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2008 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS 2008), vol.1

作者： S. Ali. A. Moosavian Arash Kalantari Advanced Robotics & Automated Systems Laboratory Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

Tracked Mobile Robots (TMRs) can be considered as the most important type of mobile robots. Large contact area of tracks with the ground provides superior advantages for TMRs such as better mobility in unstructured environments, though it may cause a higher risk of slippage. In this paper, an experimental slip model is proposed for exact kinematics modeling, and the parameters of this model will be determined based on experimental analysis of ResQuake. This is a teleoperative rescue mobile robot with great capabilities in climbing obstacles in destructed areas, and its performance was demonstrated in Rescue robot league of RoboCup 2005 in Osaka (Japan), achieving the 2nd best design award, and RoboCup 2006 in Bremen (Germany) achieving the best operator interface award. Therefore, ResQuake is used here as an experimental platform to study the relationship between slippage of tracks and two main physically meaningful factors, i.e. radius of the tracking path and speed of the robot. The slip coefficients will be obtained as an exponential function of radius of curvature of the path. To validate the obtained results, the proposed model will be used along with two path tracking controllers, and it is empirically demonstrated that the developed model drastically improves the system performance in terms of lower path tracking errors.

关键词： Tracked Mobile Robot Kinematics Slippage Slip Coefficients Path Tracking Control

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From discrete to continuous and back: Abstractions and mesoscopic phenomena in cells

From discrete to continuous and back: Abstractions and mesos...

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International Workshop on Discrete Event systems, WODES

作者： Adam M. Halasz Julius A. Agung George Pappas Vijay Kumar Department of Mechanical Engineering and Applied Mechanics General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA Department of Electrical and Systems Engineering University of Pennsylvania General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA

We discuss the interplay between stochasticity and multistability in bio-molecular networks. The resulting cell-level stochastic behavior reflects the fundamentally discrete and random nature of the underlying molecular processes. These ideas are illustrated on the well studied example of the lac operon. We first describe the switching behavior predicted by a differential-equation based model and then show how cell-level stochastic behavior emerges. Finally we point out that the observed macroscopic behavior may not be enough to determine both the dynamic and stochastic parameters.

关键词： Discrete event systems Conferences

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Adaptive Control of an Aerial Robot using Lyapunov Design

Adaptive Control of an Aerial Robot using Lyapunov Design

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IEEE Conference on robotics, Automation and Mechatronics

作者： P. Zarafshan S. Ali A. Moosavian M. Bahrami Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

In this article, based on feedback linearization using Lyapunov design method, an adaptive controller is proposed for an Aerial Robot or unmanned aerial vehicle (UAV). After introducing a nonlinear dynamics model of the system in case of longitudinal equations, comparing controllers are designed to manage the system performance during various maneuvers. Also, stability analysis for the designed adaptation law is studied and discussed. To evaluate the performance of designed controllers for a given system, a comprehensive simulation program is developed. One of the most important results of this study is that tracking errors for the two state variables exponentially converge to zero, even in the presence of parameters uncertainty. Therefore, it is shown that the proposed adaptive controller is able to perform perfect path tracking maneuvers.

关键词： Adaptive control Robots Programmable control Unmanned aerial vehicles Design methodology Linear feedback control systems Nonlinear dynamical systems Vehicle dynamics Nonlinear equations Nonlinear control systems

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Modified Transpose Effective Jacobian control of underactuated manipulators

Modified Transpose Effective Jacobian control of underactuat...

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

作者： Mahmood Karimi S. Ali A. Moosavian Advanced Robotics & Automated Systems ARAS Laboratory Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781424424948

The modified transpose Jacobian (MTJ) algorithm is a recently proposed algorithm used in manipulator control. Based on an approximated feedback linearization approach the MTJ does not need to a priori knowledge of the plant dynamics. In this paper, this scheme is extended to the complicated control problem of underactuated robots in Cartesian space. Based on the notion of transpose effective Jacobian, this new proposed algorithm is called modified transpose effective Jacobian (MTEJ) algorithm. The MTEJ control law employs stored data of the control command in the previous time step, as a learning tool to yield an improved performance, with a bit need to a priori knowledge of the plant dynamics. Therefore, unlike a model-based algorithm, it is not so affected by inaccuracies in mass properties. The gains of MTEJ can be selected more systematically, and do not need to be large, hence the noise rejection characteristics of the algorithm are improved. Finally, a proposition is presented about the manipulability measure of underactuated manipulators. Obtained results show an improved performance compared to that of the transpose effective Jacobian and even model-based algorithms in the presence of uncertainties and noises.

关键词： Joints Jacobian matrices Manipulators Heuristic algorithms Manipulator dynamics Robots Aerospace electronics

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Control of underactuated manipulators using Modified Transpose Effective Jacobian

Control of underactuated manipulators using Modified Transpo...

