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

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Assembling virtual fixtures for guidance in training environments

Assembling virtual fixtures for guidance in training environ...

引用

International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator systems (HAPTICS)

作者： A.B. Kuang S. Payandeh Bin Zheng F. Henigman C.L. MacKenzie Human Motor Systems Laboratory School of Kinesiology Experimental Robotics Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

We set up a library of virtual fixtures with both haptic and graphic properties and behaviors. For a given task, Virtual Fixture Assembly Language (VFAL) could be used to construct various virtual fixture series, with graphic and force guidance rules, making the low-level haptic and graphic rendering details transparent to the developers. An experiment evaluated the application of virtual fixtures as an aid for guiding a user in a path navigation task. The task was performed with or without force field guidance of virtual fixtures, and then transferred to the condition with no virtual fixtures. Results showed significant learning and transfer effects measured by performance time and path length. However, training using virtual fixtures with force guidance had comparable results to training with graphic only fixtures representing the path. Results are discussed in terms of motor learning theory, future work and applications for the design of better VR training environments.

关键词： Assembly Fixtures Graphics Haptic interfaces Libraries Rendering (computer graphics) Navigation Length measurement Time measurement Virtual reality

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Localization of simultaneous moving sound sources for mobile robot using a frequency- domain steered beamformer approach

Localization of simultaneous moving sound sources for mobile...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： J.-M. Valin F. Michaud B. Hadjou J. Rouat LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

Mobile robots in real-life settings would benefit from being able to localize sound sources. Such a capability can nicely complement vision to help localize a person or an interesting event in the environment, and also to provide enhanced processing for other capabilities such as speech recognition. We present a robust sound source localization method in three-dimensional space using an array of 8 microphones. The method is based on a frequency-domain implementation of a steered beamformer along with a probabilistic post-processor. Results show that a mobile robot can localize in real time multiple moving sources of different types over a range of 5 meters with a response time of 200 ms.

关键词： Mobile robots Auditory system Orbital robotics Intelligent robots Head Acoustic noise Humans Robustness Microphone arrays Signal processing

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Enhanced robot audition based on microphone array source separation with post-filter

Enhanced robot audition based on microphone array source sep...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： J.-M. Valin J. Rouat F. Michaud Department of Electrical Engineering and Computer Engineering LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Université de Sherbrook Sherbrooke QUE Canada

We propose a system that gives a mobile robot the ability to separate simultaneous sound sources. A microphone array is used along with a real-time dedicated implementation of geometric source separation and a post-filter that gives us a further reduction of interferences from other sources. We present results and comparisons for separation of multiple non-stationary speech sources combined with noise sources. The main advantage of our approach for mobile robots resides in the fact that both the frequency domain geometric source separation algorithm and the post-filter are able to adapt rapidly to new sources and non-stationarity. Separation results are presented for three simultaneous interfering speakers in the presence of noise. A reduction of log spectral distortion (LSD) and increase of signal-to-noise ratio (SNR) of approximately 10 dB and 14 dB are observed.

关键词： Microphone arrays Source separation Mobile robots Acoustic noise Auditory system Humans Intelligent robots Interference Robot sensing systems Mobile computing

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A Dynamics Simulation of a 3-DOF Parallel Manipulator

A Dynamics Simulation of a 3-DOF Parallel Manipulator

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第十一届IFTOMM世界大会

作者： Mario Acevedo Gabriel Aguirre Giuseppe Carbone Erika Ottaviano Multibody Systems and Mechatronics Laboratory Engineering School Universidad PanamericanaMexico City 03920Mexico Multibody Systems and Mechatronics Laboratory Engineering School Universidad PanamericanaMexico City 03920Mexico Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino 03043Italy Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino 03043Italy

＜正＞In this paper a new version of the Cassino parallel manipulator （CaPaMan 2） is presented. A model describing the multibody system through mixed coordinates has been created, and a simulation program has been developed to perform both kinematic and dynamic analysis of the manipulator. This program uses an entirely symbolic formulation of the equations of motion for the mechanism.

关键词： Multibody systems Parallel manipulators Numerical simulation

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A Serpentine Robot Based on 3 DOF Coupled-driven Joint

A Serpentine Robot Based on 3 DOF Coupled-driven Joint

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IEEE International Conference on robotics and Biomimetics

作者： Shugen Ma Guangping Lan Y. Tanabe R. Sasaki K. Inoue Robotics Laboratory Shenyang Institute of Automation China Department of Systems Engineering Faculty of Eng Ibaraki University Hitachi Ibaraki Japan

This paper presents a novel joint design for serpentine robot. It has three degrees of freedom and can make the serpentine robot move in extremely difficult environments, such as the rubble of a collapsed structure in earthquake. The leading feature of this serpentine robot is that the novel designed joints based on coupled-driven mechanism was employed, providing more powerful torque under the same condition, and therefore allowing the serpentine robot to perform all kinds of locomotion effectively in three dimensional space. Moreover, the coupled-driven mechanism and the rear actuator performing roll action make the serpentine robot perform multiplex complex locomotion, which improve its flexibility and capability of traversing rugged terrain

关键词： Orbital robotics robotics and automation Mobile robots Propulsion Laboratories Earthquakes Parallel robots Rubber Design engineering systems engineering and theory

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Shape control of hyper-redundant modularized manipulator using variable structure regular polygon

Shape control of hyper-redundant modularized manipulator usi...

