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GA BASED SENSOR PLACEMENT AND CONTROL DESIGN FOR REACTIVE NAVIGATION OF MOBILE ROBOTS

International Journal of Information Acquisition 2005年第2期2卷 77-91页

作者： XIAOCHUAN WANG SIMON X. YANG MAX Q.-H. MENG Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ON Canada N1G 2W1 Canada Department of Electronic Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong China

In this paper, a novel genetic algorithm based approach is proposed for optimal sensor placement and controller design of a mobile robot to facilitate its reactive navigation and obstacle avoidance in unknown environments. The mobile robots considered in this paper have flexible sensor and control structure. A genetic algorithm is developed to evolve the parameters of optimal sensor placement and controller design simultaneously. The effectiveness of the proposed GA based co-evolution approach to robot sensor placement and control design is demonstrated by simulation studies.

关键词： Sensor placement control design mobile robots obstacle avoidance genetic algorithm co-evolution

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Design and experiment of a novel link-type shape shifting modular robot series

Design and experiment of a novel link-type shape shifting mo...

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IEEE International Conference on robotics and Biomimetics

作者： Jinguo Liu Shugen Ma Zhenli Lu Yuechao Wang Bin Li Jing Wang Shenyang Inst. of Autom. Chinese Acad. of Sci. Beijing Robotics Laboratory Shenyang Institute of Automation (SIA) Chinese Academy and Sciences China Department of Systems Engineering Faculty of Engineering Ibaraki University Japan

Being hyper-redundant, modularized and continuously driving, link-type robots have high mobility under unstructured environment as the nature snake does. In this study, we have experimented on the nature snake and analyzed the link-type structure's character in detail, and then we have proposed a novel link-type shape shifting modular robot. The key advantage of this design over other link-type vehicle is their adaptability and flexibility for its various configurations. Robot in such link type can change its configuration to adapt to the environment and mission by reconfiguring and shape shifting. A standard module is mainly composed of a link arm, a link handle, an offset pitch joint, an offset yaw joint, and the track driven system. The adjacent modules are connected through the link arm and the link handle. The multi-module robot can change it shape by the motion of the offset joints. After modification of the standard module, a two-module robot and a three-module robot's assembled structure have been designed respectively. After planning of their locomotion configuration, locomotion experiments of these two robots have been made on the slope, over the trench, up the stairs and on the debris. Experiments have demonstrated that such kind structure permits good mobility' and high flexibility under unstructured environment. Being simple, small and portable, the tracked robot platform series have been developed for potential application such as urban search and rescue (USAR) efforts, and planetary exploration

关键词： robotics and automation Robotic assembly Laboratories Mobile robots Couplings Shape control DC motors systems engineering and theory Vehicles Motion planning

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The i-match project: A VR based system to allow matching of an optimum interface to a user of assistive technology

The i-match project: A VR based system to allow matching of ...

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IEEE 9th International Conference on Rehabilitation robotics

作者： Amirabdollahian, F Munih, M Kouris, F Laudanna, E Stokes, E Johnson, G CREST Centre for Rehabilitation and Engineering Studies Department of Mechanical and Systems Engineering University of Newcastle Upon Tyne United Kingdom IEEE United Kingdom IEE Institutions United Kingdom Laboratory of Robotics and Biomedical Engineering Faculty of Electrical Engineering Ljubljana Slovenia IFMBE Slovenia IFESS Germany IFAC Italy Department of new Business Development HITECH SNT SA Athens Greece FDG-SIVA Fondazione Don Carlo Gnocchi Servizio Informazione e Valutazione Ausili (S.I.V.A) Milano Italy School of Physiotherapy Trinity College Dublin Dublin Ireland CREST United Kingdom i-match Project United Kingdom Royal Academy of Engineering United Kingdom

ISBN: (纸本)0780390032

Many people with disabilities rely upon items of assistive technology for their independence. However, in many cases, the potential of a specific assistive device is limited by the difficulties in actual user operation. Whilst success in use of a particular interface depends on appropriateness of the user's skills to the interface physical characteristics, there is a need to develop novel systems that will provide quantitative skills relevant to interface operation. The i-match project, funded by the European Commission, focuses on quantifying upper limb skills and performance as well as characterising different interfaces based on their physical and functional characteristics. The objective is to aid the selection of an optimum interface by matching between user's abilities to control and features of an existing interface. This paper overviews the project and different steps taken to produce a novel matching system.

