algorithm decreases computational work and improves average convergence rate by 21.0726% as compared with that of traditional methods. It can speed up on-line image segmentation using this method.

关键词： Image segmentation

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Preliminary Water Tank Test of a Multi-legged Underwater Robot for Seabed Explorations

Preliminary Water Tank Test of a Multi-legged Underwater Rob...

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Oceans MTS/IEEE Washington (Conference)

作者： Seong-yeol Yoo Bong-Huan Jun Hyungwon Shim Jin-Yeong Park Hyuk Baek Bang-hyun Kim Gyeong-Mok Lee Hangoo Kang Woo-Young Jeong Se-Hoon Baek Pan-Mook Lee Marine Robotics Lab Ocean System Engineering Research Division Korea Research Institute of Ships and Ocean Engineering Daejeon Korea

ISBN: (纸本)9781467393744

This paper describes the recent preliminary tests of multi-legged seabed walking robot, Crabster(CR200) to prepare sea trials. CR200 will be deployed to west sea of Korea where has strong tidal current and turbid water. The sea trial area has been excavated as marine archaeological site. In order to perform underwater missions in these environmental conditions, we analyze the requirements for the trials and test the required functions of CR200. In the preliminary tests, six test items are tested in ocean engineering basin in KRISO (Korea Research institute of Ships and Ocean engineering). Through the tests, the required and usable functions for the trials are validated and the results are summarized.

关键词： Crabster200 Subsea robot Swimming robot Surface reverberation Preliminary water tank test

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Active tactile sensing by robotic fingers based on minimum-external-sensor-realization

Active tactile sensing by robotic fingers based on minimum-e...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Kaneko H. Maekawa K. Tanie Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan Robotics Department Mechanical Engineering Laboratory Tsukuba Japan

The authors discuss active tactile sensing for detecting a contact point between a multifingered robot hand and an unknown object. They define the concept of actively sensible meaning that an active sensing motion can be planned for a sensing event. Assuming more than two sensing events, conditional-minimum-external-sensor-realization is defined, where it is shown that it is possible to reduce the number of external sensors with a well-planned sensing algorithm. Based on these definitions, an active sensing algorithm for detecting the contact point with minimum-external-sensor-realization is proposed. This approach remedies several disadvantages found in conventional approaches. The approach was tested through experiments using a single-finger model with a fingertip tactile sensor.< >

关键词： Robot sensing systems Fingers Tactile sensors Object detection Shape Motion detection Computer science systems engineering and theory Mechanical engineering Laboratories

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive Control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Yu, Guanfeng Zhang, Han Wang, Zehao Wang, Jingchuan Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities. © 2024 IEEE.

关键词： Iterative methods

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Automatic data driven vegetation modeling for lidar simulation

Automatic data driven vegetation modeling for lidar simulati...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jean-Emmanuel Deschaud David Prasser M. Freddie Dias Brett Browning Peter Rander CAOR-Robotics Center Mathematics and System Department Mines Paris-Tech Paris France National Robotics Engineering Center and Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Traditional lidar simulations render surface models to generate simulated range data. For objects with welldefined surfaces, this approach works well, and traditional 3D scene reconstruction algorithms can be employed to automatically generate the surface models. This approach breaks down, though, for many trees, tall grasses, and other objects with fine-scale geometry: surface models do not easily represent the geometry, and automated reconstruction from real data is difficult. In this paper, we introduce a new stochastic volumetric model that better captures the complexities of real lidar data of vegetation and is far better suited for automatic modeling of scenes from field collected lidar data. We also introduce several methods for automatic modeling and for simulating lidar data utilizing the new model. To measure the performance of the stochastic simulation we use histogram comparison metrics to quantify the differences between data produced by the real and simulated lidar. We evaluate our approach on a range of real world datasets and show improved fidelity for simulating geo-specific outdoor, vegetation scenes.

