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

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A reactive neural network architecture to redundancy resolution for underwater vehicle-manipulator systems

A reactive neural network architecture to redundancy resolut...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： C.H. dos Santos R. Guenther E. De Pieri Department of Automation and Systems Robotics Laboratory Federal University of Santa Catarina Florianopolis Santa Catarina Brazil Mechanical Engineering Robotics Laboratory Federal University of Santa Catarina Brazil Department of Automation and Systems Robotics Laboratory Federal University of Santa Catarina Brazil

A new algorithm for redundancy resolution to an autonomous underwater vehicle-manipulator system (UVMS) is proposed. The algorithm explore the benefits of using a reactive neural network architecture to impose desired motions to a virtual kinematic chain. The computer simulation results demonstrate the beneficial characteristics of our proposed method

关键词： Neural networks Kinematics robotics and automation Laboratories Vehicle dynamics Service robots Control systems Mechanical engineering Computer architecture Computer simulation

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Online Measurement of Obstacles' Distances Using Forward Looking Sonar Sensor Mounted on an Experimental AUV

Online Measurement of Obstacles' Distances Using Forward Loo...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： A. Ghatak D.K. Pratihar C.S. Kumar Robotics and Intelligent Systems Laboratory Department of Mechanical Engineering Indian Institute of Technology Kharagpur India

We present an approach, which uses the sonar data from a commercial off the shelf forward Looking Sonar ( FLS ) sensor used in AUVs. We consider a single beam 2D sonar (namely Micron sonar from Tritech International Ltd.) and the data recorded is in SeaNet Protocol. The data represented under SeaNet logs for the sonar are interpreted in real time for distance computation of the obstacles present in the environment observed. This approach can also help us to find the nearest obstacle in any direction and it is giving us an important tool, which can be used for the navigation of an AUV. Further, the description of the environment containing the obstacles is presented with the help of images, which are reconstructed using the SeaNet log data using OpenGL.

关键词： Sonar measurements Sonar navigation Sensor systems Intelligent sensors System testing Mechanical sensors Intelligent robots Image reconstruction Control systems Sampling methods

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Comparison of Step Length Estimators from Weareable Accelerometer Devices

Comparison of Step Length Estimators from Weareable Accelero...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Diego Alvarez Rafael C. Gonzalez Antonio Lopez Juan C. Alvarez Multisensor Systems & Robotics Laboratory SiMuR Electrical Engineering Department University of Oviedo Gijon Spain

Wearable accelerometry provides easily portable systems that supply real-time data adequate for gait analysis. When they do not provide direct measurement of a spatio-temporal parameter of interest, such as step length, it has to be estimated with a mathematical model from indirect sensor measurements. In this work we are concerned with the accelerometry-based estimation of the step length in straight line human walking. We compare five step length estimators. Measurements were taken from a group of four adult men, adding up a total of 800 m per individual of walking data. Also modifications to these estimators are proposed, based on biomechanical considerations. Results show that this modifications lead to improvements of interest over previous methods

关键词： Accelerometers Legged locomotion Real time systems Length measurement Mathematical model Humans Force measurement Data acquisition Spine Cities and towns

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An Empirical Study for Fitness Function Selection in Fuzzy Logic Controllers for Mobile Robot Navigation

An Empirical Study for Fitness Function Selection in Fuzzy L...

引用

Annual Conference of Industrial Electronics Society

作者： Lefteris Doitsidis Nikos C. Tsourveloudis Intelligent Systems & Robotics Laboratory Department of Production Engineering & Management Technical University of Crete Chania Greece

Fuzzy logic is widely used for mobile robot navigation. The main draw back of this approach is the ad hoc design of the controllers used. A popular method for the optimization of fuzzy logic controllers for the navigation of mobile robots is the use of genetic algorithms. An issue, in this procedure is the selection of the fitness function for the improvement of the behavior of a pre-designed controller. We analyze the factors that influence the evolution of the fuzzy controller based on the fitness function used and present some preliminary results. In order to validate our approach a test bed has been developed based in a low cost robot

关键词： Fuzzy logic Robot control Mobile robots Navigation Fuzzy control Intelligent robots Control systems Genetic algorithms Robot sensing systems Vehicles

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Nanorobotic manipulation of carbon nanotubes inside a transimission electron microscope

Nanorobotic manipulation of carbon nanotubes inside a transi...

引用

作者： Dong, Lixin Nelson, Bradley J. Tao, Xinyong Zhang, Li Zhang, Xiaobin Frutiger, Dominic R. Subramanian, Arunkumar Institute of Robotics and Intelligent Systems ETH Zurich 8092 Zurich Switzerland Dept. of Materials Science and Engineering Zhejiang University Hangzhou 310027 China Laboratory for Micro- and Nanotechnology Paul Scherrer Institute CH-5232 Villigen-PSI Switzerland

ISBN: (纸本)9783902661173

Basic processes for nanorobotic manipulation of carbon nanotubes (CNTs) inside a transmission electron microscope are investigated experimentally. These processes are fundamental for the characterization of nanoscale materials, for the structuring of nanosized building blocks, and for the prototyping of nanoelectromechanical systems. Multi-walled CNTs, bamboo-structured CNTs, Cutipped CNTs, and quantum dots attached to CNTs have been used as test structures for manipulation. Copyright © 2006 IFAC.