关键词： Pattern matching

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Development of a hand-guided apparatus for measuring ossicular mobility

Development of a hand-guided apparatus for measuring ossicul...

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12th International Congress on Sound and Vibration 2005, ICSV 2005

作者： Koike, Takuji Hamanishi, Shinji Kobayashi, Toshimitsu Merchant, Saumil N. Wada, Hiroshi Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications 1-5-1 Chofugaoka Chofu Tokyo 182-8585 Japan Department of Bioengineering and Robotics Tohoku University Sendai 980-8579 Japan Department of Otorhinolaryngology Head and Neck Surgery Tohoku University Graduate School of Medicine Sendai 980-8574 Japan Department of Otology and Laryngology Harvard Medical School Eaton-Peabody Laboratory MA 02114 United States

ISBN: (纸本)9781627481496

In this study, an apparatus that quasi-statically measures the relationship between the load applied to the ossicles and the displacement of the ossicles was developed, and the ossicular mobility in human temporal bones was measured before and after the ossicles were artificially fixed. Results were compared with estimates of vibration amplitude of the ossicles obtained with a laser Doppler velocimeter in the same temporal bones when sound stimulus was applied to the tympanic membrane. Although the data set is small, a correlation was seen between the ossicular mobility measured with our apparatus and the vibration amplitude of the ossicles. This result suggests that our apparatus is able to detect the difference in mobility between fixed and normal ears, and indicates that our apparatus is a potentially useful tool for the estimation of ossicular disorders.

关键词： Laser Doppler velocimeters

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Visual-based feedback control of Casting Manipulation

Visual-based feedback control of Casting Manipulation

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Fagiolini H. Arisumi A. Bicchi Interdepartmental Research Center E. Piaggio Faculty of Engineering University of Pisa Pisa Italy ISRI/AIST-STIC/CNRS Joint Japanese-French Robotics Laboratory Intelligent Systems Research Institute AIST Tsukuba Ibaraki Japan

In this paper, we present a method to control casting manipulation by means of real-time visual feedback. Casting manipulation is a technique to deploy a robotic end-effector at large distances from the robot’s base, by throwing the end-effector and controlling its ballistic flight using forces transmitted through a light tether connected to the end-effector itself. The tether cable can also be used to retrieve the end-effector and exert forces on the robot’s environment. Previous work has shown that casting manipulation is able to catch objects at a large distance, proving it viable for applications such as sample acquisition and return, rescue, etc. In previous experiments, the position of the target object was known exactly. In this paper, we present a first attempt at closing a real-time control loop on casting manipulation using visual feedback of moving targets. As accurate planning methods developed for off-line open-loop planning cannot be used in real-time, we develop a simplified model and control algorithm, whose effectiveness is demonstrated through experiments.

关键词： Feedback control Casting Robots Orbital robotics Open loop systems Manipulators Force control Lighting control Feedback loop Analytical models

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Task planning and behavior scheduling for a reconfigurable planetary robot system

Task planning and behavior scheduling for a reconfigurable p...

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IEEE International Conference on Mechatronics and Automation

作者： Minghui Wang Shugen Ma Bin Li Yuechao Wang Xinyuan He Liping Zhang Shenyang Inst. of Automatior Chinese Acad. of Sci. Shenyang China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan School of Mechanical Engineering Xi''an Jiaotong University Xi'an China

In this paper, the synthetical approach of behavior tree and logic syntactic representation is presented to implement task planning and behavior scheduling for autonomous motion, reconfiguration and cooperation in a new planetary rover, reconfigurable planetary robot system (RPRS). This approach provides support for task decomposition, behavior scheduling, synchronization, execution monitoring and exception handling. The analytic process is illustrated in an example. The modularized design method of single child-robot is proposed and implemented. Two-layered hierarchical hybrid control architecture is designed for RPRS, which applies the centralized plan at task-level and the distributed control at motion-level. As a result, child-robots can reconfigure to some configurations and perform some tasks cooperatively. The latest results of this research are demonstrated in the experiments of the prototype.

