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2006 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Xu-zhi Lai Jin-hua She Simon X. Yang Min Wu School of Information Science & Engineering Central South University Changsha Hunan China School of Bionics Tokyo University of Technology Tokyo Japan Advanced Robotics & Intelligent Systems ARIS Lab School of Engineering University of Guelph Guelph ONT Canada

This paper presents a comprehensive unified control strategy for underactuated two-link manipulators, including acrobots and pendubots. The motion space is divided into two areas: swing-up and attractive; and control laws are designed for each. First, a control law based on a weak control Lyapunov function (WCLF) is employed to increase the energy and control the posture of the actuated link in the swing-up area. Next, one of the parameters of the WCLF is chosen to be a nonlinear function of the state so as to avoid any singularities. Then, another parameter in the control law is adjusted based on the state to improve the control performance. Stability is guaranteed in the swing-up area by the use of a WCLF based on the LaSalle invariant theorem. Finally, the global stability of the control system is guaranteed by the use of a non-smooth Lyapunov function integrated with a minimum-switching strategy. Simulation results for a pendubot and an acrobot show this control scheme to be very effective

关键词： Motion control Control systems Stability intelligent robots Lyapunov method Manipulators Information science Torque control intelligent systems Centralized control

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COMPLETE AND SCAlabLE MULTI-ROBOT PLANNING IN TUNNEL ENVIRONMENTS

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IFAC Proceedings Volumes 2006年第20期39卷 26-31页

作者： Mike Peasgood John McPhee Christopher Clark Lab for Intelligent and Autonomous Robotics Department of Mechanical Engineering University of Waterloo Waterloo Ontario Canada N2L 3G1 Motion Research Group Department of Systems Design Engineering University of Waterloo Waterloo Ontario Canada N2L 3G1

This paper addresses the challenging problem of finding collision-free trajectories for many robots moving to individual goals within a common environment. Most popular algorithms for multi-robot planning manage the complexity of the problem by planning trajectories for robots sequentially; such decoupled methods may fail to find a solution even if one exists. In contrast, this paper describes a multi-phase approach to the planning problem that guarantees a solution by creating and maintaining obstacle-free paths through the environment as required for each robot to reach its goal. Using a topological graph and spanning tree representation of a tunnel or corridor environment, the multi-phase planner is capable of planning trajectories for up to r = L – 1 robots, where the spanning tree includes L leaves. Monte Carlo simulations in a large environment with varying number of robots demonstrate that the algorithm can solve planning problems requiring complex coordination of many robots that cannot be solved with a decoupled approach, and is scalable with complexity linear in the number of robots.

关键词： mobile robots efficient algorithms path planning trajectory planning

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A distributed sensing system for vehicles state estimation

A distributed sensing system for vehicles state estimation

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2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006

作者： Bolandhemmat, Hamidreza Clark, Christopher M. Golnaraghi, M.F. Department of Mechanical Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada Lab. for Autonomous and Intelligent Robotics Department of Mechanical Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada Mechatronics and Smart Materials Systems Department of Mechanical Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada

ISBN: (纸本)0791837904

This paper presents the design of a distributed sensing system that uses an Extended Kalman Filter (EKF) to fuse measurements, so that automotive vehicle states can be estimated for use by a Semi-active Suspension control system. To improve ride comfort and handling quality, relative displacements and velocities of suspension systems are estimated. To control the stability of vehicles, roll, yaw, and pitch must also be determined. The designed (EKF) uses easily accessible measurements such as accelerations and body's angular velocities. These measurements are provided by 8 accelerometers and an Inertial Measurement Unit (IMU). The accelerometers are strategically mounted on the two ends of each individual shock absorber (damper). The IMU was mounted near the vehicle's center of gravity. Computer simulations and experiments were conducted for full vehicle state estimation of a 1993 Toyota Tercel equipped with the above mentioned sensor suite. Results show that except relative displacements, all states of the automobile's semi-active suspension systems can be estimated using this set of sensors. The designed EKF works well despite not knowing accurate information about road inputs, external disturbances and car characteristics such as moments of inertia, mass, and equivalent spring and damping coefficients. Both simulation results and experimental results show the effectiveness of the designed EKF in estimating the required states. Copyright © 2006 by ASME.

关键词： Remote sensing

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intelligent 3D sensing for robotic inspection of hazardous facilities

Intelligent 3D sensing for robotic inspection of hazardous f...

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2005 Annual Meeting - American Nuclear Society

作者： Sukumar, Sreenivas Page, David Gribok, Andrei Koschan, Andreas Abidi, Mongi University of Tennessee Imaging Robotics and Intelligent Systems Lab. Knoxville TN 37996 United States

No abstract available

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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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Real-time map building and area coverage in unknown environments

Real-time map building and area coverage in unknown environm...