关键词： Transmission electron microscopy

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Compliance requirements for non-rebounding impact in legged locomotion

Compliance requirements for non-rebounding impact in legged ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Berges A. Bowling Robotics and Dynamic Systems Laboratory AeroSpace and Mechanical Engineering Department University of Notre Dame Notre Dame IN USA

An energetic approach for analysis of the impact problem in three dimensional multi-legged robot locomotion is hereby presented. The goal is to combine rigid and deformable body approaches which come together naturally in a work-energy framework. The proposed hybrid approach can predict both rebound and non-rebound for an energetic coefficient of restitution greater than zero. Zero tangential velocity in the impacting end effectors can be also predicted, a condition known as sticking. The paper presents a method for determining whether the level of compliance in the system at a given configuration is adequate to insure a no-slip, no-rebound impact

关键词： Legged locomotion Robots Leg Deformable models Plastics Aerodynamics Laboratories Aerospace engineering Mechanical engineering End effectors

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Fuzzy Controller Design Based on the Phase Plane Isoclines

Fuzzy Controller Design Based on the Phase Plane Isoclines

引用

Mediterranean Conference on Control and Automation (MED)

作者： Stjepan Bogdan Zdenko Kovacic Larics-Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In this paper we describe a procedure that exploits geometric properties of state space in the investigation of the system stability. Although this method is cumbersome, its practical value becomes clear in the situation when state space is reduced to a phase plane, which is the case in a second-order system. Then phase plane analysis offers well known procedures (especially in case f(.) is linear) for the determination of the system stability. Simulation results, obtained by implementation of the proposed method on the fuzzy controller design, are given at the end of the paper

关键词： Fuzzy control Fuzzy systems Control systems Sliding mode control Stability analysis Nonlinear control systems Fuzzy logic State-space methods Stability criteria Lyapunov method

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A Generalized and Automatic Image Contrast Enhancement Using Gray Level Grouping

A Generalized and Automatic Image Contrast Enhancement Using...

引用

International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Zhi Yu Chen B.R. Abidi D.L. Page M.A. Abidi Electrical and Computer Engineering Department Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville TN USA

Contrast enhancement has an important role in image processing applications. Conventional contrast enhancement techniques either fail to produce satisfactory results for a broad variety of low-contrast images, or cannot be automatically applied to different images, because their parameters must be specified manually to produce a satisfactory result for a given image. This paper describes a new automatic method for contrast enhancement. The basic procedure is to first group the histogram components of a low-contrast image into the proper number of bins according to a selected criterion, then redistribute these bins uniformly over the grayscale, and finally ungroup the previously grouped gray-levels. Accordingly, this new technique is named gray-level grouping (GLG). GLG not only produces results superior to conventional contrast enhancement techniques, but is also fully automatic in most circumstances, and is applicable to a broad variety of images

关键词： Histograms Gray-scale Background noise Intelligent robots Image processing Helium robotics and automation Intelligent systems Laboratories Electronic mail

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A Moving Object Tracked by A Mobile Robot with Real-Time Obstacles Avoidance Capacity

A Moving Object Tracked by A Mobile Robot with Real-Time Obs...

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International Conference on Pattern Recognition

作者： Chung-Hao Chen Chang Cheng D. Page A. Koschan M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper describes a robotic application that tracks a moving object by utilizing a mobile robot with multiple sensors. The robotic platform uses a visual camera to sense the movement of the desired object and a range sensor to help the robot detect and then avoid obstacles in real time while continuing to track and follow the desired object. In terms of real-time obstacle avoidance capacity, this paper also presents a modified potential field algorithm called dynamic goal potential field algorithm (DGPF) for this robotic application specifically. Experimental results show that the robotic and intelligent system can fulfill the requirements of tracking an object and avoiding obstacles simultaneously when the object is moving

关键词： Mobile robots Robot sensing systems Intelligent robots Sensor phenomena and characterization Robot vision systems Cameras Object detection Tracking Heuristic algorithms Intelligent systems

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Development and testing of the Dawn ion propulsion system

Development and testing of the Dawn ion propulsion system

引用

AIAA/ASME/SAE/ASEE 42nd Joint Propulsion Conference

作者： Brophy, John R. Etters, Michael A. Gates, Jason Garner, Charles E. Klatte, Marlin John Lo, C. Marcucci, Michael G. Mikes, Steve Pixler, Greg Nakazono, Barry Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 Propulsion and Materials Engineering Section AIAA Robotics and Mechanisms Group Electronic Design Group Advanced Propulsion Technology Group Propulsion and Flight Systems Group ASIC Design Group

ISBN: (纸本)1563478188

All of the Dawn ion propulsion system (IPS) components have been fabricated and all have passed acceptance testing. The entire xenon feed system, both digital control and interface units (DCIUs), two of the three thruster gimbal assemblies (TGAs), and both power processor units (PPUs) have been integrated with the spacecraft. Both PPUs recently completed a long-duration run-in tests in vacuum at JPL, and both flight PPUs have successfully demonstrated the ability to operate a flight thruster over its full input power range. All three ion thrusters are in storage at JPL waiting for their delivery and integration which are scheduled for later this year. The third TGA has been delivered to the flight system contractor (Orbital Sciences Corporation) and will also be integrated later this year. All planned subsystem integration tests between the DCIU and the other IPS components were successfully completed prior to the delivery of the components to Orbital.

关键词： Ion propulsion

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