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IEEE International Conference on robotics and automation (ICRA)

作者： Huanghe Zhang Zhuo Chen Damiano Zanotto Yi Guo Wearable Robotic Systems (WRS) Lab. Stevens Institute of Technology Hoboken NJ USA Robotics and Automation Lab. Stevens Institute of Technology Hoboken NJ USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

In this paper, we propose an autonomous gait analysis system consisting of a mobile robot and custom-engineered instrumented insoles. The robot is equipped with an on-board RGB-D sensor, the insoles feature inertial sensors and force sensitive resistors. This system is motivated by the need for a robot companion to engage older adults in walking exercises. Support vector regression (SVR) models were developed to extract accurate estimates of fundamental kinematic gait parameters (i.e., stride length, velocity, foot clearance, and step length), from data collected with the robot's on-board RGB-D sensor and with the instrumented insoles during straight walking and turning tasks. The accuracy of each model was validated against ground-truth data measured by an optical motion capture system with N=10 subjects. Results suggest that the combined use of wearable and robot's sensors yields more accurate gait estimates than either sub-system used independently. Additionally, SVR models are robust to inter-subject variability and type of walking task (i.e., straight walking vs. turning), thereby making it unnecessary to collect subject-specific or task-specific training data for the models. These findings indicate the potential of the synergistic use of autonomous mobile robots and wearable sensors for accurate out-of-the-lab.gait analysis.

关键词： Robot sensing systems Legged locomotion Task analysis Instruments Robot kinematics

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Swarm formation control utilizing ground and aerial unmanned systems

Swarm formation control utilizing ground and aerial unmanned...

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

作者： Barnes, Laura Garcia, Richard Fields, Mary Anne Valavanis, Kimon Automation and Robotics Research Institute University of Texas Arlington TX United States U.S. Anny Research Lab. Aberdeen MD 21005 United States Computer Science Department University of South Florida Tampa FL 33620 United States

ISBN: (纸本)9781424420582

This work addresses the problem of coordinating a swarm of unmanned ground vehicles with an Unmanned Aerial Vehicle (UAV). The UAV is utilized as a leader robot that is intelligently followed by a coordinated group of Unmanned Ground Vehicles (UGVs). The UAV is a completely autonomous agent that is controlled using Sugueno fuzzy logic. The UGVs are organized into formation utilizing artificial potential fields generated from normal and sigmoid functions. These functions are built around the location of the UAV and ultimately construct the surface that swarm members travel on, which inherently controls the overall swarm geometry and the individual member spacing. Nonlinear limiting functions are defined to provide tighter swarm control by modifying and adjusting a set of control variables forcing the swarm to behave according to set constraints, formation and member spacing. The swarm function and limiting functions are combined to control swarm formation, orientation, and swarm movement as a whole. Parameters are chosen based on desired formation as well as user defined constraints. Simulations demonstrate the precision of the approach with up to forty UGVs. Experimental results are presented using a fully autonomous swarm of three UGVs and a single UAV helicopter for coordination.

关键词： Unmanned aerial vehicles (UAV)

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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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Autonomous Water Sampling System and Experiment Based on the Unmanned Surface Vehicle

Autonomous Water Sampling System and Experiment Based on the...

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2021 IEEE International Conference on Unmanned Systems, ICUS 2021

作者： Zhang, Mengwei Li, Decai He, Yuqing Xiong, Junfeng Li, Zhi Xiong, Chunhong Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Guangzhou Institute of Industrial Intelligence Shenyang Institute of Automation Guangzhou Chinese Academy of Sciences Academicians Experts Workstation Guangzhou China Co. Ltd Natl. Eng. Lab. of Advanced Technology and Equipment for Water Environmental Pollution Monitoring Changsha China Co. Ltd Natl. Eng. Lab. of Advanced Technology and Equipment for Water Environmental Pollution Monitoring Changsha China

ISBN: (纸本)9780738146577

Water pollution is always the worldwide key problem. For the problem of complex, frequent and dangerous water sampling and monitoring missions in the various water areas, this paper designs an autonomous water sampling system based on the unmanned surface vehicle (USV), and it introduces the experimental application of the water sampling system. According to the water sampling missions, the ground station sets up the desired water sampling position, and then, the USV goes fleetly to the target position carrying the autonomous water sampling equipment to complete the mission by water sampling and control modules. This autonomous water sampling system based on the USV can long-periodic execute water sampling and monitoring missions precisely, safely and effectively. © 2021 IEEE.

关键词： Unmanned surface vehicles

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Nanorobotics system simulation in 3D workspaces with low reynolds number

Nanorobotics system simulation in 3D workspaces with low rey...

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2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS

作者： Cavalcantil, Adriano Hogg, Tad Shirinzadeh, Bjan Robotics and Mechatronics Research Lab. Dept. of Mechanical Eng. Monash University Clayton Melbourne VIC 3800 Australia HP Labs. Palo Alto CA 94304 United States CAN Center for Automation in Nanobiotech Sao Paulo SP 01540 Brazil

ISBN: (纸本)1424407176

We present a computational approach to enable the development of nanorobots operating in a fluid environment relevant for medical applications. Unlike the case of larger robots, the dominant forces in this environment arise from viscosity of low Reynolds number fluid flow and Brownian motion and such parameters are described throughout the paper. Hence, this paper describes a practical simulator that allows fast design methodology comparing various control algorithms for nanorobots and their suitability for different tasks. The simulator includes obstacles and identifiable targets, thereby providing a suitable environment for a typical nanorobot task: maintaining desired chemical concentrations near speciflc target areas.

