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检索条件"机构=Laboratory for Robotics and Engineering Systems"

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Postural stability of wheeled mobile manipulators with flexible suspension considering tire friction model

Postural stability of wheeled mobile manipulators with flexi...

引用

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

作者： Khalil Alipour S. Ali A. Moosavian Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

The mobility requirements on a rough terrain make a suspended wheeled mobile robot (SWMR) with multiple dexterous manipulators an appropriate choice. In this study, dynamics modeling and stability appraisal of SWMRs will be discussed. First, based on Newton-Euler's formulation for a chain of rigid bodies, the closed-form dynamics model of such complicated systems in three dimensional maneuvers is developed. To this end, a twenty two degree-of-freedom SWMR is considered as a benchmark system. The studied system includes both sprung and unsprung elements. Also, the developed model involves both ride and handling analysis. Considering pneumatic tires, Dugoff tire friction model is adopted to describe the longitudinal and lateral forces produced at the contact patch of the wheels. Then, using the obtained dynamics, the effect of frictional effects on postural stability of such systems will accurately be investigated. It is shown that dynamic balance of the system decreases as the friction between the base and the ground increases. Finally, the new dynamic tip-over Moment-Height Stability (MHS) measure will be exploited to vigorously investigate the dynamic balance of a SWMR even after toppling down.

关键词： Stability Tires Friction Mobile robots Vehicle dynamics Vehicles Manipulator dynamics Acceleration Force measurement Velocity measurement

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Safe autonomous stair climbing for a tracked mobile robot using a kinematics based controller

Safe autonomous stair climbing for a tracked mobile robot us...

引用

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

作者： Arash Kalantari Ehsan Mihankhah S. Ali. A. Moosavian Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

Planning and implementation of a safe autonomous stair climbing algorithm for a tracked mobile robot is presented in this paper. Two major factors are defined to make the climb as safe as possible. Based on these factors a desired trajectory is planned. Data of two laser range finders are used to locate the robot over the stairs. The error signal is generated by comparing the located and desired postures. To compensate this error, a kinematics based controller is utilized. A combination of a nominal feedforward command with a feedback action on error at each time step is used in this tracking control scheme. The proposed algorithm is implemented on ResQuake. This is a tele-operative rescue mobile robot with great capabilities in climbing obstacles in destructed areas, and its performance was demonstrated in Rescue robot league of RoboCup 2005 in Osaka (Japan), achieving the 2 nd Best Design Award, and RoboCup 2008 in China (Suzhou) achieving the 2 nd Best in Class Mobility Award. Implementation of algorithm on different staircases resulted in successful climb in all experiments. Results obtained on a sample staircase are demonstrated at the end of this paper.

关键词： Mobile robots Kinematics Orbital robotics Error correction Robot sensing systems Laser feedback Laser modes Open loop systems Intelligent robots Mechatronics

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Control of suspended wheeled mobile robots with multiple arms during object manipulation tasks

Control of suspended wheeled mobile robots with multiple arm...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Mahdy Eslamy S. Ali A. Moosavian Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

In this paper, a suspended mobile platform with two 3 DOF manipulators, is used to manipulate an object in a combined circular-straight path. The multiple impedance control (MIC) is used as a model-based algorithm which has been shown to have desirable performance in case of impact with an obstacle and system flexibility. The MIC enforces same impedance law both on the robotic system, and the manipulated object level. However, to apply model-based control laws, it is needed to extract system dynamics model. For such complicated robotic systems with suspension system, it is necessary to have a concise set of dynamic equations of motion with few mathematical calculations. Therefore, the concept of direct path method is extended to derive explicit dynamics modeling for such challenging systems. Then, non-holonomic constraint of the wheeled system is derived, and the obtained dynamics model is reformatted to become a more concise one using natural orthogonal complement method. Next, the MIC law is applied to cooperative manipulation of an object by two manipulators mounted on a suspended wheeled robotic system. The obtained results reveal a smooth system performance, i.e. negligible small tracking errors in the presence of impacts with obstacles and significant disturbances.

关键词： Mobile robots Arm Vehicle dynamics Impedance Microwave integrated circuits robotics and automation Equations Manipulator dynamics Automatic control Control systems

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Morphology detection for magnetically self-assembled modular robots

Morphology detection for magnetically self-assembled modular...

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Zoltán Nagy Shuhei Miyashita Simon Muntwyler Ashish K. Cherukuri Jake J. Abbott Rolf Pfeifer Bradley J. Nelson Institute of Robotics and Intelligent Systems ETH Zurich Switzerland Artificial Intelligence Laboratory University of Zurich Switzerland Department of Mechanical Engineering University of Utah USA

Self-assembly is a process in which individual components form an organized structure as a consequence of local interactions. When using magnetics to create interaction forces, the magnetic flux distribution of a self-assembling system changes as its assembly state varies. Since Hall effect sensors are a convenient and effective means to detect changes in the magnetic field, we explore their applicability to monitoring the morphology of such magnetically self-assembling systems. We find that optimal positions for the sensor can be found where the flux changes maximally. Our analysis is applied to two different systems by deriving the flux changes for all possible states, and theoretical flux changes are verified with experiments. In addition, we show that a small number of sensors is sufficient for robust state determination. In addition to state detection, experiments show the potential for angle measurement for compliant cylindrical magnet joints using a single Hall sensor.