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2004 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS) (IEEE Cat. No.04CH37566)

作者： Jinguo Liu Yuechao Wang Shugen Ma Bin Li Robotics Laboratory Shenyang Institute of Automation (SIA) Graduate School Chinese Academy and Sciences Beijing China Robotics Laboratory Shenyang Institute of Automation (SIA) Chinese Academy and Sciences China Department of Systems Engineering Faculty of Engineering Ibaraki University Japan

Hyper-redundant manipulator has more degrees of freedom than the least necessary to perform a given task, thus it has the features of overcoming conventional industrial robot's limitation such as improving its kinematics and dynamic performances. Crucial as it is, effective control of hyper-redundant manipulator is difficult for its redundancy. A novel shape control technique based on the concept of variable structure regular polygon and subsystem has been proposed. This technique, using variable structure regular polygon and neural networks models, is completely capable of solving the control problem of a planar hyper-redundant manipulator with any number of links following any desired path. With regular polygon side number's variety and its shape's transformation, the manipulator's configuration changes accordingly and moves actively to perform the task form point to point or following a path. Compared with other methods to our knowledge, this technique has such superiorities as fewer control parameters, higher precision and less computation. Simulation of a six-link modularized manipulator's inspection work in a bottle-like concave has demonstrated that this control technique is available and effective.

关键词： Shape control Manipulator dynamics Kinematics robotics and automation Service robots Neural networks Jacobian matrices systems engineering and theory Electrical equipment industry Modeling

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Study on a snake-like robot adapting to the ground

Study on a snake-like robot adapting to the ground

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World Congress on Intelligent Control and Automation (WCICA)

作者： Bin Li Dalong Tan Yuechao Wang Li Chen Shugen Ma Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Systems Engineering Lbaraki University Hitachi Japan

ISBN: (纸本)0780382730

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for the ground. This paper discusses the biological snakes' locomotion mode on the diverse ground, and describes the development of a snake-like robot with the adaptability for the ground. The method to realize some locomotion modes is given. The method for detecting the characteristic of ground is proposed and identified in test.

关键词： Robots robotics and automation Laboratories Content addressable storage systems engineering and theory Physiology Testing

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Path planning of a snake-like robot based on serpenoid curve and genetic algorithms

Path planning of a snake-like robot based on serpenoid curve...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Jinguo Liu Yuechao Wang Bin Ii S. Ma Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences China Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation (SIA) China Robotics Lab. Chinese Acad. of Sci. China Department of Systems Engineering Ibaraki University JAPAN

The path of the snake-like robot has no repetition because its motion is influenced by manifold indeterminate factors such as ground condition, mechanism's vibration and motor voltage's variety. A novel path planning technique based on serpenoid curve and genetic algorithms (GAs) has been proposed to control the snake-like robot in Shenyang Institute of Automation (SIA, China). First, the ranges of the path and the curvature deviation have been calculated approximately and set as the bounds of genetic algorithms. Then using real time dual genetic algorithms, this path planning technique not only can decide the shortest path and the minimum curvature deviation, but also can limit the motion error's influence. Simulation results show that the results of the second layer of GAs are more available than that of the first layer of GAs and this novel technique is effective for the path planning of the SIA snake-like robot.

关键词： Path planning Genetic algorithms robotics and automation Automatic control Robot control Orbital robotics Motion control Laboratories Genetic engineering Manifolds

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Study on a "tactile mirror" for displaying static friction sensation with tactile perception feedback

Study on a "tactile mirror" for displaying static friction s...

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IEEE International Conference on robotics and Automation (ICRA)

作者： I. Fujimoto Y. Yamada T. Maeno T. Morizono Y. Umetani Intelligent Robotics Laboratory Toyota Technological Institute Nagoya Japan Department of Mechanical Engineering Keio University Yokohama Japan Intelligent Systems Laboratory Limited Minato Tokyo Japan

The goal of our study is development of a "tactile mirror" for displaying tactile perception information. A point of distinctive difference between a tactile mirror and conventional tactile displays is that a tactile mirror possesses a feedback mechanism for acquiring the contact state information on the finger pad concerning not force but tactile perception sensation. The primary development concerns human static friction sensation. First, a control method and the structure of a tactile mirror are described. Second, simulation results using FEM for contact analysis and a ANN(artificial neural network) for generating feedback signals are shown. Finally, experiments demonstrating that providing a feedback component accomplish accurate display of static friction sensation with a conventional type of tactile displays.

关键词： Mirrors Friction Displays Force feedback Neurofeedback State feedback Fingers Humans Analytical models Signal analysis

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Novel micro gripping, probing, and sensing devices for single-cell surgery

Novel micro gripping, probing, and sensing devices for singl...

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Conference Proceedings - 26th Annual International Conference of the IEEE engineering in Medicine and Biology Society, EMBC 2004

作者： Li, Wen J. Xi, Ning Centre for Micro and Nano Systems Chinese University of Hong Kong Shatin N.T. Hong Kong Robotics and Automation Laboratory Department of Electrical Engineering Michigan State University East Lansing MI United States Micro/Nano Robotics Automations Lab. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China Chinese University of Hong Kong Michigan State University Shenyang Institute of Automation

Several novel devices under development in our laboratories to ultimately realize a micro robotic system for single cell nano-scale probing, injection, imaging and surgery is described in this paper. Thus far, we have 1) developed MEMS polymer grippers that can be actuated under water with very large deflection and are capable of gripping 500um embryonic cells in water with ∼2V input;2) developed a probe-etching technique to controllably shape fiber probes into various tip geometries, Le., fibers with initial diameter of 125um were sharpened into tips with angles ranging from <2.7 - 9.7° and with nano-scale tip diameters of <1um;3) developed a novel PVDF force sensing system with resolution in the sub-uN range for applications in bio-manipulation, bio-injection, and potentially single cell surgery. Details of these technologies are discussed in this paper.

关键词： Medical imaging

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