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2005 IEEE International Conference on robotics and Automation

作者： Luo, Chaomin Yang, Simon X. Meng, Max Q.-H. Advanced Robotics and Intelligent Systems Lab. University of Guelph Guelph Ont. N1G 2W1 Canada Dept. of Electronic Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong

ISBN: (纸本)078038914X

Area-covering operation is a special kind of path planning, which requires the robot path to cover every part of the workspace. In this paper, a neural dynamics based algorithm is proposed for real-time map building and area-covering operations. A local map composed of squared cells is built through the proposed neural dynamics during area-covering operations with limited sensory information in unknown environments. The robot is able to dynamically build an accurate map of its immediate limited surroundings for its navigation. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation derived from Hodgkin and Huxley's membrane equation. The robot can only sense a limited measurable range and the obtained sensory information are used for its navigation. The feasibility of the proposed algorithm is validated by simulation studies on cases under unknown environments. ©2005 IEEE.

关键词： Mobile robots

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Remote sensing and teleoperation of a mobile robot via the Internet

Remote sensing and teleoperation of a mobile robot via the I...

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ICIA 2005: 2005 International Conference on Information Acquisition

作者： Xue, Xiaolong Yang, Simon X. Meng, Max Q.-H. Advanced Robotics and Intelligent Systems Lab School of Engineering University of Guelph Guelph Ont. N1G 2W1 Canada Dept. of Electronic Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong

ISBN: (纸本)0780393031

Teleoperations are desirable when robots are not able to deal with a certain task autonomously. On the other hand, using mobile robots equipped with sensors provide a way to acquire the information in a hazardous environment. With the mature and universal Internet technology, Internet-based teleoperation of robotic system has created new opportunities in resources sharing, long-distance learning, and remote experimentation. This paper introduces a network-enabled teleoperation system with a wireless mobile robot, which involves TCP/IP, socket and file cache technology. The operator can receive the dynamic sensor information and teleoperate the mobile robot via the Internet through a control panel. Experiments on wall-following in an indoor environment demonstrated the effectiveness of this teleoperation system. © 2005 IEEE.

关键词： Mobile robots

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Fuzzy automata for fault diagnosis: A syntactic analysis approach

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3rd Hellenic Conference on Artificial Intelligence, SETN 2004

作者： Rigatos, Gerasimos G. Tzafestas, Spyros G Industrial Systems Institute University Campus of Patras Building A ’ Rion Patras26500 Greece National Technical University of Athens Dept. of Electrical and Computer Engineering Intelligent Robotics and Automation Lab Zografou Campus Athens15773 Greece

ISBN: (纸本)3540219374

Fuzzy automata are proposed for fault diagnosis. The output of the monitored system is partitioned into linear segments which are assigned to pattern classes (templates) with the use of fuzzy membership functions. A sequence of templates is generated and becomes input to fuzzy automata which have transitions that correspond to the templates of the properly functioning system. If the automata reach their final states, i.e. the input sequence is accepted by the automata with a membership degree that exceeds a certain threshold, then normal operation is deduced, otherwise, a failure is diagnosed. Fault diagnosis of a DC motor and detection of abnormalities in the ECG signal are used as case studies. © Springer-Verlag Berlin Heidelberg 2004.

关键词： DC motors

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A fuzzy logic approach to reactive navigation of behavior-based mobile robots

A fuzzy logic approach to reactive navigation of behavior-ba...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Anmin Zhu S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Lab School of Engineering University of Guelph Guelph ONT Canada

In this paper, a novel fuzzy logic control system is developed for reactive navigation of a behavior-based mobile robot in dynamic environments. A combination of multiple sensors is equipped to sense the obstacles near the robot, the target location and the current robot speed. A fuzzy logic system with 48 fuzzy rules is designed, which consists of three behaviors: target seeking, obstacle avoidance and barrier following. The "symmetric indecision" problem is resolved by several mandatory-turn rules, while the "dead cycle" problem is resolved by a state memory strategy. Under the control of the proposed fuzzy logic model, the mobile robot can preferably "see" the environment around, and avoid static and moving obstacles automatically. The robot can generate reasonable trajectories toward the target in various situations without suffering from the "symmetric indecision" and the "dead cycle" problems. The effectiveness and efficiency of the proposed approach are demonstrated by simulation studies.

关键词： Fuzzy logic Navigation Mobile robots Robot kinematics Robot sensing systems intelligent robots Fuzzy systems Uncertainty Humans Fuzzy control

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VISUAL INFORMATION ACQUISITION IN VERTEBRATE RETINA

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International Journal of Information Acquisition 2004年第1期1卷 67-76页

作者： SIMON X. YANG Advanced Robotics and Intelligent Systems (ARIS) Lab School of Engineering University of Guelph Guelph ON N1G 2W1 Canada

In this paper, visual information acquisition in vertebrate retina is investigated using a novel neural network model. The neural network is based on the neural anatomy and function of retinal neurons in tiger salamander and mudpuppy. All the main types of retinal neurons are modeled, and their response characteristics are studied. The objective is to model the information acquisition in vertebrate retina with a simple yet effective neural network architecture. The model predictions on the main characteristics of retinal neurons are in agreement with the neurophysiological data. This study not only offers insight into the biological strategy and mechanism on the early visual information acquisition in vertebrate retina, but also has potential industrial applications such as VLSI chip design for efficient visual and movement sensors.

关键词： Visual information retinal neurons neural network neural dynamics

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