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Online Minimum-acceleration Trajectory Planning with the Kinematic Constraints

自动化学报 2014年第7期40卷 1328-1338页

作者： WANG Ying-Shi Institute of Robotics and Automatic Information System Nankai University Tianjin 300071 China Tianjin Key Lab-oratory of Intelligent Robotics Nankai University Tianjin 300071China

A novel approach based on a type of simplified motion planning (SMP) is presented in this paper to generate online trajectory for manipulator systems with multiple degrees of freedom (DOFs). The key issue is to find minimum-acceleration trajectory planning (MATP) to optimize the arm motion to reduce disturbance. Moreover, necessary and sufficient conditions for solution's existence subject to all the kinematic constraints of joint position, velocity, acceleration and jerk are devised. Besides, this new method can be activated online from the arbitrary initial state to the arbitrary target state so that it enables the robot to change the original path at any time. Finally, the approach is applied to a real humanoid robot arm with seven DOFs to show its efficiency.

关键词：运动规划约束规划机器人系统充分必要条件加加速度自由度轨迹规划运动约束

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Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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Multi-scale analysis of contextual information within spatio-temporal video volumes for anomaly detection

Multi-scale analysis of contextual information within spatio...

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作者： Li, Nannan Guo, Huiwen Xu, Dan Wu, Xinyu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781479957514

In this paper, we present a novel approach for video anomaly detection in crowded scenes. The proposed approach detects anomalies based on the contextual information analysis within spatio-temporal video volume. Around each pixel, spatio-temporal volumes are built and clustered to construct the activity pattern codebook. Then, the composition information of the volumes within a large spatiotemporal window is described via a dictionary learned by sparse representation. Furthermore, multi-scale analysis is employed to adapt the size change of abnormal events. Finally, the sparse reconstruction cost is designed to evaluate the abnormal level of an input motion pattern. We demonstrate the efficiency of the proposed method on the existing public available anomaly-detection datasets and the performance comparasion with three existing methods validates that the proposed method detects anomalies more accurately. © 2014 IEEE.

关键词： Statistics

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Multi-scale analysis of contextual information within spatio-temporal video volumes for anomaly detection

Multi-scale analysis of contextual information within spatio...

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IEEE International Conference on Image Processing

作者： Nannan Li Huiwen Guo Dan Xu Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Chinese Academy of Sciences China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

ISBN: (纸本)9781479957521

关键词： Vectors Dictionaries Hidden Markov models Computer vision Trajectory Cameras Feature extraction

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A novel nuclear station inspection robot

A novel nuclear station inspection robot

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International Conference on Information Science and Technology (ICIST)

作者： Qingsong Liu Guohe Wang Yachao Dong Pengfei Liu Jianquan Sun Xinyu Wu Yangsheng Xu China Nuclear Power Technology Research Institute(CNPRI) China Guangdong Provincial Key Lab of Robotics and Intelligent System Chinese Academy of Sciences China Department of Mechanical and Automation Engineering The Chinese University Hong Kong

As a key device in nuclear station, the steam generator is vulnerable to certain kinds of damages, which make it necessary to check the generator annually. However, it is impossible for human to finish the examine because of that the tremendous tubes inside the generator makes its inner space too crowded. In this paper, we introduced a novel designed climbing robot system which is competent to the work. The main part of the robot system is a vehicle which can moves inside the steam generator carrying a PT Arm. Four cameras are installed in the vehicle and PT Arm to send the real time video back for analysis. We built a control panel as the interface for users to control the vehicle and a cabinet as the container of all the processors int the control system. Experiments show that our system works stably inside the steam generator.

关键词： Vehicles Generators Inspection Climbing robots Service robots Electron tubes

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A Novel Nuclear Station Inspection Robot

A Novel Nuclear Station Inspection Robot

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2014 4th IEEE International Conference on Information Science and Technology

作者： Qingsong Liu Guohe Wang Yachao Dong Pengfei Liu Jianquan Sun Xinyu Wu Yangsheng Xu China Nuclear Power Technology Research Institute(CNPRI) Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

关键词： Arm A Novel Nuclear Station Inspection Robot

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A novel feature extracting method for dynamic gesture recognition based on support vector machine

A novel feature extracting method for dynamic gesture recogn...