关键词： Laser radar Data models Permeability Laser beams Robot sensing systems Vegetation mapping Solid modeling

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SI-CMOS-MEMS dual mass resonator for extracting mass and spring variations

SI-CMOS-MEMS dual mass resonator for extracting mass and spr...

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IEEE International Conference on Micro Electro Mechanical systems

作者： Y.-J. Fang T. Mukherjee G.K. Fedder Department of Electrical and computer Engineering Pittsburgh PA USA Department of Electrical and computer Engineering Robotics Institute Institute of Complex Engineering System Pittsburgh PA USA

This paper presents Si-CMOS-MEMS dual mass resonators (DMRs) which are fabricated using Si-CMOS-MEMS technology for extracting mass and spring variations. The CMOS chip is fabricated in BiCMOS 0.35 μm process from Jazz Semiconductor. 0.2 μm flatness of the backside silicon over 1.5 mm distance is achieved. The Si-CMOS-MEMS DMR includes proof masses, serpentine spring suspensions and comb fingers and serves as the basic structure for a z-axis differential gimbaled gyroscope. The DMR enables the extraction of process variations by comparing measured frequency response with a geometrically parameterized system-level simulation of the DMR. A model-based methodology is proposed to extract mass and spring variations. Three parameters including in-phase displacement, anti-phase displacement and the difference in displacement between two proof masses in anti-phase mode are chosen to extract the geometrical process variation parameters. The variation between the dual masses is approximately 1.2-1.5% and the spring variation is 3.1%.

关键词： Springs Silicon Frequency measurement Frequency response Fingers Displacement measurement Resonant frequency

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Geometry Control On SE（3） For A Small Size Unmanned Helicopter

Geometry Control On SE（3） For A Small Size Unmanned Helico...

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第40届中国控制会议

作者： Xun Gu Bin Xian The institute of Robotics and Autonomous System School of Electrical and Information EngineeringTianjin University School of Electronic and Communication Engineering Guiyang University

This paper presents a new geometry based attitude and position controller for a small size unmanned helicopter, which is able to achieve the agile flight maneuvers in a large flight envelope. The controller is designed on SE（3） by using the geometry control technology, which avoids the singularity inherented in the Euler angles based attitude representation, and unwinding behaviours existed in the quaternion based attitude representation. Moreover, the effects associated with the unknown external disturbances are compensated via the disturbance observers in the attitude loop and the position loop. By using the precise estimate values combined with the geometry controller, it achieves the strongly robustness to the external disturbances. Then,the Lyapunov based stability analysis is employed to prove that the proposed control algorithm can guarantee the convergence of the UAV’s position and attitude tracking errors. Finally, numerical simulations are included to show the effectiveness of the proposed control algorithm.

关键词： Unmanned helicopter attitude and position control geometric control agile flight maneuvers disturbance observer

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Optimal reaction control for the flexible base redundant manipulator system

Optimal reaction control for the flexible base redundant man...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhang, Yaowen Liu, Yechao Xie, Zongwu Moallem, Mehrdad Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province150006 China School of Mechatronic Systems Engineering Simon Fraser University VancouverBCV3T 0A3 Canada

ISBN: (纸本)9781728163215

The null space of the Jacobian for the redundant manipulators can be utilized to reach dual control goals and optimal effects. For the flexible base redundant manipulator system, the reaction force from the motion of the manipulator should be carefully handled while the end effector is tracking a desired trajectory. Different optimal goals are discussed, including the minimization of base deflection force/torque and base energy dissipation path. Considering the base reaction dynamic, the reaction force/torque is treated as the input of the base and the deflection energy is treated as the output, an integrated optimal goal is built and solved based on the LQR control to get an optimal feedback for the closed-loop dynamics. We discuss the different optimal goals and implement trough the redefined acceleration. We test the different control laws on the three- link manipulators which mounted on a three-DoF flexible base. Simulation results demonstrate that optimal goal in LQR form can be advantageous in terms of flexible base manipulator. © 2019 IEEE.

关键词： Redundant manipulators

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