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Compliance requirements for non-rebounding impact in legged locomotion

Compliance requirements for non-rebounding impact in legged ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： P. Berges A. Bowling Robotics and Dynamic Systems Laboratory AeroSpace and Mechanical Engineering Department University of Notre Dame Notre Dame IN USA

An energetic approach for analysis of the impact problem in three dimensional multi-legged robot locomotion is hereby presented. The goal is to combine rigid and deformable body approaches which come together naturally in a work-energy framework. The proposed hybrid approach can predict both rebound and non-rebound for an energetic coefficient of restitution greater than zero. Zero tangential velocity in the impacting end effectors can be also predicted, a condition known as sticking. The paper presents a method for determining whether the level of compliance in the system at a given configuration is adequate to insure a no-slip, no-rebound impact

关键词： Legged locomotion Robots Leg Deformable models Plastics Aerodynamics Laboratories Aerospace engineering Mechanical engineering End effectors

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Fuzzy Controller Design Based on the Phase Plane Isoclines

Fuzzy Controller Design Based on the Phase Plane Isoclines

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Mediterranean Conference on Control and Automation (MED)

作者： Stjepan Bogdan Zdenko Kovacic Larics-Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In this paper we describe a procedure that exploits geometric properties of state space in the investigation of the system stability. Although this method is cumbersome, its practical value becomes clear in the situation when state space is reduced to a phase plane, which is the case in a second-order system. Then phase plane analysis offers well known procedures (especially in case f(.) is linear) for the determination of the system stability. Simulation results, obtained by implementation of the proposed method on the fuzzy controller design, are given at the end of the paper

关键词： Fuzzy control Fuzzy systems Control systems Sliding mode control Stability analysis Nonlinear control systems Fuzzy logic State-space methods Stability criteria Lyapunov method

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A Generalized and Automatic Image Contrast Enhancement Using Gray Level Grouping

A Generalized and Automatic Image Contrast Enhancement Using...

引用

International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Zhi Yu Chen B.R. Abidi D.L. Page M.A. Abidi Electrical and Computer Engineering Department Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville TN USA

Contrast enhancement has an important role in image processing applications. Conventional contrast enhancement techniques either fail to produce satisfactory results for a broad variety of low-contrast images, or cannot be automatically applied to different images, because their parameters must be specified manually to produce a satisfactory result for a given image. This paper describes a new automatic method for contrast enhancement. The basic procedure is to first group the histogram components of a low-contrast image into the proper number of bins according to a selected criterion, then redistribute these bins uniformly over the grayscale, and finally ungroup the previously grouped gray-levels. Accordingly, this new technique is named gray-level grouping (GLG). GLG not only produces results superior to conventional contrast enhancement techniques, but is also fully automatic in most circumstances, and is applicable to a broad variety of images

关键词： Histograms Gray-scale Background noise Intelligent robots Image processing Helium robotics and automation Intelligent systems Laboratories Electronic mail

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A Moving Object Tracked by A Mobile Robot with Real-Time Obstacles Avoidance Capacity

A Moving Object Tracked by A Mobile Robot with Real-Time Obs...

引用

International Conference on Pattern Recognition

作者： Chung-Hao Chen Chang Cheng D. Page A. Koschan M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper describes a robotic application that tracks a moving object by utilizing a mobile robot with multiple sensors. The robotic platform uses a visual camera to sense the movement of the desired object and a range sensor to help the robot detect and then avoid obstacles in real time while continuing to track and follow the desired object. In terms of real-time obstacle avoidance capacity, this paper also presents a modified potential field algorithm called dynamic goal potential field algorithm (DGPF) for this robotic application specifically. Experimental results show that the robotic and intelligent system can fulfill the requirements of tracking an object and avoiding obstacles simultaneously when the object is moving

关键词： Mobile robots Robot sensing systems Intelligent robots Sensor phenomena and characterization Robot vision systems Cameras Object detection Tracking Heuristic algorithms Intelligent systems

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Development and testing of the Dawn ion propulsion system

Development and testing of the Dawn ion propulsion system

引用

AIAA/ASME/SAE/ASEE 42nd Joint Propulsion Conference

作者： Brophy, John R. Etters, Michael A. Gates, Jason Garner, Charles E. Klatte, Marlin John Lo, C. Marcucci, Michael G. Mikes, Steve Pixler, Greg Nakazono, Barry Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 Propulsion and Materials Engineering Section AIAA Robotics and Mechanisms Group Electronic Design Group Advanced Propulsion Technology Group Propulsion and Flight Systems Group ASIC Design Group

ISBN: (纸本)1563478188

All of the Dawn ion propulsion system (IPS) components have been fabricated and all have passed acceptance testing. The entire xenon feed system, both digital control and interface units (DCIUs), two of the three thruster gimbal assemblies (TGAs), and both power processor units (PPUs) have been integrated with the spacecraft. Both PPUs recently completed a long-duration run-in tests in vacuum at JPL, and both flight PPUs have successfully demonstrated the ability to operate a flight thruster over its full input power range. All three ion thrusters are in storage at JPL waiting for their delivery and integration which are scheduled for later this year. The third TGA has been delivered to the flight system contractor (Orbital Sciences Corporation) and will also be integrated later this year. All planned subsystem integration tests between the DCIU and the other IPS components were successfully completed prior to the delivery of the components to Orbital.

