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检索条件"机构=Lab. for Automation and Robotics"

共 94 条记录，以下是31-40 订阅

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Visual Odometry for autonomous robot navigation through efficient outlier rejection

Visual Odometry for autonomous robot navigation through effi...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Ioannis Kostavelis Evangelos Boukas Lazaros Nalpantidis Antonios Gasteratos Robotics and Automation Lab. Democritus University of Thrace Xanthi Greece Robotics Vision and Machine Intelligence Lab. Aalborg University Copenhagen Denmark

The ability of autonomous robots to precisely compute their spatial coordinates constitutes an important attribute. In this regard, Visual Odometry (VO) becomes a most appropriate tool, in estimating the full pose of a camera, placed onboard a robot by analyzing a sequence of images. The paper at hand proposes an accurate computationally-efficient VO algorithm relying exclusively on stereo vision. A non-iterative outlier detection technique capable of efficiently discarding outliers of matched features is suggested. The developed technique is combined with an incremental motion estimation approach to estimate the robot's trajectory. The accuracy of the proposed system has been evaluated both on simulated data and using a real robotic platform. Experimental results from rough terrain routes show remarkable accuracy with positioning errors as low as 1.1%.

关键词： Robot kinematics Estimation Three-dimensional displays Cameras Feature extraction Motion estimation

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Robust Position Control of an Autonomous Underwater Vehicle: A Comparative Study

Robust Position Control of an Autonomous Underwater Vehicle:...

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IEEE International Conference on automation Science and Engineering

作者： Spandan Roy Sambhunath Nandy Sankar Nath Shome Ranjit Ray Scientist Trainee at Robotics and Automation Lab. CSIR-Central Mechanical Engineering Research Institute Durgapur India Principal Scientist at Robotics and Automation Lab. CSIR-Central Mechanical Engineering Research Institute Durgapur India Chief Scientist and Head of Robotics and Automation Lab. CSIR-Central Mechanical Engineering Research Institute Durgapur India Senior Scientist at Robotics and Automation Lab. CSIR-Central Mechanical Engineering Research Institute Durgapur India

ISBN: (纸本)9781479915132

The highly non-linear and coupled dynamics of Autonomous Underwater Vehicles (AUVs), added with modeling errors, parametric uncertainties and payload variations pose a major challenge towards autonomous control of AUVs for various application requirements. Environmental hazards such as ocean currents sometimes dominate and make the control of underwater systems even more complicated. The proposed control technique addresses the design of a robust controller for reasonably accurate path tracking of AUVs incorporating the effects of above uncertain paradigms within some known bounds. It is well-known that measurement noise, which is associated with the navigational sensors, degrades the performance of the controller leading to substantial deviation from the reference path. Incorporation of sensor fusion technique, which is driven by sensors error characteristics, is necessary to improve the controller performance. Performance of the controller is verified using the real-life parameters an AUV, developed at CSIR-CMERI, Durgapur, India considering a few uncertainties.

关键词： AUV developed CSIR-CMERI

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Interconnection of the behavior-based control architecture and a detailed mechatronic machine model for realistic behavior verification of the THOR project 43

Interconnection of the behavior-based control architecture a...

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43. Jahrestagung der Gesellschaft fur Informatik e.V. ,GI, Informatik Angepasst an Mensch, Organisation und Umwelt, Informatik 2013 - 43rd Annual Meeting of the German Informatics Society (GI), Computer Science Adapting to Individuals, Organizations and Environment, Informatics 2013

作者： Schmidt, Daniel Juhasz, Tamas Berns, Karsten Schmucker, Ulrich Robotics Research Lab. Department of Computer Science University of Kaiserslautern Gottlieb-Daimler-Strasse Building 48 KaiserslauternD-67653 Germany Fraunhofer Institute for Factory Operation and Automation IFF Sandtorstrasse 22 MagdeburgD-39106 Germany

ISBN: (纸本)9783885796145

The enclosing THOR (Terraforming Heavy Outdoor Robot) project's goal is to perform typical tasks of a bucket excavator autonomously, like landscaping, mass excavation, or material transport on construction or mining sites. The paper at hand presents an approach for close interoperateration between its reactive behavior-based control approach for highly dynamic environments with a lot of disturbances and a realistic dynamic simulation of the robot for safe parameter evaluation under given time boundaries. © 2013 Lecture Notes in Informatics (LNI), Proceedings - Series of the Gesellschaft fur Informatik (GI).

