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IEEE Conference on Control Technology and Applications (CCTA)

作者： Alan Mutka Ivica Draganjac Zdenko Kovacic Zeljko Postruzin Ranko Munk Faculty of EE&C Department of Control and Computer Engineering LARICS-Laboratory of Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia Organization of Technology Development and Application HRID Limited Zagreb Croatia

In this paper a system for control and 3D visualization of a manipulator for weld inspection of nuclear reactor vessels is described. Based on client-server TCP/IP software architecture, the presented control system enables an operator to perform the entire inspection procedure remotely over a network, avoiding exposure to dangerous radiation which is commonly present in nuclear reactor environments. The developed graphical user interface provides all necessary tools needed for planning robot scan trajectories, their verification on a virtual 3D model and execution on a remote robot. In addition, the weld inspection process can be observed in parallel on a virtual robot and reactor vessel model and on live video streams captured by two special cameras mounted on the robot.

关键词： Control systems Inductors Inspection Welding Parallel robots Visualization TCPIP Software architecture Graphical user interfaces Trajectory

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NanoLab: A nanorobotic system for automated pick-and-place handling and characterization of CNTs

NanoLab: A nanorobotic system for automated pick-and-place h...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Volkmar Eichhorn Sergej Fatikow Tim Wortmann Christian Stolle Christoph Edeler Daniel Jasper Ozlem Sardan Peter Boggild Guillaume Boetsch Christophe Canales Reymond Clavel Division Micro Robotics and Control Engineering University of Oldenburg Oldenburg Germany DTU Nanotech Department of Micro and Nanotechnology Technical University of Denmark Denmark Robotic Systems Laboratory Swiss Federal Institute of Technology Lausanne Switzerland

Carbon nanotubes (CNTs) are one of the most promising materials for nanoelectronic applications. Before bringing CNTs into large-scale production, a reliable nanorobotic system for automated handling and characterization as well as prototyping of CNT-based components is essential. This paper presents the NanoLab setup, a nanorobotic system that combines specially developed key components such as electrothermal microgrippers and mobile microrobots inside a scanning electron microscope. The working principle and fabrication of mobile microrobots and electrothermal microgripper as well as their interaction and integration is described. Furthermore, the NanoLab is used to explore novel key strategies such as automated locating of CNTs for pick-and-place handling and methods for electrical characterization of CNTs. The results have been achieved within the framework of a European research project where the scientific knowledge will be transfered into an industrial system that will be commercially available for potential customers.

关键词： Electrothermal effects Grippers Carbon nanotubes Organic materials Nanostructured materials Large-scale systems Production systems Prototypes Electron mobility Scanning electron microscopy

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Knowledge-based control of a humanoid robot

Knowledge-based control of a humanoid robot

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Dongkyu Choi Yeonsik Kang Heonyoung Lim Bum-Jae You Cognitive Systems Laboratory Center for the Study of Language and Information University of Stanford Stanford CA USA Center for Cognitive Robotics Research Korea Institute of Science and Technology Seoul South Korea Robust Design Engineering Laboratory Seoul National University Seoul South Korea

Today, there are increased interest and various efforts in using cognitive architectures to control robotic platforms. Recent advances to essential capabilities in robots contributed to this trend, which tries to meet the increased demand for high-level control mechanisms. The tradition of cognitive architectures aims for general intelligence, and they have some great potential for use in robots that are now increasingly more capable of complex tasks. In this paper, we introduce one such architecture, ICARUS, used in a robotic environment to provide knowledge-based control for a humanoid robot, MAHRU. We show some experimental observations in the Blocks World domain.

关键词： Humanoid robots Cognitive robotics Computer architecture Intelligent robots Computational modeling Control systems Robot control USA Councils Humans Cognition

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Climbing gaits of a modular biped climbing robot

Climbing gaits of a modular biped climbing robot

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

作者： Yisheng Guan Li Jiang Xianmin Zhang Hong Zhang Biomimetic and Intelligent Robotics Laboratory (BIRL) School of Mechanical and Automotive Engineering South China University of Technology Guangzhou Guangdong China Centre for Intelligent Mining Systems (CIMS) Department of Computing Science University of Alberta Edmonton AB Canada

For high-rise work in fields such as agriculture, forestry and architecture, and inspired by the climbing motion of inchworms, chimpanzees, and sloths, we have developed a biped climbing robot - Climbot. Consisting of five 1-DOF joint modules in series and two special grippers at the ends, Climbot is capable of grasping objects and climbing poles, trees and trusses. In this paper, we first introduce this novel robot, and then present three climbing gaits. We perform simulation to illustrate, verify and compare the proposed climbing gaits.