关键词： robotics and automation Reconfigurable logic Mobile robots Motion control Planets Sliding mode control Helium Laboratories systems engineering and theory Mechanical engineering

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New memory model for humanoid robots - introduction of co-associative memory using mutually coupled chaotic neural networks

New memory model for humanoid robots - introduction of co-as...

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International Joint Conference on Neural Networks (IJCNN)

作者： K. Itoh H. Miwa Y. Nukariya M. Zecca H. Takanobu P. Dario A. Takanishi Department of Mechanical Engineering Waseda University Tokyo Japan Institute for Biomedical Engineering Waseda University Tokyo Japan Graduate School of Science and Engineering Waseda University Tokyo Japan Scuola Superiore Sant'Anna ARTS Laboratory Pontedera Italy Humanoid Robotics Institute Waseda University Tokyo Japan Department of Mechanical Systems Engineering KOGAKUIN University Tokyo Japan

Personal robots, which are expected to become popular in the future, are required to be active in joint work and community life with humans. Therefore, we have been developing new mechanisms and functions for a humanoid robot that has the ability to express emotions and to communicate with humans in a human-like manner. In 2004, we introduced the "Behavior Model" and "Consciousness Model" to the robot mental model so that the robot generated various kinds of behavior and an object of the robot's behavior became clear. We implemented the mental model in the emotion expression humanoid robot WE-4RII (Waseda Eye No.4 Refined II). Also, we have been studying a system of multiple harmonic oscillators (neurons) interacting via chaotic force since 2002. Each harmonic oscillator is driven by chaotic force whose bifurcation parameter is modulated by the position of the harmonic oscillator. In this paper, we propose an associative memory model using mutually coupled chaotic neural networks for generating an optimum behavior to a stimulus. We implemented this model in the emotional expression humanoid robot WE-4RII (Waseda Eye No.4 Refined II).

关键词： Humanoid robots Mutual coupling Chaos Neural networks Chaotic communication Oscillators Humans Cognitive science Neurons Bifurcation

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Task allocation for event-aware spatiotemporal sampling of environmental variables

Task allocation for event-aware spatiotemporal sampling of e...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： M.A. Batalin G.S. Sukhatme Yan Yu R. Pon J. Gordon M.H. Rahimi W.J. Kaiser G.J. Pottie D.E. Estrin Center for Robotics and Embedded Systems Robotic Embedded Systems Laboratory Computer Science Department University of Southern California Los Angeles CA USA Department of Computer Science Center for Embedded Networked Sensing University of California Los Angeles CA USA Department of Electrical Engineering Center for Embedded Networked Sensing University of California Los Angeles CA USA

Monitoring of environmental phenomena with embedded networked sensing confronts the challenges of both unpredictable variability in the spatial distribution of phenomena coupled with the demands for a high spatial sampling rate in three dimensions. For example, low distortion mapping of critical solar radiation properties in forest environments may require two-dimensional spatial sampling rates of greater than 10 samples/m/sup 2/ over transects exceeding 1000 m/sup 2/. Clearly, adequate sampling coverage of such transect requires an impractically large number of sensing nodes. A new approach, networked infomechanical system (NIMS), has been introduced to combine autonomous-articulated and static sensor nodes enabling sufficient spatiotemporal sampling density over large transects to meet a general set of environmental mapping demands. This paper describes our work on the critical parts of NIMS, the task allocation module. We present our methodologies and the two basic greedy task allocation policies - based on time of the task arrival (time policy) and distance from the robot to the task (distance policy). We present results from NIMS deployed in a forest reserve and from a lab testbed. The results show that both policies are adequate for the task of spatiotemporal sampling, but also complement each other. Finally, we suggest the future direction of research that would both help us better quantify the performance of our system and create more complex policies.

