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

共 2346 条记录，以下是2001-2010 订阅

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Design of an autonomous amphibious robot for surf zone operation: part i mechanical design for multi-mode mobility

Design of an autonomous amphibious robot for surf zone opera...

引用

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

作者： A.S. Boxerbaum P. Werk R.D. Quinn R. Vaidyanathan Biologically Inspired Robotics Laboratory Department of Mechanical and Aerospace Engineering Case Western Reserve University USA The Autonomous Robotics and Systems Laboratory Department of Systems Engineering Naval Postgraduate School

The capability of autonomous and semi-autonomous platforms to function in the shallow water surf zone is critical for a wide range of military and civilian operations. Of particular importance is the ability to transition between locomotion modes in aquatic and terrestrial settings. The study of animal locomotion mechanisms can provide specific inspiration to address these demands. In this work, we summarize on-going efforts to create an autonomous, highly mobile amphibious robot. A water-resistant amphibious prototype design, based on the biologically-inspired Whegstrade platform, has been completed. Through extensive field-testing, mechanisms have been isolated to improve the implementation of the Whegstrade concept and make it more suited for amphibious operation. Specific design improvements include wheel-leg propellers enabling swimming locomotion, an active, compliant, water resistant, non-backdrivable body joint, and improved feet for advanced mobility. These design innovations allow Whegstrade to navigate on rough terrain and underwater, and accomplish tasks with little or no low-level control, thus greatly simplifying autonomous control system implementation. Complementary work is underway for autonomous control. We believe these results can lay the foundation for the development of a generation of amphibious robots with an unprecedented versatility and mobility

关键词： Mobile robots Leg Legged locomotion Propellers Propulsion Laboratories Vehicles Navigation Wheels Testing

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Design of intelligent systems: Measure of information content

Design of intelligent systems: Measure of information conten...

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DETC2005: ASME International Design engineering Technical Conferences and Computers and Information in engineering Conference

作者： Naidu, Prakash Crj Goldenberg, Andrew A. Institute for Robotics and Intelligent Systems Center for Artificial Intelligence and Robotics Robotics Automation and Virtual Reality Groups Rajbhavan Circle High Grounds Bangalore 560 001 India University of Toronto Department of Mechanical and Industrial Engineering Robotics and Automation Laboratory 5 King's College Road Toronto Ont. M5S 3G8 Canada

ISBN: (纸本)0791847403

Increasing intelligence in new products has necessitated a closer look at the application of design theory and methodology in the specific context of intelligent systems. In this paper, after reviewing the several prevalent notions of intelligent systems, some of the parameters and the measure of intelligence are discussed. The earlier work on evaluation of information content of automation systems is extended in the context of intelligent systems. The paper discusses a generic definition of intelligence more suitable for measurement in the realm of axiomatic design theory. It investigates the different issues pertaining to compulation of information and its interpretation as a measure of intelligence considering an example of the basic maneuvers of an autonomous robot. The paper discusses the observations and elucidates the usefulness of information as a metric for measurement of intelligence. Copyright © 2005 by ASME.

关键词： Artificial intelligence

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Optical flow-based tracking of deformable objects using a non-prior training active feature model 5th

Optical flow-based tracking of deformable objects using a no...

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5th Pacific Rim Conference on Multimedia, PCM 2004

作者： Kim, Sangjin Kang, Jinyoung Shin, Jeongho Lee, Seongwon Paik, Joonki Kang, Sangkyu Abidi, Besma Abidi, Mongi Image Processing and Intelligent Systems Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul156-756 Korea Republic of Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering The University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)9783540239857

This paper presents a feature point tracking algorithm using optical flow under the non-prior training active feature model (NPT-AFM) framework. The proposed algorithm mainly focuses on analysis of deformable objects, and provides real-time, robust tracking. The proposed object tracking procedure can be divided into two steps: (i) optical flow-based tracking of feature points and (ii) NPT-AFM for robust tracking. In order to handle occlusion problems in object tracking, feature points inside an object are estimated instead of its shape boundary of the conventional active contour model (ACM) or active shape model (ASM), and are updated as an element of the training set for the AFM. The proposed NPT-AFM framework enables the tracking of occluded objects in complicated background. Experimental results show that the proposed NPT-AFM-based algorithm can track deformable objects in real-time. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Optical flows

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Autonomous terrain mapping and classification using hidden Markov models

Autonomous terrain mapping and classification using hidden M...

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2005 IEEE International Conference on robotics and Automation

作者： Wolf, Denis F. Sukhatme, Gaurav S. Fox, Dieter Burgard, Wolfram Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA United States Robotics and State Estimation Laboratory Department of Computer Science and Engineering University of Washington Seattle WA United States Department of Computer Science University of Freiburg Freiburg Germany

ISBN: (纸本)078038914X

This paper presents a new approach for terrain mapping and classification using mobile robots with 2D laser range finders. Our algorithm generates 3D terrain maps and classifies navigable and non-navigable regions on those maps using Hidden Markov models. The maps generated by our approach can be used for path planning, navigation, local obstacle avoidance, detection of changes in the terrain, and object recognition. We propose a map segmentation algorithm based on Markov Random Fields, which removes small errors in the classification. In order to validate our algorithms, we present experimental results using two robotic platforms. ©2005 IEEE.

关键词： Mobile robots

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A Combinational Approach to the Fusion, De-noising and Enhancement of Dual-Energy X-Ray Luggage Images

A Combinational Approach to the Fusion, De-noising and Enhan...

