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Cooperative Autonomous Marine Vehicle motion control in the scope of the EU GREX Project: Theory and Practice

Cooperative Autonomous Marine Vehicle motion control in the ...

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OCEANS - Europe

作者： A. Aguiary J. Almeiday M. Bayaty B. Cardeiray R. Cunhay A. Hauslery P. Mauryay A. Oliveiray A. Pascoaly A. Pereira M. Rufinoy L. Sebastiaoy C. Silvestrey F. Vanniy Dept. Electrical Engineering and Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) Lisbon Portugal Department Computer Science University슠of슠Southern California USA Dept. Computer Science Univ. Southern California (USC) USA

This paper describes the core of the research work done by the isr/IST team on cooperative autonomous marine vehicle (AMV) motion control in the scope of the EU Project GREX - coordination and control of cooperating heterogeneous unmanned systems in uncertain environments. The first part of the paper affords the reader a concise introduction to the general problem of cooperative motion control of fleets of AMVs by highlighting illustrative mission scenarios developed collectively by the GREX partners and summarizing the main challenges that they pose to system engineers. This is followed by the description of a general architecture for cooperative autonomous marine vehicle control in the presence of time-varying communication topologies and communication losses that is rooted in a solid control-theoretic framework. The results of simulations with the NetMar SyS - networked marine systems simulator - of isr/IST are presented and show the efficacy of the algorithms developed for cooperative motion control. The last part of the paper focuses on practical issues and describes the results of tests at sea in the Azores, in the Summer of 2008. The paper concludes with a critical review of the work done and a discussion of theoretical and practical implementation issues that warrant further research and development effort.

关键词： Marine vehicles Motion control Communication system control Control systems Automotive engineering systems engineering and theory Network topology Solids Testing Research and development

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Temporally and spatially deconflicted path planning for multiple autonomous marine vehicles

Temporally and spatially deconflicted path planning for mult...

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作者： Häusler, Andreas J. Ghabcheloo, Reza Pascoal, António M. Aguiar, A. Pedro Kaminer, Isaac I. Dobrokhodov, Vladimir N. Institute for Systems and Robotics Dept. of Electrical Engineering Instituto Superior Técnico Av. Rovisco Pais No. 1 1049-001 Lisboa Portugal Department of Intelligent Hydraulics and Automation Tampere Univ. of Technology P.O. Box 589 33101 Tampere Finland Department of Mechanical and Astronautical Engineering Naval Postgraduate School Monterey CA 93943 United States

ISBN: (纸本)9783902661517

There is currently a surge of interest in the development of advanced systems for cooperative control of multiple autonomous marine vehicles. Central to the implementation of these systems is the availability of efficient algorithms for multiple vehicle path planning that can take explicitly into account the capabilities of each vehicle and existing environmental conditions. Multiple vehicle path planning methods build necessarily on key concepts and algorithms for single vehicle path following. However, they go one step further in that they must explicitly address intervehicle collision avoidance, together with a number of criteria that may include simultaneous times of arrival at the assigned target points and energy minimization, to name but a few. As such, they pose considerable challenges both from a theoretical and practical implementation standpoint. This paper is a short overview of multiple vehicle path planning techniques. The exposition is focused on specific algorithms developed in the scope of research work in which the authors have participated. Namely, algorithms that ensure that at no time will two vehicles get closer in space than a desired safety distance, that is, achieve trajectory deconfliction. The algorithms make ample use of direct optimization methods that lead to efficient and fast techniques for path generation using a polynomial-based approach. The paper affords the reader a fast paced presentation of key algorithms that had their genesis in the aircraft field, discusses the results of simulations, and suggests problems that warrant further consideration. © 2009 IFAC.

关键词： Motion planning

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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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Aspect ratio dependent etch modulation for CMOS-MEMS applications

Aspect ratio dependent etch modulation for CMOS-MEMS applica...

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International Conference on Solid State Sensors and Actuators (TRANSDUCERS)

作者： P. J. Gilgunn J. F. Alfaro G. K. Fedder Electrical and Computer Engineering Department Carnegie Mellon University Pittsburgh PA USA Silicon Microstructures Inc. Milpitas CA USA Electrical and Computer Engineering Department The Institute of Complex Engineered Systems The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

A unified, semi-empirical model of etch depth for a Bosch-type, inductively coupled plasma (ICP), silicon deep reactive ion etch (DRIE) process is reported. Aspect ratio dependent etch modulation (ARDEM) is modeled using Coburn and Winters' approach with Dushman's approximation of the vacuum conductance correction factor. The use of microdonut test structures to extract model parameters is described. The model is accurate to within 9% for an open-field depth of 150 mum on microdonut test structures. An application of ARDEM in the processing of CMOS-MEMS devices is presented.

关键词： Etching Semiconductor device modeling Testing Silicon Plasma applications Surface treatment Application software systems engineering and theory Robots Microstructure

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Experimental study on manipulator design for low collision impact force

Experimental study on manipulator design for low collision i...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yusuke Sugahara Keigo Noha Kazuhiro Kosuge Jun'ichiro Ooga Hideichi Nakamoto Takashi Yoshimi Department of Bioengineering and Robotics University of Tohoku Sendai Japan Department of Bioengineering and Robotics University of Tohoku Japan Mechanical Systems Laboratory Corporate Research & Development Center Toshiba Corporation Kawasaki Japan Department of Electrical Engineering Shibaura Institute of Technology Tokyo Japan

This paper experimentally studies how the mechanism and system design of a manipulator affect the impact force when the manipulator collides with its environment. Although considerable safety-related research has been conducted, there has been no research comparing tendon-driven and direct-driven mechanisms. In this paper, from the perspective of impact force and impulse, two types of driving mechanisms are experimentally compared; a tendon-driven mechanism and a direct-driven mechanism. Also the effect of the absorber and the collision detection system are experimentally investigated. Finally, based on the knowledge obtained above, a single system design method of the manipulator to reduce the collision impact force is proposed and experimentally evaluated.