关键词： Ion propulsion

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Introduction of mission unit on information collection by on-rubble mobile platforms of development of rescue robot systems (DDT) project in Japan

Introduction of mission unit on information collection by on...

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2006 SICE-ICASE International Joint Conference

作者： Matsuno, Fumitoshi Hirose, Shigeo Akiyama, Iwaki Inoh, Takao Guarnieri, Michele Shiroma, Naoji Kamegawa, Tetsushi Qhno, Kazunori Sato, Noritaka Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Tokyo Japan Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology Tokyo Japan Department of Electrical and Electronic Engineering Shonan Institute of Technology Japan Kawasaki Laboratory International Rescue System Institute Kawasaki Japan Department of Intelligent Systems Engineering Ibaraki University Hitachi Japan Department of System Engineering Okayama University Qkayama Japan Department of Bioengineering and Robotics Tohoku University Sendai Japan

ISBN: (纸本)8995003855

Intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji Earthquake. In development of robots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster ate. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "Special Project for Earthquake Disaster Mitigation in Urban Areas" (5 yeras project) launched by Ministry of Education, Culture, Sports, Science and Technology, Japan. It aims at significant mitigation the earthquake disaster damage on the scale of the Great Hanshin Earthquake, in densely populated areas in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit on the information collection by on-rubble mobile platforms. © 2006 ICASE.

关键词： Project management

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Test-bed for Navigation and Control of a Thruster based AUV

Test-bed for Navigation and Control of a Thruster based AUV

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OCEANS - Europe

作者： R. Prasanth Kumar S. Sarath Babu Y. Srilekha C.S. Kumar D. Sen A. Dasgupta Department of Mechanical Engineering Robotics and Intelligent Systems Lab Robotics and Intelligent Systems Laboratory Department of Mechanical Engineering Indian Institute of Technology Kharagpur West Bengal India Department of Ocean Engineering and Naval Architecture Indian Institute of Technology Kharagpur WB INDIA

A thruster controlled AUV is being developed for the Indian AUV project. All motions and control is carried out by a set of five thrusters for controlling positions in two attitudes and three linear directions. As a prototype and verification system for the above AUV, a test-bed to develop and validate the control schemes was found necessary and has been developed at IIT Kharagpur. This paper describes the design criteria of the test-bed and the methods used to develop control scheme for such class of underwater vehicles, which are wholly thruster controlled and can be implemented in this test-bed. The design and capabilities of such a test-bed has been considered for taking into account similar thruster actuated AUVs which may be used in conditions like low speed motion as well as high maneuverability, station keeping etc. Such vehicles are different from the hydroplane controlled vehicles which are more effective above a certain operational velocity. The test-bed proposed here is targeted to generate valuable experimental data for full thruster controlled underwater vehicles operating over a range of operational velocities including station keeping to cruising modes.

关键词： Navigation Control systems Communication system control System testing Motion control Underwater vehicles Intelligent robots Prototypes Velocity control Computational modeling

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Design and Control of a Four Steered Wheeled Mobile Robot

Design and Control of a Four Steered Wheeled Mobile Robot

引用

Annual Conference of Industrial Electronics Society

作者： Michel Lauria Isabelle Nadeau Pierre Lepage Yan Morin Patrick Giguere Frederic Gagnon Dominic Letourneau Francois Michaud Department ofElectrical Engineering and Computer Engineering LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Universite de Sherbrooke Sherbrooke QUE Canada

This paper presents the kinematical analysis of AZIMUT-2, a four steered wheeled mobile robot. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome a hyper-motorization issue inherent to the wheel's geometrical properties. Finally, we describe AZIMUT-2's two operational and seven locomotion modes, along with a control algorithm based on the kinematical model of the robot

关键词： Mobile robots Wheels Leg Robot kinematics Prototypes Intelligent robots Design engineering Rubber Strips Control systems

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A High-Level Controller for Robot-Assisted Rehabilitation

A High-Level Controller for Robot-Assisted Rehabilitation

引用

Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Duygun Erol Nilanjan Sarkar Bibhrajit Halder Department of Electrical Engineering and Computer Science Vanderbilt University USA Department of Mechanical Engineering Robotics and Autonomous Systems Laboratory Vanderbilt University USA

The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive simulations are performed using the supervisory controller for a rehabilitation task. The results demonstrate the feasibility of the proposed supervisory controller

关键词： Robot control Rehabilitation robotics Automatic control Robot kinematics Control systems Force control Medical treatment Supervisory control Automata Medical control systems

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Kinematical Analysis of a Four Steered Wheeled Mobile Robot

Kinematical Analysis of a Four Steered Wheeled Mobile Robot

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Michel Lauria Isabelle Nadeau Pierre Lepage Yan Morin Patrick Giguere Frederic Gagnon Dominic Letourneau Francois Michaud LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department ofElectrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

This paper presents the kinematical analysis of AZIMUT-2. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome an hyper-motorization issue inherent to this wheel geometrical properties. Finally, we describe AZIMUT-2's two operational modes and its seven locomotion modes, along with a control algorithm based on the kinematical model of the robot

关键词： Mobile robots Wheels Leg Intelligent robots Prototypes Mobile computing Laboratories Intelligent systems systems engineering and theory Solid modeling

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