关键词： Morphology Magnetic flux Magnetic sensors Robot sensing systems Self-assembly Assembly systems Robotic assembly Hall effect devices Monitoring Magnetic analysis

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Voluntary gait speed adaptation for robot-assisted treadmill training

Voluntary gait speed adaptation for robot-assisted treadmill...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Alexander Koenig Carmen Binder Joachim v. Zitzewitz Ximena Omlin Marc Bolliger Robert Riener Spinal Cord Injury Center Medical Faculty University Hospital Balgrist University of Zurich Zurich Switzerland Sensory Motor Systems Laboratory Institute of Robotics and Intelligent Systems Department of Mechanical Engineering and Process Engineering ETH Zurich Switzerland

Robot-assisted gait training currently lacks the possibility of the robot to automatically adapt to the patient's needs and demands (so called ldquobio-cooperative control strategiesrdquo). It is desired to give the patient voluntary control over training parameters such as gait speed or joint trajectories. We implemented a control algorithm for the driven gait orthosis Lokomat that allows severely disabled stroke patients a limited and safe allowance of influence on their gait speed. To exercise gait symmetry, our algorithm can be configured such that only activity in the paretic leg will cause changes in treadmill speed. The algorithm was successfully tested with eight healthy subjects and six stroke patients.

关键词： Rehabilitation robotics Legged locomotion Medical treatment robotics and automation Automatic control Hospitals Force measurement Virtual environment Robot sensing systems Intelligent robots

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Learning Under Social Influence

Learning Under Social Influence

引用

Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Alireza Tahbaz-Salehi Alvaro Sandroni Ali Jadbabaie Department of Economics and Department of Electrical and Systems Engineering University of Pennsylvania Department of Managerial Economics and Decision Sciences Kellogg School of ManagementNorthwestern University the General Robotics AutomationSensing and Perception(GRASP) LaboratoryDepartment of Electrical and Systems EngineeringUniversity of Pennsylvania

In this paper,we study a model of social learning where individuals are under influence of others in their social *** our model,each agent receives private noisy signals about an unobservable,underlying state of the *** the end of each time period,the belief of an individual is equal to the convex combination of her posterior beliefs derived from the signal observed,and the priors of her *** model reduces to the well-known consensus model when private signals are *** show that if the network of social influences is strongly connected,then all agents will have asymptotically correct *** other words,all individuals will be able to asymptotically learn the true state of the world,as far as their observations are ***,we show that all agents assign asymptotically equal beliefs to the true state of the world.

关键词： agent Learning Under Social Influence

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Superparamagnetic photosensitive polymer nanocomposite for microactuators

Superparamagnetic photosensitive polymer nanocomposite for m...

引用

International Conference on Solid State Sensors and Actuators (TRANSDUCERS)

作者： M. Suter S. Graf O. Ergeneman S. Schmid A. Camenzind B. J. Nelson C. Hierold Micro and Nanosystems ETH Zurich Switzerland Institute of Robotics and Intelligent Systems ETH Zurich Switzerland Particle Technology Laboratory Department of Mechanical and Process Engineering ETH Zurich Switzerland

We present a photosensitive polymer composite with superparamagnetic characteristics for the fabrication of microactuators. A uniform distribution of particles in the photosensitive polymer matrix SU-8 is achieved by applying superparamagnetic nanoparticles with the aid of a surfactant. The composite contains Fe 3 O 4 nanoparticles up to 3 vol.% (12 wt.%) with diameters of around 13 nm. Superparamagnetic composite microcantilevers are successfully fabricated and actuated in resonance by the magnetic field of an external coil.

关键词： Polymers Microactuators Magnetic materials Saturation magnetization Magnetic resonance Magnetic anisotropy Fabrication Nanoparticles Perpendicular magnetic anisotropy Actuators

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Experimental study on manipulator design for low collision impact force

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

引用

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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Fuzzy machine vision based porosity detection

Fuzzy machine vision based porosity detection

引用

Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： Pejman Mehran Kudret Demirli Gary Bone Brian Surgenor Intelligent Fuzzy Systems Laboratory Department of Mechanical and Industrial Engineering Concordia University Montreal QUE Canada Robotics and Manufacturing Automation Lab Department Mechanical Engineering McMaster University Hamilton ONT Canada Intelligent Automation Laboratory Department of Mechanical and Materialś Engineering Queen's University Kingston ONT Canada

In this paper an objective fuzzy approach for fast and accurate porosity vision based inspection is presented. An automated methodology of detection of pores, which are formed in aluminum alloys during production of water-pumps for car engines with the die casting method, is described. The proposed method is based on the correlation of the core of pore candidates with twelve developed matrices resulted in five novel features. The fuzzy decision making on porosity detection adopted and presented in this paper, adds great value to the whole production system, by increasing the confidence of the inspectors in the machine performing real-time verification. The fuzzy porosity detection was carried out on a database of 105 gray level images. The proposed model properly identifies 93.36% of the pores in the entire database.

关键词： Machine vision Image databases Inspection Aluminum alloys Engines Die casting Fuzzy systems Decision making Production systems Real time systems

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A comparative study of invariant descriptors for shape retrieval

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

引用

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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