关键词： Climbing robots Medical robotics Prototypes Intelligent robots Agriculture Forestry Service robots Orbital robotics Intelligent vehicles Humans

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Band-limited guidance and control of large parafoils

Band-limited guidance and control of large parafoils

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作者： Carter, David Singh, Leena Wholey, Leonard Rasmussen, Scott Barrows, Tim George, Sean McConley, Marc Gibson, Chris Tavan, Steve Bagdonovich, Brian Draper Laboratory 555 Technology Square Cambridge MA 02459 United States US Army Natick Soldier Research Development and Engineering Center Natick MA 01760 United States Decision Systems Group MS 15 United States Aerospace Guidance and Control Group MS 70 United States Tactics Guidance and Control Group MS 77 United States Cognitive Robotics Group MS 77 United States Manned Space Systems Group MS 70 United States Vehicle and Robotics Group MS 23 United States Navigation and Localization Group MS 77 United States Tactical Systems Program Office MS 79 United States NSRDEC 15 Kansas Street United States

ISBN: (纸本)9781563479724

The Natick Soldier Research Development and engineering Center has been leading an effort to develop precision guided airdrop systems to accommodate cargo weights from 1 pound to 42,000 pounds. This paper describes flight software developed by Draper laboratory for one of the largest of these systems. Copyright © 2009 by The Charles Stark Draper laboratory, Inc.

关键词： Precision engineering

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Dynamic soaring flight in turbulence

Dynamic soaring flight in turbulence

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作者： Deittert, Markus Richards, Arthur Toomer, C.A. Pipe, Anthony University of the West of England Bristol BS16 1QY United Kingdom University of Bristol Bristol BS8 1TR United Kingdom Reader in Robotics and Autonomous Systems Bristol Robotics Laboratory DuPont Building Coldharbour Lane Bristol BS16 1QD United Kingdom Dept. of Aerospace Engineering Queens Building University Walk Bristol BS8 1TR United Kingdom Bristol Institute of Technology University of the West of England Frenchay Campus Bristol BS16 1QY United Kingdom

ISBN: (纸本)9781563479786

Dynamic soaring is an engineless flight technique which extracts energy from wind gradients and has potential to enable long duration flight for small UAVs. For this paper, the authors investigate how atmospheric turbulence affects the dynamic soaring flight of a generic 3 meter wing span UAV. A previous publication established outer bounds of 7.6 m/s and 32 m/s on the range of feasible wind speed while assuming perfect control. The authors propose a periodic LQR to reject disturbances arising from atmospheric turbulence and modeling errors. Simulations with atmospheric turbulence, investigate feasibility of controlled dynamic soaring flight for wind speeds between 8 m/s and 24 m/s. Comparison between engineless and engine assisted dynamic soaring flight illustrates the importance of controlling the UAV's energy in contrast to focusing on rejecting trajectory errors. Copyright © 2009 by the American Institute of Aeronautics and Astronautics, Inc. All right reserved.

关键词： Atmospheric turbulence

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On Adaptive Self-Organization in Artificial Robot Organisms

On Adaptive Self-Organization in Artificial Robot Organisms

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Future Computing, Service Computation, Cognitive, Adaptive, Content, Patterns, Computation World:

作者： Serge Kernbach Heiko Hamann Jürgen Stradner Ronald Thenius Thomas Schmickl Karl Crailsheim A.C. van Rossum Michele Sebag Nicolas Bredeche Yao Yao Guy Baele Yves Van de Peer Jon Timmis Maizura Mohktar Andy Tyrrell A.E. Eiben S.P. McKibbin Wenguo Liu Alan F.T. Winfield Institute of Parallel and Distributed Systems University of Stuttgart Germany Artificial Life Lab Karl-Franzens-University Graz Graz Austria Almende B. V. Rotterdam Netherlands TAO LRI Univ. Paris-Sud CNRS INRIA Saclay France VIB Department Plant Systems Biology Ghent University Belgium University of York York United Kingdom Free University Amsterdam Netherlands Materials and Engineering Research Institute (MERI) Sheffield Hallam University Bristol Robotics Laboratory (BRL) UWE Bristol UK Bristol Robotics Laboratory (BRL) UWE Bristol

Self-organization in natural systems demonstrates very reliable and scalable collective behavior without using any central elements. When providing collective robotic systems with self-organizing principles, we are facing new problems of making self-organization purposeful, self-adapting to changing environments and faster, in order to meet requirements from a technical perspective. This paper describes on-going work of creating such an artificial self-organization within artificial robot organisms, performed in the framework of several European projects.