关键词： Humans Actuators Manipulators Safety Service robots Orbital robotics Robot sensing systems Gears Hardware Force control

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Robot navigation and manipulation based on a predictive associative memory

Robot navigation and manipulation based on a predictive asso...

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IEEE International Conference on Development and Learning, ICDL

作者： Sascha Jockel Mateus Mendes Jianwei Zhang A. Paulo Coimbra Manuel Crisostomo CINACS International Research Training Group Technical Aspects of Multimodal Systems (TAMS) Department of Informatics University of Hamburg Hamburg Germany ISR-Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal Escola Superior de Tecnologia e Gestäo de Oliveira do Hospital (ESTGOH) Instituto Politécnico de Coimbra Coimbra Portugal

Proposed in the 1980s, the sparse distributed memory (SDM) is a model of an associative memory based on the properties of a high dimensional binary space. This model has received some attention from researchers of different areas and has been improved over time. However, a few problems have to be solved when using it in practice, due to the non-randomness characteristics of the actual data. We tested an SDM using different forms of encoding the information, and in two different domains: robot navigation and manipulation. Our results show that the performance of the SDM in the two domains is affected by the way the information is actually encoded, and may be improved by some small changes in the model.

关键词： Robots Navigation Associative memory Neurons Testing Encoding Artificial intelligence Costs Computer architecture Degradation

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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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Path planning for multiple marine vehicles

Path planning for multiple marine vehicles

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OCEANS - Europe

作者： Andreas J. Hausler Reza Ghabcheloo Isaac Kaminer Antonio M. Pascoal A. Pedro Aguiar Institute of Systems and Robotics and Department of Electrical Engineering Intistitu Superior Técnico Lisboa Portugal Department of Intelligent Hydraulics and Automation Tampere University of Technology Tampere Finland Department of Mechanical and Astronautical Engineering Naval Postgraduate School Monterrey CA USA

Motivated by increasingly complex and challenging missions at sea, there is widespread interest in the development of advanced systems for cooperative control of multiple autonomous marine vehicles. Central to the implementation of these systems is the availability of efficient algorithms for multiple vehicle path planning that can take explicitly into account the capabilities of each vehicle and existing environmental conditions. Examples include path planning to steer a group of marine vehicles and enable them to reach a specific target site simultaneously with a desired formation pattern, while avoiding inter-vehicle collisions, and online path replanning for a vehicle fleet upon detection of episodic events or obstacles. Multiple vehicle path planning methods build necessarily on key concepts and algorithms for single vehicle path following. However, they go one step further in that they must explicitly address such issues as inter-vehicle collision avoidance and simultaneous times of arrival. As such, they pose considerable challenges both from a theoretical and practical implementation standpoint. This paper is a brief survey of multiple vehicle path planning techniques. The exposition is focused on specific algorithms for path planning developed in the scope of research work in which the authors have participated. The algorithms make ample use of direct optimization methods that lead to efficient and fast techniques for path generation. The paper affords the reader a fast paced presentation of key algorithms that had their genesis in the aircraft field, discusses them critically, and suggests problems that warrant further consideration.

关键词： Path planning Marine vehicles Remotely operated vehicles Mobile robots Intelligent robots robotics and automation Automotive engineering Vehicle detection Contracts Intelligent vehicles

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Computer Vision and Computer Graphics Theory and Applications: International Conference VISIGRAPP 2007 Barcelona, Spain, March 8-11, 2007 Revised Selected Papers

Computer Vision and Computer Graphics Theory and Application...

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作者： Braz, José Ranchordas, Alpesh Araújo, Hélder J. Pereira, João Madeiras Departamento de Sistemas e Informatica Escola Superior de Tecnologia do IPS 2910 Setúbal Portugal INSTICC 2910 Setúbal Portugal Institute for Systems and Robotics Department of Electrical and Computer Engineering Polo II University of Coimbra 3030-290 Coimbra Portugal IST/INESC-ID 1000-029 Lisboa Portugal

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A comparative study of invariant descriptors for shape retrieval

A comparative study of invariant descriptors for shape retri...

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IEEE International Workshop on Imaging systems and Techniques (IST)

作者： A. Amanatiadis V.G. Kaburlasos A. Gasteratos S.E. Papadakis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Division of Computing Systems Department of Industrial Informatics Technological Educational Institute of Kavala Kavala Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper presents a comparative study between scale, rotation and translation invariant descriptors for shape representation and retrieval. Specifically, we studied Fourier, angular radial transform and image moment descriptors for shape representation. Since shape is one of the most widely used image feature exploited in content-based image retrieval systems, we studied for each descriptor, the number of coefficients needed for indexing and their retrieval performance. Results showed that moment descriptors present the best performance in both terms of shape representation quality as well as in the amount of required coefficients.

关键词： Shape Fourier transforms Image retrieval Subspace constraints Laboratories Character recognition Content based retrieval Data mining Computer industry electrical products industry

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