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检索条件"机构=Laboratory of Robotics and Engineering 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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Low cost two-axis solar tracker with high precision positioning

Low cost two-axis solar tracker with high precision position...

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2006 1st International Symposium on Environment Identities and Mediterranean Area, ISEIM

作者： Yazidi, A. Betin, F. Notton, G. Capolino, G.A. Center of Robotics Power Electrical Engineering and Control Systems University of Picardie 15 av. François Mitterrand 02880 Cuffies France Laboratory of Sciences for the Environment University of Corse Centre de Recherche de Vignola Route des Sanguinaires Ajaccio Corse France

ISBN: (纸本)1424402328

In this paper, the design of a low cost two-axis solar tracker is introduced. The aim is to obtain a high precision positioning of the cell. The control-board is able to support different control strategy such as classical techniques as PID algorithm or more advanced strategy such as fuzzy logic control (FLC). Using the error signal, the tracking capacities of the proposed approaches can be tested experimentally on the experimental prototype built in our laboratory. ©2006 IEEE.

关键词： Position control

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A Behavior-Based Architecture for Realistic Autonomous Ship Control

A Behavior-Based Architecture for Realistic Autonomous Ship ...

引用

IEEE Symposium on Computational Intelligence and Games, CIG

作者： Adam Olenderski Monica Nicolescu Sushil J. Louis Robotics Research Laboratory Department of Computer Science and Engineering University of Nevada Reno USA Evolutionary Computing Systems Laboratory Department of Computer Science and Engineering University of Nevada Reno USA

Game environments provide a good domain for serious simulations such as those used in training navy conning officers. Currently, a typical training scenario requires multiple personnel to play each of the boats and thus is expensive. We propose an approach to addressing this issue by developing intelligent, autonomous controllers for each boat. Significant challenges toward achieving these goals are the realism of behavior exhibited by the automated boats and their realtime response to change. In this paper we describe a control architecture that enables the real-time response of boats and the repertoire of realistic behaviors we developed for this application. We demonstrate the capabilities of our system with experimental results

关键词： Marine vehicles Boats Automatic control Personnel Robot kinematics Navigation Computer architecture Computer science Robustness Costs

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Interactive multi-modal robot programming

Interactive multi-modal robot programming

引用

9th International Symposium on Experimental robotics, ISER 2004

作者： Iba, Soshi Paredis, Christiaan J. J. Khosla, Pradeep K. The Robotics Institute Carnegie Mellon University PittsburghPA United States Electrical and Computer Engineering Carnegie Mellon University PittsburghPA United States Systems Realization Laboratory G.W. Woodruff School of Mechanical Engineering Georgia Institute of Technology AtlantaGA United States

ISBN: (纸本)3540288163

The goal of the Interactive Multi-Modal Robot Programming system is a comprehensive human-machine interface that allows non-experts to compose robot programs conveniently. Two key characteristics of this novel programming approach are that the user can provide feedback interactively at any time through an intuitive interface and that the system infers the user’s intent to support interaction. The framework takes a three-step approach to the problem: multi-modal recognition, intention interpretation, and prioritized task execution. The system is demonstrated by interactively controlling and programming a mobile vacuum cleaning robot. The demonstrations are used to exemplify the interactive programming and plan recognition aspects of the research. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Robot programming

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Multiple Impedance control of cooperative manipulators using virtual object grasp

Multiple Impedance control of cooperative manipulators using...

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IEEE International Conference on Computer-Aided Design

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

Multiple impedance control (MIC) is a model-based algorithm that enforces a designated impedance on all cooperating manipulators, the manipulated object, and the moving base if applied on a mobile robotic system. For tuning the inner object forces, it is needed to model the inner forces/torques. For this purpose, the virtual linkage model is introduced to determine the inner forces using the MIC law. Also, the load distribution between end-effectors is modeled. In the following, the MIC law is used to control both path tracking and inner forces tuning when manipulating an object. The moving object is grasped with three cooperating end-effectors either solidly, or flexible. The developed controller is compared to the augmented object control (AOC) where impedance control was applied. Finally, the effects of gain tuning on inner forces are discussed. The obtained results reveal good tracking performance of the proposed MIC controller, besides tuning the object internal forces even in the presence of contact, and system flexibility

关键词： Impedance Force control Microwave integrated circuits Control systems Robot kinematics Manipulator dynamics Couplings Error correction Frequency estimation robotics and automation

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Basic Design of Human-Symbiotic Robot EMIEW

Basic Design of Human-Symbiotic Robot EMIEW

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Yuji Hosoda Saku Egawa Junichi Tamamoto Kenjiro Yamamoto Ryousuke Nakamura Masahito Togami Robotics Project Mechanical Engineering Research Laboratory Hitachi and Limited Ibaraki Japan Ubiquitous Media Systems Research Department Central Research Laboratory Hitachi and Limited Tokyo Japan

We are developing a robot that supports people in their daily lives: a human-symbiotic robot. Such robot must share space with its users, be user-friendly, and be able to assist its users. We have developed a prototype autonomous mobile robot that makes use of a self-balancing two-wheeled mobile system and a body swing mechanism to shift its center of gravity. This allows it to move nimbly at up to 6 km per hour. It also has capabilities to avoid collisions with obstacles for moving safely through complex environments. Distant-speech-recognition and high-quality speech-synthesis technologies enable it to communicate with people naturally (i.e., without special tools). These capabilities were demonstrated at the 2005 World Exposition in Aichi, Japan

关键词： Orbital robotics Mobile robots Legged locomotion Intelligent robots Acceleration Human robot interaction Laboratories Prototypes Security Collision avoidance

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Vague Sets Based Evidence Combinational Rule With Generalized Belief Function

Vague Sets Based Evidence Combinational Rule With Generalize...