关键词： Medical nanotechnology

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Path planning of a snake-like robot based on serpenoid curve and genetic algorithms

Path planning of a snake-like robot based on serpenoid curve...

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World Congress on Intelligent Control and automation (WCICA)

作者： Jinguo Liu Yuechao Wang Bin Ii S. Ma Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences China Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation (SIA) China Robotics Lab. Chinese Acad. of Sci. China Department of Systems Engineering Ibaraki University JAPAN

The path of the snake-like robot has no repetition because its motion is influenced by manifold indeterminate factors such as ground condition, mechanism's vibration and motor voltage's variety. A novel path planning technique based on serpenoid curve and genetic algorithms (GAs) has been proposed to control the snake-like robot in Shenyang Institute of automation (SIA, China). First, the ranges of the path and the curvature deviation have been calculated approximately and set as the bounds of genetic algorithms. Then using real time dual genetic algorithms, this path planning technique not only can decide the shortest path and the minimum curvature deviation, but also can limit the motion error's influence. Simulation results show that the results of the second layer of GAs are more availab.e than that of the first layer of GAs and this novel technique is effective for the path planning of the SIA snake-like robot.

关键词： Path planning Genetic algorithms robotics and automation Automatic control Robot control Orbital robotics Motion control lab.ratories Genetic engineering Manifolds

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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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Homography-based ground area detection for indoor mobile robot using binocular cameras

Homography-based ground area detection for indoor mobile rob...

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2011 IEEE 5th International Conference on robotics, automation and Mechatronics, RAM 2011

作者： Ke, Peiqi Meng, Cai Li, Jihao Liu, Ying Image Processing Center School of Astronautics Beihang University Beijing 100191 China Social Robotics Lab. Interactive Digital Media Institute National University of Singapore 119613 Singapore Singapore Mechatronics Engineering Department School of Mechanical Engineering Beijing University of Science Technology Beijing 100083 China Industrial Robot and Production Automation Lab. School of Mechanical Engineering University of Science and Technology Beijing Beijing 100083 China

ISBN: (纸本)9781612842509

Drivable area detection is an important issue for mobile robot to work in indoor and outdoor environments with safety and security with respect to itself and environment. In this paper, we propose an approach to detect the ground area for indoor mobile robots with binocular cameras. At first, the ground induced homography between onboard binocular cameras is calibrated. In ground area detection, the right eye image is warped to left eye by the homography and subtracted by the left eye image. From the difference image the rough non-ground regions can be detected. Then the closed contours on the difference image and the left eye image are searched to segment them into regions. These corresponding regions are compared to judge whether they belong to ground plane. The conducted experiments show that the proposed method is valid in detecting ground area. © 2011 IEEE.

关键词： Mobile robots

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Signal Feature Analysis of Contact Force at the Tip of a Flexible Ureteroscope 42

Signal Feature Analysis of Contact Force at the Tip of a Fle...

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42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2020

作者： Yinan, Deng Tangwen, Yang Shaotao, Dai Song, Guoli Beijing Jiaotong University Inst. of Info. Sci. and the Beijing Key Lab. of Advanced Information Science and Network Technology Beijing China Beijing Jiaotong University School of Electrical Engineering Beijing China Shenang Institute of Automation Cas State Key Laboratory of Robotics Shenyang China

ISBN: (纸本)9781728119908

This paper presents a signal analysis approach to identify the contact objects at the tip of a flexible ureteroscope. First, a miniature triaxial fiber optic sensor based on Fiber Bragg Grating(FBG) is devised to measure the interactive force signals at the ureteroscope tip. Due to the multidimensional properties of these force signals, the principal components analysis(PCA) method is introduced to reduce dimensions. The signal features are then extracted from the representative principal component signals using the wavelet transform(WT) method. Experimental results show that the contact objects at the tip of a ureteroscope are readily discriminated from the measured force signals with the proposed *** Relevance - This work commits to analyze the contact force signals at the tip of a flexible ureteroscope for the purpose of contact objects identification. © 2020 IEEE.

关键词： Fiber Bragg gratings

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Knowledge Base Representation for Humanoid Robot Skills

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IFAC Proceedings Volumes 2014年第3期47卷 3042-3047页

作者： Daniel Hernández García Concepción A. Monje Carlos Balaguer Universidad Carlos III de Madrid. Robotics Lab. Department of Systems and Automation Engineering. Av. de la Universidad 30 Leganés Madrid Spain. 28911

The ultimate goal for humanoid robotics research is to develop humanoid robotic systems capable and flexible enough to handle the challenge of working alongside human in complex natural environments performing everyday tasks. To reach this goal it is key to develop appropriate structures in which to organize the acquire knowledge in a manner that allows the system to retrieve it in order to use it to fulfil its missions. In this work a knowledge base representation of the robot skills knowledge organized in terms of the relationships between objects, actions and event frames is proposed.

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