关键词： Excavation

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Influence of lift up height in EFM DC mode

Influence of lift up height in EFM DC mode

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International Conference on Nanoscience & Technology,China 2013(ChinaNANO 2013)

作者： Zengxu Zhao Xiaojun Tian Jie Liu Wenxue Wang Zaili Dong Lianqing Liu State Key Lab. of Robotics Shenyang Institute of Automation(SIA)Chinese Academy of Scicences University of Chinese Academy of Sciences

As rare SWCNT materials contain both metallic CNT （m-CNT） and semi-conduct CNT （s-CNT）, which have different applications in nano electric device, it is very important to separate metallic CNT from semiconductor for more efficient CNT utilization and improving the performance of the device. In the past few years, scholars have proposed many methods, such as DEP separation method, chemical reaction removal method, centrifugation separation method and so on, but the reliability and accuracy of these methods need to be measured, thus it is very important to differentiate m-CNT and s-CNT, which will contribute greatly to choose suitable separating method and adjust suitable parameters in CNT preparation. Scientists proposed a method to judge CNT’s electrical property based on DC Electric Force Microscope （EFM） mode only by the scan line type ‘V’ or ‘W’. But we discovered there is a key shortcoming in this method, which is that the lift-up height will greatly affect the scan line type and thus makes this method not reliable in distinguishing m-CNT from s-CNT. The authors have deeply researched the influence of lift-up height on the scan line to improve the method of detecting the electricity of CNT. We found that during scanning CNT, the phase response comes from the force acted on the tip both by the CNT and the substrate. During scanning CNT at a small lift-up height, there is negative phase due to attractive force acted on the tip by CNT,and this negative phase is larger than the positive phase caused by the substrate, thus the scan line is "V" type. But as lift-up height increases, the attractive force applied on probe by CNT reduces, thus the absolute value of the negative phase decreases, although the positive phase caused by substrate also reduces, but its reduction rate is less than the negative phase, which makes the scan line on CNT protrude and change the shape of scan line from "V" type to "W" type. The results show that CNT’s response to the probe resonance

关键词： EFM Electrical property of CNT Lift-up height of probe Phase response

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Embedding shape memory alloy actuators in miniature articulating polymer structures using in-mold assembly

Embedding shape memory alloy actuators in miniature articula...

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40th Annual North American Manufacturing Research Conference, NAMRC40

作者： Ananthanarayanan, Arvind Ho, Mingyen Ehrlich, Leicester Desai, Jaydev P. Gupta, Satyandra K. Biomimetics Robotics Lab. Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA United States Robotics Automation and Medical Systems Lab. Department of Mechanical Engineering University of Maryland College Park MD United States Advanced Manufacturing Lab. Department of Mechanical Engineering University of Maryland College Park MD United States Department of Mechanical Engineering Institute of Systems Research University of Maryland College Park MD United States

ISBN: (纸本)9781622762477

Fabrication and assembly of highly articulating structures has been a challenge for manufacturing engineers for several years. This challenge is further enhanced when the structures are in the miniature size scales. As part of our previous work, we have developed a process called in-mold assembly to tackle this challenging manufacturing and assembly task. However, attaching the actuators to such miniature structures remains a challenging task and can be expensive in terms of costs. In this work, we will demonstrate a single step in-mold assembly method to fabricate miniature multi degree of freedom (DOF) mechanical devices with embedded SMA actuators. We have developed design optimization methods to shield the SMA actuators from the thermal cycles seen during the injection molding process. This is done to minimize thermal impact on the SMA actuators during embedding in in-mold assembled articulating joints. We have also developed experimental methods to calibrate the force and position of the embedded SMA actuators with respect to temperature. Our experimental results indicate that the SMA behavior is very repeatable with respect to temperature. Hence temperature can be used as a sensory feedback for position and force control. Using the approaches developed as part of this work, we have successfully fabricated an in-mold assembled multi DOF miniature robot with embedded SMA actuators.

关键词： Fabrication

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Design and development of a wearable rehabilitation robot

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4th International Conference on Social robotics, ICSR 2012

作者： He, Wei Ge, Shuzhi Sam Guo, Weian Zhao, Zhen Zhang, Jie Xiao, Shengtao Nuraisha, Fon Ping Quek Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9783642341021

In this paper, we present the design and development of a wearable robot for the lower limb rehabilitation including the mechanical, electrical system, software implementation, etc. To make the robot wearable and portable and simplify the mechanism structure, servo motors are used as robot's joints. A friendly human robot interface is designed to make the robot easy to use. The dynamics of the robot is described by a 2-link rigid robotic manipulator in the joint space. The simulation results are given to demonstrate the feasibility and effectiveness of the designed lower limb rehabilitation robot-assisted system. © 2012 Springer-Verlag.

