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Extreme ecosystem studies in the deep OCEan: Technological developments EXOCET/D

Extreme ecosystem studies in the deep OCEan: Technological d...

引用

The Fourteenth International Offshore and Polar engineering Conference - ISOPE 2004

作者： Sarradin, P.-M. Sarrazin, J. Cadiou, J.F. Olu, K. Desbruyères, D. Rigaud, V. Drogou, J.F. Lecornu, F. Rolin, J.F. Vuillemin, R. Cambon-Bonavita, M.A. Sauter, E. Von Juterzenka, K. Boetius, A. Serrão Santos, R. Colaço, A. Pascoal, A. Oliveira, P. Shillito, B. Zal, F. Schultz, A. Taylor, P. Lane, D. Loke, R.E. Du Buf, H. Waldmann, C. Cormack, A. Sanfilippo, L. Masson, M. Ifremer DRO/EP Plouzané and La Seyne sur Mer France DNIS Plouzané and La Seyne sur Mer France TMSI Plouzané and La Seyne sur Mer France DRV/VP Plouzané and La Seyne sur Mer France AWI Dept. Geosystem and Project Group Deep-Sea Research Bremerhaven Germany Project Group AUV Payload Development and Deep-Sea Gradients Bremerhaven Germany Geosystem Paleoenvironment from Marine Sediments Bremerhaven Germany University of the Azores Horta Portugal Dept. of Electrical Engineering Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal UMR CNRS 7138 Systématique Adaptation et Evolution Université Pierre et Marie Curie Paris France Equipe Ecophysiologie Station Biologique Roscoff France School of Earth Ocean and Planetary Sciences Cardiff University Cardiff United Kingdom Dept. Electrical Electronic and Computer Engineering Heriot-Watt University Edinburgh United Kingdom Dept. of Electronics and Computer Science Vision Laboratory University of Algarve Faro Portugal University of Bremen FB5/MARUM Bremen Germany SeeByte Ltd Edinburgh United Kingdom Systea Srl Anagni Italy CAPSUM Technologie GmbH Trittau Germany

The general objective of EXOCET/D is to develop, implement and test specific instruments aimed at exploring, describing, quantifying and monitoring biodiversity in deep-sea fragmented habitats as well as at identifying links between community structure and environmental dynamics. Onboard experimental devices will complement the approach, enabling experiments on species physiology. The EXOCET/D working fields include: video and acoustic imagery, in situ analysis of physico-chemical factors, quantitative sampling of macro- and micro-organisms, in vivo experiments, integration of multidisciplinary data, implementation on European deep-submersibles and a final phase of technical and scientific validation. Copyright © 2004 by The International Society of Offshore and Polar Engineers.

关键词： Submersibles

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Approximate motion synthesis of open and closed chains via parametric constraint manifold fitting: Preliminary results

Approximate motion synthesis of open and closed chains via p...

引用

2003 ASME Design engineering Technical Conferences and Computers and Information in engineering Conference

作者： Larochelle, Pierre M. Robotics/Spatial Systems Laboratory Department of Mechanical Engineering Florida Institute of Technology Melbourne FL 32901 United States

In this paper we present a novel dyad dimensional synthesis technique for approximate motion synthesis. The methodology utilizes an analytic representation of the dyad's constraint manifold that is parameterized by its dimensional synthesis variables. Nonlinear optimization techniques are then employed to minimize the distance from the dyad's constraint manifold to a finite number of desired locations of the workpiece. The result is an approximate motion dimensional synthesis technique that is applicable to planar, spherical, and spatial dyads. Here, we specifically address the planar RR, spherical RR and spatial CC dyads since these are often found in the kinematic structure of robotic systems and mechanisms. These dyads may be combined serially to form a complex open chain (e.g. a robot) or when connected back to the fixed link they may be joined so as to form one or more closed chains (e.g. a linkage, a parallel mechanism, or a platform). Finally, we present some initial numerical design case studies that demonstrate the utility of the synthesis technique.