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International Conference on Information and Automation (ICIA)

作者： Lizhong Xu Zhigui Lin Simon X. Yang College of Computer and Information Engineering Hohai University HHU Nanjing China Advanced Robotics and Intelligent Systems ARIS Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a new vague evidence theory is proposed to expand the conventional evidence theory. First, the concept of vague evidence theory is introduced. Based on the features of vague sets, a belief function is formulated, and its characteristics is analyzed and proved mathematically. After that, based on the degree of similarity in vague sets, the relative contribution to the combined vague sets is obtained, and a vague sets based combinational rule is formulated. Finally, experiments are conducted to demonstrate the effectiveness of the proposed vague evidence theory. The proposed vague evidence theory based method is capable of representing and processing problems with vagueness, uncertainties and imprecision.

关键词： Fuzzy sets Set theory Area measurement Measurement uncertainty Humans Intelligent robots Fuzzy set theory Educational institutions Intelligent systems Arithmetic

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Spatial Distribution of Water Quality Based on Generalized Regression Neural Network

Spatial Distribution of Water Quality Based on Generalized R...

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International Conference on Information and Automation (ICIA)

作者： Huibin Wang Lizhong Xu Shaohua Sun Simon X. Yang College of Computer and Information Engineering Hohai University HHU Nanjing China Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

The paper proposes a new model for analyzing spatial distribution of water quality. The model is based on statistics and generalized regression neural network. The model is based on statistic theories and easy to approximate a nonlinear function. The advantages of the model include simple net structure, few artificial parameters, and high accuracy calculation. The developed approach is successfully applied to the water quality assessment of the Taihu Lake of China P.R, which includes the dissolved oxygen concentration of water-quality index and the spatial distribution of the water-quality level. The results show that the model can generate a credible spatial distribution of the water quality.

关键词： Neural networks Lakes Statistical distributions Monitoring Intelligent robots Function approximation Probability density function Sun Educational institutions Computer networks

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Geometric Splines and Interpolation on S2: Numerical Experiments

Geometric Splines and Interpolation on S2: Numerical Experim...

引用

IEEE Conference on Decision and Control

作者： K. Huper Y. Shen F. Silva Leite National ICT Australia Canberra Research Laboratory Systems Engineering and Complex Systems Program Canberra Australia Department of Information Engineering Research School of Information Sciences and Engineering Australian National University Canberra Australia Department of Mathematics and the Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)1424401704;9781424401703

Several different procedures are presented to produce smooth interpolating curves on the two-sphere S 2 . The first class of methods is a combination of the pull back/push forward technique with unrolling data from S 2 into a tangent plane, solving there the interpolation problem, and then wrapping the resulting interpolation curve back to the manifold. The second method results from converting a variational problem into a finite dimensional optimisation problem by a proper discretisation process. It turns out that the resulting curves look very similar. The main difference though is that the first approach gives closed form solutions to the interpolation problem, whereas the second method results in a finite number of points. These points then require further treatment, e.g., one could connect them by geodesic arcs, i.e., by great circle segments, to get an approximate solution to the variational problem. Although the result would not be smooth, it seems to be the best that one can get if the discretisation process is combined with a sufficiently cheap interpolation procedure

关键词： Interpolation Manifolds USA Councils Wrapping Optimization methods Closed-form solution Optimal control Robot kinematics Orbital robotics Path planning

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Fusion of Visible and Infrared Images using Empirical Mode Decomposition to Improve Face Recognition

Fusion of Visible and Infrared Images using Empirical Mode D...

引用

IEEE International Conference on Image Processing

作者： Harishwaran Hariharan Andreas Koschan Besma Abidi Andrei Gribok Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory ECE Department University of Tennessee Knoxville TN USA Nuclear Engineering Department University of Tennessee Knoxville TN USA

In this effort, we propose a new image fusion technique, utilizing empirical mode decomposition (EMD), for improved face recognition. EMD is a non-parametric data-driven analysis tool that decomposes non-linear non-stationary signals into intrinsic mode functions (IMFs). In this method, we decompose images from different imaging modalities into their IMFs. Fusion is performed at the decomposition level and the fused IMFs are reconstructed to form the fused image. The effect of fusion on face recognition is measured by obtaining the cumulative match characteristics (CMCs) between galleries and probes. Apart from conducting face recognition tests on visible and infrared raw datasets, we use datasets fused by averaging, principal component (PCA) fusion, wavelet based fusion and our method, for comparison. The face recognition rate due to EMD fused images is higher than the face recognition rates due to raw visible, raw infrared and other fused images. Examples of the fused images and illustrative CMC comparison charts are shown.

关键词： Infrared imaging Face recognition Image fusion Data analysis Signal analysis Optical imaging Image reconstruction Probes Testing Principal component analysis

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