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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： M. Orsag S. Bogdan T. Haus M. Bunic A. Krnjak Laboratory for Robotics and Intelligent Control Systems - LARICS Dept. of Control and Computer EngineeringFaculty of Electrical Engineering and ComputingUniversity of ZagrebZagrebCroatia

In this article we present a mathematical model of a spincopter -an inherently stable and easy to control unmanned aerial vehicle (UAV). Although the devised model represents only the first approximation of spincopter's physics, it captures basic phenomena that are sufficient for derivation and testing of a simple control algorithm. Results obtained by simulations in Simulink presented herein, demonstrate efficient performance of the proposed simple controller structure. Further tests, including investigation of complex aerodynamics effects and hardware-specified limitations, have been done using X-Plan software package. Finally, the proposed controller has been tested experimentally. Both, Xplane and experimental results confirmed the outcome from Simulink.

关键词： Aircraft Mathematical model Engines Propellers Force Atmospheric modeling

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A Convex Optimization Approach for Online Human Walking Motion Adaptation

A Convex Optimization Approach for Online Human Walking Moti...

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Workshop on Digital Media and Digital Content Management (DMDCM)

作者： Qing Tang Rong Xiong Jian Chu Changjiu Zhou State Key Laboratory of Industrial Control Technology University of Zhejiang Hangzhou China ARICC(Advanced Robotics and Intelligent Control Centre) Singapore polytechnics Singapore

For human-like locomotion, applying human motion capture data (HMCD) to the humanoid robot is a nature way. However, adapting HMCD online is a non-trivial problem. Not only because achieving both kinematic similarity and dynamic stability is difficult but also because such an optimization problem is intractable. This paper proposes an online adaptation approach using convex optimization for humanoid's walking motion, where the optimal objectives of kinematic similarity and dynamic stability can be simultaneously considered and easily balanced. With an inverted pendulum model based dynamics formulation of zero moment point (ZMP) in the framework of Lie group, the optimal objectives and constraints on both kinematics and dynamics are formulized into a second order cone programming problem. The simulation experiments show that the proposed method is promising for adapting HMCD online as well as simultaneously achieving and balancing the kinematic similarity and dynamic stability.

关键词： Joints Kinematics Mathematical model Equations Humanoid robots Dynamics Optimization

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Autonomous driving manoeuvres in urban road traffic environment: a study on roundabouts

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IFAC Proceedings Volumes 2011年第1期44卷 13795-13800页

作者： Joshué Pérez Vicente Milanés Teresa de Pedro Ljubo Vlacic AUTOPIA program Centre for Automation and Robotics (CAR) University Polytechnic of Madrid (UPM) – Spanish National Research Council (CSIC) Madrid Spain Intelligent Control Systems Laboratory Griffith University Brisbane Australia

Abstract The highway and urban traffic safety has significantly been improved thanks to advanced development of intelligent Transportation Systems technologies. However, some driving aspects have remained outside of this evolution or they are still in the development stage. Autonomous vehicle performance on roundabouts is one of these. In this paper, a simple and practical approach for the driverless control on roundabouts is described. Firstly, a description of a path planning is explained. Finally, a new concept for lateral control on roundabouts is introduced, taking into account entrances, exits and lane changes inside the roundabouts. The experiments have been tested in a 3D simulator that emulates the behaviour of driverless vehicle from the real world, – Cybercars. The results are promising, and leave the door open for future implementation in real vehicles.

关键词： Lane keeping autonomous vehicles roundabouts digital map intelligent Transportation Systems (ITS)

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Temperature-Aided Fingerprinting for localization in wireless local area networks

Temperature-Aided Fingerprinting for localization in wireles...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Kave Aryanpoo Hadi Moradi Robotics and AI Laboratory School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran Robotics and AI Laboratory Control & Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

Wireless signal fingerprints have been used to localize mobile devices in recent years. Especially, WLAN signals are of great importance, because of the ubiquity of WLAN infrastructure. In this paper, the possibility of correlation between temperature and signal strength is investigated to improve the traditional fingerprinting method by incorporating the temperature into the process. The new approach is called the Temperature-Aided Fingerprinting (TAF) and even with current WLAN-enabled devices, which usually do not have a thermometer, TAF achieves a better performance than the traditional method. At the end, we open up a hypothesis that the observed difference is not caused by the temperature, rather by the crowdedness and the dynamics of the environment. This is left to be investigated in the future.

关键词： Fingerprint recognition Temperature distribution Educational institutions Buildings Temperature sensors Temperature measurement

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MRI magnetic signature imaging, tracking and navigation for targeted micro/nano-capsule therapeutics

MRI magnetic signature imaging, tracking and navigation for ...