关键词： Spatiotemporal phenomena Sampling methods Sensor phenomena and characterization Solar radiation Mobile robots Atmospheric measurements Ecosystems Robot sensing systems Embedded system Computer science

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MICRON: Small Autonomous Robot for Cell Manipulation Applications

MICRON: Small Autonomous Robot for Cell Manipulation Applica...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Brufau M. Puig-Vidal J. Lopez-Sanchez J. Samitier N. Snis U. Simu S. Johansson W. Driesen J.-M. Breguet J. Gao T. Velten J. Seyfried R. Estana H. Woern Instrumentation and Communication Systems Laboratory Universitat de Barcelona Barcelona Spain Laboratoir de Systèmes Robotiques Swiss Federal Institute of Technology Lausanne Switzerland Department of Engineering Sciences Uppsala University Uppsala Fraunhofer Institute of Biomedical Engineering Saint Ingbert Germany Inst. for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

Manipulating in the micro- or even nano world still poses a great challenge to robotics. Conventional (stationary) systems suffer from drawbacks regarding integration into process supervision and multi-robot approaches, which become highly relevant to fight scaling effects. This paper describes work currently being carried out which aims to make automated manipulation of micrometer-scaled objects possible by robots with nanometer precision. The goal is to establish a small cluster of (up to five) micro robots equipped with on-board electronics, sensors and wireless power supply. Power autonomy has been reached using inductive energy transmission from an external wireless power supply system or a battery based system. Electronics requirements are fulfilled in the electronic module with the full custom integrated circuit design for the robot locomotion control and the closed loop force control for AFM tool in cell manipulation applications. The maximum velocity obtained is about 0.4 mm/s with a saw tooth voltage signals of 20Vpp and 2500 Hz. In order to keep a AFM tool on micro-robot a specific tip with integrated piezoresistance, instead of the classical laser beam methodology, is validated for force measurement.

关键词： robotics and automation Robot sensing systems Wireless sensor networks Power supplies Force control Batteries Application specific integrated circuits Robot control Teeth Voltage

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A detection method of moving ships by image processing as a support system of AIS

A detection method of moving ships by image processing as a ...

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Institute of Navigation, 2005 National Technical Meeting, NTM 2005

作者： Shimpo, M. Hirasawa, M. Nakajima, A. Shoji, R. Oshima, M. Tokyo University of Marine Science and Technology Information Systems Planning and Development Department Mitsubishi Electric Corporation Japan Institute of Navigation Robotics Society of Japan Institute of Electronics Information and Communication Engineers Japan Institute of Navigation Image Processing Radar Network System Faculty of Marine Technology Tokyo University of Marine Science and Technology Electro Technical Laboratory Ibaraki Japan Tokyo University of Mercantile Marine Tokyo Japan Institute of Electronics Information and Communication Engineers Information Processing Society of Japan Japanese Society for Artificial Intelligence Marine Engineering Society in Japan Law and Computers Association of Japan

This paper proposes a detection method of moving ships from the navigational image sequence that was taken with cameras installed on the bridge of the ship. The image is influenced by roll and pitch of the ship. Therefore, usual technique of image processing cannot be used such as Finite Difference method. Moreover, as many sea waves appear in the images, the image cannot be dealt without rejecting sea waves. The technique in this paper proposes how to get rid of the influence of roll, pitch and sea waves. After that, we detect the ships. An interval between each of the frames is one-thirty second in this experiment. The size of the images is 640 pixels in width and 480 pixels in height. At first, the frames are segmented into about 5000 regions using brightness value of the image. About 100 regions were estimated with the ship. Each region was matched with another two frames, which passed 0.33 second and 0.66 second. 0.33 second corresponds to 10 frames. The movement of the ship is less than 50 pixels in this interval. The SSDA method is used for matching processing to be more efficiently. Both the coordinate points of an original region and the matched one are recorded on the table. It is used to calculate the deflection, the speed and the direction of the moving vector of each region. The ships can be detected with these parameters. The detected ships can be displayed clearly as a result of processing. We have taken a lot of video images in Tokyo Bay and Tokyo Port. It becomes possible to show that the ships can be detected from the video images.

关键词： Navigation systems

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