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International Conference on Information and Automation (ICIA)

作者： Yuanrong Xu Qianqian Wang Xiao Bai Yen-Lun Chen Xinyu Wu Shenzhen Key Lab for Computer Vision and Pattern Recognition Chinese Academy of Sciences University of Science and Technology of China Dept. Mechanical and Automation Engineering The Chinese University of Hong Kong Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences

In this paper, we propose a method based on the SVM algorithm to recognize dynamic hand gestures. The information of motion trajectory is captured by a leap motion in three-dimension space. A new methodology of feature extracting is proposed to guarantee the length of samples being the same. The elements of feature vectors are ranged according to two different criteria: one is the amplitude of the variation of orientation angles, and the other criterion is the order of the appearance of features. Experimental results show that this method can classify the dynamic hand gestures effectively.

关键词： Vectors Trajectory Feature extraction Equations Mathematical model Hidden Markov models Automation

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Dynamic hand gesture early recognition based on Hidden Semi-Markov Models

Dynamic hand gesture early recognition based on Hidden Semi-...

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IEEE International Conference on robotics and Biomimetics

作者： Qianqian Wang Yuanrong Xu Yen-Lun Chen Yong Wang Xinyu Wu University of Science and Technology of China Shenzhen Key Lab for Computer Vision and Pattern Recognition Chinese Academy of Sciences Dept. Mechanical and Automation Engineering The Chinese University of Hong Kong. Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences

ISBN: (纸本)9781479973989

Real-time performance can be greatly improved, if the early recognition is implemented. In this paper, a dynamic hand gesture early recognition system is proposed. The system can recognize the gesture before it is completed. Our method is based on the Hidden Semi-Markov Models. Three-dimensional information of the gesture trajectory collected by leapmotion is the main data we used. Experiments on the dataset which we established demonstrate the effectiveness of our method.

关键词： Hidden Markov models Gesture recognition Training Conferences Trajectory Arrays

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Implementation of the path planning algorithm M*

Implementation of the path planning algorithm M*

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International Conference on Information and Automation (ICIA)

作者： Pengfei Liu Ruiqing Fu Xinyu Wu Yangsheng Xu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Guangdong Provincial Key Lab of Robotics and Intelligent System Chinese Academy of Sciences China

ISBN: (纸本)9781479913329

In decades, many researchers have came up with many path planning algorithms. Robots rely on sensor data to deduce inner and outer state as its position. Many localization algorithm suggests robot's knowledge of its position should be a probability distribution. However, previews path planning algorithms fell to utilize this information and just simply assume the robots to be in a single certain point. In this paper, we described the implementation of a new algorithm M* that takes the uncertainty of the robots location into detailed consideration. M* uses Monto Carlo method to represent probability distribution and by considering problem in high dimension space it transfer the problem into a neatly form. Some important concepts are introduced and pseudo code is used to show how them work.

关键词： Vegetation Path planning Robot sensing systems Conferences Probability distribution Planning

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A cyclic weighted median method for L1 low-rank matrix factorization with missing entries

A cyclic weighted median method for L1 low-rank matrix facto...

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27th AAAI Conference on Artificial Intelligence, AAAI 2013

作者： Meng, Deyu Xu, Zongben Zhang, Lei Zhao, Ji Institute for Information and System Sciences Ministry of Education Key Lab for Intelligent Networks and Network Security Xian Jiaotong University Xi'an 710049 China Department of Computing Hong Kong Polytechnic University Hong Kong Robotics Institute Carnegie Mellon University United States

ISBN: (纸本)9781577356158

A challenging problem in machine learning, information retrieval and computer vision research is how to recover a low-rank representation of the given data in the presence of outliers and missing entries. The L 1-norm low-rank matrix factorization (LRMF) has been a popular approach to solving this problem. However, L1-norm LRMF is difficult to achieve due to its non-convexity and non-smoothness, and existing methods are often inefficient and fail to converge to a desired solution. In this paper we propose a novel cyclic weighted median (CWM) method, which is intrinsically a coordinate decent algorithm, for L1-norm LRMF. The CWM method minimizes the objective by solving a sequence of scalar minimization sub-problems, each of which is convex and can be easily solved by the weighted median filter. The extensive experimental results validate that the CWM method outperforms state-of-the-arts in terms of both accuracy and computational efficiency. Copyright © 2013, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Median filters

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