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2011 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： David Folio Christian Dahmen Tim Wortmann M. Arif Zeeshan Kaiyu Shou Salvador Pané Bradley J. Nelson Antoine Ferreira Sergej Fatikow Laboratoire PRISME ENSI de Bourges Bourges France Division Microrobotics and Control Engineering University of Oldenburg Oldenburg Germany Multi-Scale Robotics Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

The propulsion of nano-ferromagnetic objects by means of MRI gradients is a promising approach to enable new forms of therapy. In this work, necessary techniques are presented to make this approach work. This includes path planning algorithms working on MRI data, ferromagnetic artifact imaging and a tracking algorithm which delivers position feedback for the microdevice and a propulsion sequence to enable interleaved magnetic propulsion and imaging. Using a dedicated software environment integrating path-planning methods and real-time tracking, a clinical MRI system is adapted to provide this new functionality for potential controlled interventional targeted therapeutic applications. Through MRI-based sensing analysis, this paper aims to propose a framework to plan a robust pathway to enhance the navigation ability to reach deep locations in human body. The proposed approaches are validated with different experiments.

关键词： Magnetic resonance imaging Navigation Target tracking Uncertainty Planning Sensors

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Modified Banker's algorithm for scheduling in multi-AGV systems

Modified Banker's algorithm for scheduling in multi-AGV syst...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Luka Kalinovcic Tamara Petrovic Stjepan Bogdan Vedran Bobanac Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Renewable Energy Sources Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.

关键词： Vehicles System recovery Layout Resource management Job shop scheduling Workstations

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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International Conference on control, Instrumentation, and Automation

作者： Hamed Kazemi Vahid Johari Majd Majid M. Moghaddam Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Intelligent Control Systems Laboratory Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Moalem University Tehran Iran Mechanical Engineering Department Tarbiat Modares University Tehran Iran

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability.

关键词： Mathematical model Legged locomotion Dynamics Equations Joints Robot kinematics

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Real-time co-operative decision making & control systems

Real-time co-operative decision making & control systems

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XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Ljubo B. Vlacic Daniel I. Thomas Joshué Pérez Intelligent Control Systems Laboratory (ICSL) Griffith University Brisbane Australia Technology One Limited Brisbane Australia Centre of Automation and Robotics University Polytechnic of Madrid Madrid Spain

Learning and adaptability (and thus the ability of being co-operative) are important features of decision & control systems. This paper investigates decision making and control concepts that enable human beings and artificial beings to interact and co-operate in real time in a dynamic and reliable way. It examines the aspects of being co-operative and substitutable in the context of: (i) co-operative driving by driverless vehicles; and (ii) computer game play scenarios for collaborative and social interactions.

关键词： Humans Games Decision making Collaboration Computers control systems Robots

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Agent self-assessment: Determining policy quality without execution

Agent self-assessment: Determining policy quality without ex...

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IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, (ADPRL)

作者： Alexander Hans Siegmund Duell Steffen Udluft Neuroinformatics and Cognitive Robotics Laboratory Ilmenau University of Technology Ilmenau Germany Machine Learning Group Berlin Institute of Technology Berlin Germany Intelligent Systems and Control Siemens AG Munich Germany

With the development of data-efficient reinforcement learning (RL) methods, a promising data-driven solution for optimal control of complex technical systems has become available. For the application of RL to a technical system, it is usually required to evaluate a policy before actually applying it to ensure it operates the system safely and within required performance bounds. In benchmark applications one can use the system dynamics directly to measure the policy quality. In real applications, however, this might be too expensive or even impossible. Being unable to evaluate the policy without using the actual system hinders the application of RL to autonomous controllers. As a first step toward agent self-assessment, we deal with discrete MDPs in this paper. We propose to use the value function along with its uncertainty to assess a policy's quality and show that, when dealing with an MDP estimated from observations, the value function itself can be misleading. We address this problem by determining the value function's uncertainty through uncertainty propagation and evaluate the approach using a number of benchmark applications.

关键词： Uncertainty Equations Markov processes Benchmark testing Approximation algorithms Machine learning Histograms

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Extracting salient lines by Visual Attention for omnidirectional image classification

Extracting salient lines by Visual Attention for omnidirecti...

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IEEE Symposium on Computational Intelligence for Multimedia, Signal and Vision Processing (CIMSIVP)

作者： AmirHossein Habibian Majid Nili-Ahmadabadi Babak Nadjar Araabi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran School of Cognitive Sciences Institute for Research in Fundamental Sciences Tehran Iran

Representing an image as a set of its key and interesting lines facilitates the image understanding and classification. In this paper, we propose a method to extract the significant and interesting lines of the scene, which probably are useful in image classification. The proposed method is inspired from the Visual Attention, which is a perceptual mechanism in human and other primates that direct their perceptions to the limited regions of the scene. The attended regions are usually valuable in performing the task. Since the approach of using the lines to classify the images is particularly useful for omnidirectional images, we specialize our method to deal with these kinds of images. In the experiments, we demonstrate how our proposed methods improve the image classification performance with processing only small parts of the input images.

关键词： Feature extraction Visualization Image classification Gabor filters Image edge detection Histograms Computational modeling

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