关键词： Robots Organisms Peer to peer computing Centralized control Control systems Scalability Cognitive robotics Plants (biology) systems biology Biological materials

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Annual business and news: Beginning the 32nd year

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Journal of Guidance, Control, and Dynamics 2009年第1期32卷 1-7页

作者： Schmidt, George T. Akella, Maruthir Balakrishnan, S.N. Campbell, Mark E. Clarke, John-Paul Colgren, Richard D. Crassidis, John L. Doman, David B. Eke, Fidelis O. Enns, Russell J. Gawronski, Wodek Hablani, Hari B. Leitner, Jesse A. Ping, Lu MacDonald, Malcolm McFarland, Michael B. Melton, Robert G. Mitchell, James Mukhopadhyay, Vivekanand Sasiadek, Jurek Z. Schaub, Hanspeter Wise, Kevin A. United States NATO Systems and Electronics Technology Panel Lecture Series on Low Cost Navigation Sensors and Integration Technology U.S. Air Force Office of Scientific Research United States United States American Automatic Control Council United States Sibley School of Mechanical and Aerospace Engineering Cornell University United States School of Aerospace Engineering Air Transportation Laboratory Georgia Institute of Technology United States Lockheed Martin Aeronautics Company Palmdale CA United States United States Wright-Patterson Air Force Base Dayton OH United States Davis United States Apache Longbow Jet Propulsion Laboratory California Institute of Technology United States GSFC United States Department of Aerospace Engineenng Iowa State University United States Raytheon Electronic Systems United States Department of Aerospace Engineering Pennsylvania State University United States NASA Langley Research Center United States Indian Institute of Technology India Department of Aerospace Engineering Carleton University Canada International Federation of Automatic Control Robotics Technical Committee Joint Robotics and Control Systems Societies Chapter Ottawa Canada X-45 Joint-Unmanned Combat Air System Program

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Interoperability for smart home environment using web services

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International Journal of Smart Home 2008年第4期2卷 1-16页

作者： Perumal, Thinagaran Ramli, Abdul Rahman Leong, Chui Yew Mansor, Shattri Samsudin, Khairulmiza Intelligent Systems and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia Serdang Malaysia Faculty of Engineering Universiti Putra Malaysia Serdang Malaysia

Recent advances in computing and communication technologies paved the growth for applications and devices in smart home environment. A typical smart home is highly characterized by heterogeneity elements that need to perform joint execution of tasks in an efficient manner. Although there are huge growth of services, applications and devices in smart home environment, the interoperability elements still seems ambiguous. Being a distributed architecture, smart home environment needs certain degree of interoperability to manage sub-systems comprising of different platforms. Generally, these sub-systems are developed in isolation and consist of different operating system and tier of services. There is need for a cross-platform interoperability that could make the sub-systems 'talk' each other and operate in an interoperable fashion within smart home environment. Web Services seems to be the emerging technology that could lead the way in providing greater interoperability. In this paper we describe the potential of Web Services technology using Simple Object Access Protocol (SOAP) in addressing the interoperability requirements for smart home environment. The SOAP protocol provides data exchange mechanism as well as optimized performance for interoperation among sub-systems residing in smart home environment. The proposed system performance is evaluated to demonstrate a complete, bi-directional realtime management of sub-systems in smart home environment.

关键词： Interoperability

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What is networked robotics?

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作者： Mckee, Gerard Active Robotics Laboratory School of Systems Engineering The University of Reading Reading Berkshire RG6 6AY United Kingdom

ISBN: (纸本)9783540791416

Networked robotics is an area that straddles robotics and network technology. A robot system controlled via the WWW exploits the Internet network and hence is one realisation of networked robotics. A set of field robots that exploit wireless networks to share and distribute tasks might also be considered an exemplar of networked robotics. But isn't this just an exemplar of distributed robotics? And if so, what does networked robotics bring to the "robotics" table? These are questions and issues addressed in this chapter. The chapter will propose that networks are at once both enabling and constraining to robotics. They enlarge the scope of the robotics discipline yet introduce challenges that must be overcome if that potential is to be fully realized. In short, when the network becomes a design issue -normally when performance of the system is at a premium -networked robotics is at play. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Robots

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