关键词： Machine design

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Object recognition using saliency maps and HTM learning

Object recognition using saliency maps and HTM learning

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2012 IEEE International Conference on Imaging Systems and Techniques, IST 2012

作者： Kostavelis, Ioannis Nalpantidis, Lazaros Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Vas. Sofias 12 GR-67100 Xanthi Greece Computer Vision and Active Perception Lab. Centre for Autonomous Systems Royal Institute of Technology - KTH SE-100 44 Stockholm Sweden

ISBN: (纸本)9781457717741

In this paper a pattern classification and object recognition approach based on bio-inspired techniques is presented. It exploits the Hierarchical Temporal Memory (HTM) topology, which imitates human neocortex for recognition and categorization tasks. The HTM comprises a hierarchical tree structure that exploits enhanced spatiotemporal modules to memorize objects appearing in various orientations. In accordance with HTM's biological inspiration, human vision mechanisms can be used to preprocess the input images. Therefore, the input images undergo a saliency computation step, revealing the plausible information of the scene, where a human might fixate. The adoption of the saliency detection module releases the HTM network from memorizing redundant information and augments the classification accuracy. The efficiency of the proposed framework has been experimentally evaluated in the ETH-80 dataset, and the classification accuracy has been found to be greater than other HTM systems. © 2012 IEEE.

关键词： Object recognition

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Impedance control of a rehabilitation robot for interactive training

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4th International Conference on Social robotics, ICSR 2012

作者： He, Wei Ge, Shuzhi Sam Li, Yanan Chew, Effie Ng, Yee Sien Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore Division of Neurology National University Hospital Singapore 119074 Singapore Department of Rehabilitation Medicine Singapore General Hospital Singapore 169608 Singapore

ISBN: (纸本)9783642341021

In this paper, neural networks based impedance control is developed for a wearable rehabilitation robot in interactions with humans and the environments. The dynamics of the robot are represented by an n-link rigid robotic manipulator. To deal with the system uncertainties and improve the robustness of the system, the adaptive neural networks are used to approximate the unknown model of the constrained robot. With the proposed control, uniform ultimate boundedness of the closed loop system is achieved based on the Lyapunov method. The states of the system converge to a small neighborhood of zero by properly choosing control gains. Extensive simulations are conducted to verify the proposed control. © 2012 Springer-Verlag.

关键词： Lyapunov methods

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Motion control of differential wheeled robots with joint limit constraints

Motion control of differential wheeled robots with joint lim...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Gonzalez-Gomez, J. Victores, J.G. Valero-Gomez, A. Abderrahim, M. Robotics Lab. Research Group Department of System Engineering and Automation Universidad Carlos III de Madrid Spain

ISBN: (纸本)9781457721373

The motion of wheeled mobile robots is inherently based on their wheels' rolling capabilities. The assumption is that each wheel can rotate indefinitely, backwards or forward. This is the starting point for all motion control mechanisms of wheeled robots. In this paper, a new motion capability of differential mobile robots with limited wheel rotation capabilities is presented. The robot will be able to travel any distance and change its direction of movement even if its wheels can not rotate within more than a certain range of angles. The proposed solution is based on the bio-inspired controller principles used for modular and legged robots, in which oscillations are generated for achieving motion. A total of two oscillators, one per wheel, are enough to generate well-coordinated rhythms on the wheels to control the robot motion. The kinematics of this new type of mobile robot motion is presented, and the relation between the oscillator's parameters and the trajectory is studied. Experiments with real robots will demonstrate the viability of this new locomotion gait. © 2011 IEEE.

关键词： Wheels

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A novel Q-learning based adaptive optimal controller implementation for a humanoid robotic arm

A novel Q-learning based adaptive optimal controller impleme...

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作者： Khan, Said G. Herrmann, Guido Lewis, Frank L. Pipe, Tony Melhuish, Chris Bristol Robotics Laboratory University of the West of England Bristol United Kingdom Bristol Robotics Lab. University of Bristol Bristol United Kingdom Automation and Robotics Research Institute University of Texas Arlington United States

ISBN: (纸本)9783902661937

This paper presents the implementation of a novel model-free Q-learning based discrete adaptive optimal controller for a humanoid robotic arm. The controller uses a novel adaptive dynamic programming (ADP) reinforcement learning (RL) approach to develop an optimal policy on-line. This is in contrast with the other optimal control design techniques which are carried out off-line and need full information of the system dynamics. The RL tracking controller was implemented for two links (shoulder flexion and elbow flexion joints) of the arm of the humanoid Bristol-Elumotion-Robotic-Torso II (BERT II) torso. The constrained case (joint limits) of the RL scheme was tested for a single link (elbow flexion) of the BERT II arm by modifying the cost function to deal with the extra nonlinearity due to the joint constraint. © 2011 IFAC.

关键词： Robotic arms

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