关键词： Production engineering

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Path planning of multi-robot systems with cooperation

Path planning of multi-robot systems with cooperation

引用

IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： A. Zhu S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Canada

In this paper, a novel gated dipole based approach is proposed for path planning of a multi-robot system, where the cooperative control strategy is based on the multi-agent systems. The system stability is guaranteed by a Lyapunov stability theory. The proposed approach is capable of generating collision-free paths for a multi-robot system in various situations, such as robots with different speed, with limited measurable sensor information, and in completely unknown environments. The effectiveness and efficiency of the proposed approach is demonstrated by simulation studies.

关键词： Path planning Multirobot systems Robot kinematics Orbital robotics Mobile robots Intelligent robots Robot sensing systems Stability State-space methods Genetic algorithms

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Analysis of creeping locomotion of a snake robot on a slope

Analysis of creeping locomotion of a snake robot on a slope

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IEEE International Conference on robotics and Automation (ICRA)

作者： Shugen Ma N. Tadokoro Bin Li K. Inoue Robotics Laboratory Shenyang Institute of Automation Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan Robotics Laboratory Shenyang Institute of Automation China

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. To realize these snakes' noticeable features, we have developed a snake-like robot that has no any forward direction driving force. To enlarge the environment-adaptable ability of our robot, in this study we discuss the creeping locomotion of our snake-like robot on a slope. A computer simulator is presented for analysis of the creeping locomotion of our snake-like robot on a slope, and the environment-adaptable body shape for the creeping locomotion of the snake-like robot on slope is also derived through this simulator.

关键词： Mobile robots robotics and automation Analytical models Shape Motion analysis Creep Computational modeling Computer simulation systems engineering and theory Laboratories

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Synergies between information technology and (dis)-assembly

Synergies between information technology and (dis)-assembly

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2003 IFAC Workshop on Intelligent Assembly and Disassembly, IAD 2003

作者： Noe, D. Kopacek, P. Laboratory for Handling and Assembly Systems University of Ljubljana Faculty of Mechanical Engineering Aškerčeva 6 LjubljanaSI-1000 Slovenia Institute of Handling Devices and Robotics Vienna University of Technology Faculty of Mechanical Engineering Favontenstr. 9-11 ViennaA-1040 Austria

Product design and assembly/disassembly process planning and system development have been significantly influenced by information technology. Computer aided design allows to develop products in several variants and evaluating them, virtual prototyping, planning and simulation. Different computer aided systems are used for automated creating of lay-out and presentation of assembly process in virtual environment. We are faced with use of Ethernet in assembly system control and new organisation structures like virtual enterprises, production in networks will occur in the future. For thai reason new communications structures, data management systems and protocols have been developed. © 2003 IFAC.

关键词： Assembly

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Genetic algorithm based path planning for a mobile robot

Genetic algorithm based path planning for a mobile robot

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jianping Tu S.X. Yang Advanced Robotics and Intelligent Systems ARIS Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a novel genetic algorithm based approach to path planning of a mobile robot is proposed. The major characteristic of the proposed algorithm is that the chromosome has a variable length. The location target and obstacles are included to find a path for a mobile robot in an environment that is a 2D workplace discretized into a grid net. Each cell in the net is a gene. The number of genes in one chromosome depends on the environment. The locations of the robot, the target and the obstacle are marked in the workplace. The proposed algorithm is capable of generating collision-free paths for a mobile robot in both static and dynamic environments. In a static environment, the generated robot path is optimal in the sense of the shortest distance. The effectiveness of the proposed model is demonstrated by simulation studies.