引用

IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)

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

X-ray luggage inspection systems play an important role in ensuring air travelers’ security. However, the false alarm rate of commercial systems can be as high as 20% due to less than perfect image processing algorithms. In an effort to reduce the false alarm rate, this paper proposes a combinational scheme to fuse, de-noise and enhance dual-energy X-ray images for better object classification and threat detection. The fusion step is based on the wavelet transform. Fused images generally reveal more detail information; however, background noise often gets amplified during the fusion process. This paper applies a backgroundsubtraction- based noise reduction technique which is very efficient in removing background noise from fused X-ray images. The de-noised image is then processed using a new enhancement technique to reconstruct the final image. The final image not only contains complementary information from both source images, but is also background-noise-free and contrastenhanced, therefore easier to segment automatically or be interpreted by screeners, thus reducing the false alarm rate in X-ray luggage inspection.

关键词： Noise reduction X-ray imaging Inspection Background noise Security Image processing Fuses Object detection X-ray detection X-ray detectors

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Mobility and Dynamic Performance of Legged Robots

Mobility and Dynamic Performance of Legged Robots

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IEEE International Conference on robotics and Automation (ICRA)

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

This article presents a method for describing the dynamic performance of a multi-legged locomotion robot. It involves examining how well the legged system uses ground contact to produce acceleration of its body; these abilities are referred to as its force and acceleration capabilities. These capabilities are bounded by actuator torque limits and the no-slip condition. The resulting analysis describes the maximum translational and rotational accelerations of the main-body that are guaranteed to be achievable in every direction without causing slipping at the contact points or saturating an actuator. The method is illustrated using a hexapod as an example.

关键词： Legged locomotion Mobile robots Acceleration Aerodynamics Actuators Leg Torque Equations Torso Performance analysis

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Autonomous gait generation using acceleration capability analysis

Autonomous gait generation using acceleration capability ana...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

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

This paper presents a novel gait generation technique for legged robotic systems which utilizes the dynamic capability equations. The method consists of calculating the acceleration capability early in the simulation to determine a specific configuration which easily allows a gait to be generated. This position is calculated to most effectively arrest any body center-of-mass momentum upon impact and allows the system to continue travelling in the desired direction without suffering detrimental effects from the impulse forces normally encountered when walking.

关键词： Acceleration Legged locomotion Equations Aerodynamics Robots Leg Stability Performance analysis Laboratories Aerospace engineering

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A design study of a cable-driven hexapod

A design study of a cable-driven hexapod

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

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

This article illustrates the use of dynamic performance analysis in the design of legged robots, specifically hexapods. This is accomplished by comparing the dynamic performance of a cable-driven hexapod to that of a more conventional design in which the actuators are mounted at the joints. By integrating the actuators into the torso and through the use of cable transmission, the mass and inertias of the legs are reduced in order to attain the high accelerations and backdrivability. The dynamic performance described herein is bounded by the actuator torque limits and the no-slip condition at the ground contact points. The result is a description of how well each hexapod can accelerate its torso without causing slippage at the ground contact points. Although somewhat mixed, the results show some advantage to the use of a cable-driven transmission.

关键词： Leg Legged locomotion Aerodynamics Acceleration Torso Performance analysis Hydraulic actuators DC motors Mobile robots Laboratories

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Impact Forces in Legged Robot Locomotion

Impact Forces in Legged Robot Locomotion

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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 to the impact problem in planar legged robot locomotion is hereby presented. The goal is to find the configurations that yield zero tangential velocity at the impacting leg, a condition known as sticking, and restitute the least energy back into the system. With this analysis, the ground contact friction and the inertial properties of the system, including those of the servo motors, play a determinant role in the impact analysis. This approach yields an energetic criterion for the analysis of the transition from impact to contact constraint conditions. This paper presents a simple, robust method that uses the system generalized coordinates and velocities, the Jacobian, the mass matrix, the coulomb friction law, and the energetic coefficient of restitution to determine whether or not the current configuration is advantageous for maintaining contact, and thereby controllability, in the presence of impulsive forces.

关键词： Legged locomotion Robot kinematics Friction Jacobian matrices Leg Servomechanisms Servomotors Robust control Transmission line matrix methods Controllability

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Step-climbing analysis of a novel tracked robot

Step-climbing analysis of a novel tracked robot

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2005 IEEE International Conference on robotics and Biomimetics, ROBIO

作者： Guangping, Lan Shugen, Ma Dept. of Systems Engineering Faculty of Eng. Ibaraki University 4-12-1 Nakanarusawa-Cho Hitachi Ibaraki 316-8511 Japan Robotics Laboratory CAS Shenyang Institute of Automation 114 Nanta Street Shenyang 110015 China

ISBN: (纸本)0780393155

In this paper, we introduce a novel crawler-driven module that is capable of climbing over high steps autonomously, and present the cooperative driving of these two crawler-driven modules for increasing the robot mobility of step-climbing. The proposed mechanism of the crawler-driven module equipped with planetary gear reducers can provide two outputs in different form only be one actuator. Through experimental tests, it is known that the developed crawler-driven module can not only move on the even ground but also pass over high steps without any sensors for discriminating obstacles and any extra actuators or mechanisms for assistance. It is also shown by experimental tests that the mobility of the crawler-driven mechanism can be highly improved by cooperatively driving two of these crawler-driven modules. © 2005 IEEE.

关键词： Mobile robots

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