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2008 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Mahmood Karimi S. Ali A. Moosavian Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781424420575

The modified transpose Jacobian (MTJ) algorithm is a recently proposed algorithm used in manipulator control. Based on an approximated feedback linearization approach the MTJ does not need to a priori knowledge of the plant dynamics. In this paper, this scheme is extended to the complicated control problem of underactuated robots in Cartesian space. Based on the notion of transpose effective Jacobian, this new proposed algorithm is called modified transpose effective Jacobian (MTEJ) algorithm. The MTEJ control law employs stored data of the control command in the previous time step, as a learning tool to yield an improved performance, with no substantial need to a priori knowledge of the plant dynamics. Therefore, unlike a model-based algorithm, it is almost not affected by inaccuracies in mass properties. The gains of the proposed MTEJ can be selected more systematically, and do not need to be large, hence the noise rejection characteristics of the algorithm are improved. Obtained results show an improved performance compared to that of the transpose effective Jacobian and even model-based algorithms.

关键词： Joints Manipulators Jacobian matrices Manipulator dynamics Aerospace electronics Robots Robot kinematics

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

No abstract available

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Distributed coverage verification in sensor networks without location information

Distributed coverage verification in sensor networks without...

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IEEE Conference on Decision and Control

作者： Alireza Tahbaz-Salehi Ali Jadbabaie Department of Electrical and Systems Engineering and Department of Economics University of Pennsylvania Philadelphia PA USA General Robotics Automation Sensing and Perception (GRASP) Laboratory Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA USA

ISBN: (纸本)9781424431236

In this paper, we present a distributed algorithm for detecting coverage holes in a sensor network with no location information. We demonstrate how, in the absence of localization devices, simplicial complexes and tools from computational homology can be used in providing valuable information on the properties of the cover. In particular, we capture the combinatorial relationships among the sensors by the means of the Rips complex, which is the generalization of the proximity graph of the network to higher dimensions. Our approach is based on computation of a certain generator of the first homology of the Rips complex of the network. We formulate the problem of localizing coverage holes as an optimization problem to compute the sparsest generator of the first homology classes. We also demonstrate how subgradient methods can be used in solving this optimization problem in a distributed manner. Finally, non-trivial simulations are provided that illustrate the performance of our algorithm.

关键词： Distributed algorithms Linear programming Computer networks Mobile communication Algorithm design and analysis systems engineering and theory robotics and automation Network topology Optimization methods Modeling

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Camera Handoff with Adaptive Resource Management for Multi-camera Multi-target Surveillance

Camera Handoff with Adaptive Resource Management for Multi-c...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Chung-Hao Chen Yi Yao David Page Besma Abidi Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN USA GE Global Research Center Niskayuna NY USA

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras¿ resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah.

关键词： Resource management Surveillance Labeling Real time systems Intelligent robots USA Councils Videoconference Robot vision systems Smart cameras Robot kinematics

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Dynamic acyclic motion from a planar contact-stance to another

Dynamic acyclic motion from a planar contact-stance to anoth...

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2008 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Mario Arbulu Kazuhito Yokoi Abderrahmane Kheddar Carlos Balaguer Department of Systems and Automation Engineering Roboticslab Universidad Carlos III de Madrid Madrid Spain Japanese-French Robotics Laboratory JRL AIST AIST CNRS Tsukuba Japan

ISBN: (纸本)9781424420575

This paper addresses the problem of generating dynamic motion for a humanoid between two predefined postures. The humanoid robot starts its motion from a statically stable configuration to another known statically stable configuration when it is necessary to make step; that is, the center of mass (COM) is inside the support polygon at the initial and the goal configurations. A dynamic motion generation method is proposed in order to generate the whole-body robot motion. Zero moment point preview control is used for maintaining dynamic stability while the robot is taking the step and suitable splines are used for generating the hands, neck and foot motion because it is a free motion on the field of gravity; the screw theory is applied under Lie groups for kinematics and dynamics humanoid modeling, which allows smooth and natural humanoid motion. Successful results on the HRP-2 humanoid robot are shown and discussed.

关键词： Foot Joints Robots Dynamics Leg Jacobian matrices Knee

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Modeling Realistic Tool-Tissue Interactions with Haptic Feedback: A Learning-based Method

Modeling Realistic Tool-Tissue Interactions with Haptic Feed...

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

作者： Zachary Pezzementi Daniel Ursu Sarthak Misra Allison M. Okamura Engineering Research Center for Computer-Integrated Surgical Systems Technology Laboratory for Computational Science and Robotics Johns Hopkins University USA Johns Hopkins University and NIH grant USA

Surgical simulators present a safe, practical, and ethical method for surgical training. In order to enhance realism and provide the user with an immersive training experience, simulators should have the capability to provide haptic feedback to the user. High-fidelity surgical simulators also require accurate modeling of the interaction between surgical instruments and organs. Linear elasticity- based models are commonly used to simulate tool-tissue interaction due to computational considerations, although real soft tissues exhibit nonlinear viscoelastic behavior. In this paper, we use a learning algorithm to train a linear 2D mass-spring-damper system that behaves similarly to a high-fidelity nonlinear finite element (FE) model. The spring parameters are. trained off-line using data from an FE simulation of brain tissue deformation using simultaneous perturbation stochastic approximation, a model-free optimization algorithm. The model is implemented in a real-time soft tissue simulator with haptic interaction provided through the PHANTOM Omni haptic device. Our model's response is significantly closer to the desired response of the FE model than that of a linear heuristic model.

关键词： Haptic interfaces Feedback Learning systems Computational modeling Surgery Brain modeling Biological tissues Deformable models Surgical instruments Viscosity

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