关键词： Genetic algorithms Path planning Mobile robots Biological cells Fuzzy logic Evolutionary computation Intelligent robots Employment Robot sensing systems Fuzzy systems

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Self-organizing behavior of a multi-robot system by a neural network approach

Self-organizing behavior of a multi-robot system by a neural...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Anmin Zhu S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a novel neural network approach to self-organizing behavior of a multi-robot system is proposed, which is capable of controlling a group of mobile robots to achieve multiple tasks at several different locations, such that the desired number of robots will arrive at every target location from any arbitrary initial robot locations. The proposed model is based on a self-organizing map (SOM) neural network. Unlike some conventional approaches to multi-robot path planning for multiple tasks where the task assignment and path planning are handled separately, this model combines the robot task requirement and motion planning together, such that the robots can start to move once the total tasks are set. The robot navigation can be dynamically adjusted to guarantee each target location will have the desired number of robots, even under unexpected uncertainties, such as one robot breaks down. In addition, unlike the conventional models that are suitable for static environment only, the proposed approach is also capable of dealing with changing environment. The effectiveness of the proposed approach is demonstrated by simulation studies.

关键词： Multirobot systems Neural networks Robot kinematics Mobile robots Robot sensing systems Intelligent robots Path planning Control systems Costs Intelligent systems

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A neuro-fuzzy approach to obstacle avoidance of a nonholonomic mobile robot

A neuro-fuzzy approach to obstacle avoidance of a nonholonom...

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

作者： Xiaochuan Wang S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a neuro-fuzzy control system is developed for obstacle avoidance of nonholonomic mobile robot built in the ARIS lab. A combination of four infrared sensors is equipped to detect the distance to obstacles around the mobile robot. The distance information is processed by the proposed neuro-fuzzy controller to adjust the velocities of two separate driven wheels of the robot. Eighteen fuzzy rules are developed for the obstacle avoidance. Experiments demonstrate the effectiveness of the developed neuro-fuzzy controller.

关键词： Mobile robots Fuzzy logic Intelligent robots Control systems Wheels Neural networks Automatic control Robot sensing systems Service robots Orbital robotics

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A fuzzy neural dynamics based tracking controller for a nonholonomic mobile robot

A fuzzy neural dynamics based tracking controller for a nonh...

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

作者： Yanrong Hu S.X. Yang Advanced Robotics and Intelligent Systems (AFUS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a fuzzy neural dynamics based tracking controller for nonholonomic wheeled mobile robots is proposed. The nonholonomic kinematic constraints are considered in the development of the controller. The proposed model is suitable for both continuous and discrete paths. Fuzzy rules are formulated to deal with the discontinuity in path directions. This model is capable of generating smooth velocity commands to drive the robot to track the desired paths. In the situation with large initial errors, the proposed model can automatically generate a smooth curve to reach the desired robot path from an arbitrary initial configuration without any explicit algorithms for the connection curve. At sharp turns, this model can automatically round off the sharp turns with a smooth curve. The effectiveness of the proposed tracking controller is demonstrated by simulation studies.

关键词： Fuzzy control Mobile robots robotics and automation Robot kinematics Wheels Intelligent robots Intelligent systems Control systems Navigation Councils

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Tracking control of a nonholonomic mobile robot by integrating feedback and neural dynamics techniques

Tracking control of a nonholonomic mobile robot by integrati...

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Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS 2003) (Cat. No.03CH37453)

作者： Haowen Yang S.X. Yang G.S. Mittal Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

Mobile robots have been one of the challenging topics of control due to their nonholonomic property and restricted mobility. This paper presents the design of a novel tracking controller for a mobile robot by integrating the neural dynamics model into a conventional feedback controller. The proposed controller is capable of generating real-time smooth velocities, and driving the mobile robot to track desired trajectories. It resolves the speed jump problem existing in some previous tracking controllers. Lyapunov stability theory is used to prove the stability of the control system and the convergence of tracking errors to zero. The effectiveness of the proposed controller is demonstrated by simulation and comparison studies.

关键词： Mobile robots Neurofeedback Adaptive control Velocity control Trajectory Lyapunov method Stability Control systems Convergence Error correction

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