检索结果-内蒙古大学图书馆

IEEE International Conference on Mechatronics and Automation

作者： M. Peasgood C. Clark J. McPhee Laboratory for Intelligent and Autonomous Robotics Department of Mechanical Engineering University of Waterloo Waterloo ONT Canada Motion Research Group Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada

This paper presents a distributed particle filter algorithm for localizing multiple mobile robots that are equipped only with low cost/low power sensors. This method is applicable to multi-micro robot systems, where size limitations restrict sensor selection (e.g. small infrared range finders). Localization of three robots in a known environment is conducted by combining measurements from a small number of simple range sensors with inter-robot distances obtained through an acoustic range finder system. The localization problem is formulated as estimating the global position and orientation of a single triangle, where corners of the triangle represent the positions of robots. The robot positions relative to the centroid of the triangle are then determined by trilateration using the inter-robot distance measurements. Each robot uses an identical particle filter algorithm to estimate the global position of the triangle. The best estimates determined by each particle filter are distributed among the robots for use in the following iteration. Simulations demonstrate the ability to perform global localization of three robots, each using a compass and two range finders. The results illustrate that this method can globally localize the robot team in a simulated indoor environment The results are compared to simulations where robots have access to only their own sensor data, which are unable to successfully localize under equivalent conditions.

关键词： Robot sensing systems Particle filters Acoustic sensors Sensor systems Infrared sensors Mobile robots Costs Acoustic measurements Distance measurement Indoor environments

来源：评论

学校读者我要写书评

暂无评论

Remote sensing and teleoperation of a mobile robot via the Internet

Remote sensing and teleoperation of a mobile robot via the I...

引用

International Conference on Information and Automation (ICIA)

作者： X. Xue S.X. Yang M.Q.-H. Meng Advanced Robotics and Intelligent Systems Laboratory University of Guelph Guelph ONT Canada Department of Electronic Engineering Chinese University of Hong Kong New Territories Hong Kong China

Teleoperations are desirable when robots are not able to deal with a certain task autonomously. On the other hand, using mobile robots equipped with sensors provide a way to acquire the information in a hazardous environment. With the mature and universal Internet technology, Internet-based teleoperation of robotic system has created new opportunities in resources sharing, long-distance learning, and remote experimentation. This paper introduces a network-enabled teleoperation system with a wireless mobile robot, which involves TCP/IP, socket and le cache technology. The operator can receive the dynamic sensor information and teleoperate the mobile robot via the Internet through a control panel. Experiments on wall-following in an indoor environment demonstrated the effectiveness of this teleoperation system.

关键词： Remote sensing Mobile robots Internet Robot sensing systems Control systems Intelligent robots Humans Hardware Telerobotics Vehicle dynamics

来源：评论

学校读者我要写书评

暂无评论

Real-time Map Building and Area Coverage in Unknown Environments

Real-time Map Building and Area Coverage in Unknown Environm...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： C. Luo S.X. Yang M.Q.-H. Meng Advanced Robotics and Intelligent Systems Laboratory University of Guelph Guelph ONT Canada Department of Electronic Engineering Chinese University of Hong Kong New Territories Hong Kong China

Area-covering operation is a special kind of path planning, which requires the robot path to cover every part of the workspace. In this paper, a neural dynamics based algorithm is proposed for real-time map building and area-covering operations. A local map composed of squared cells is built through the proposed neural dynamics during area-covering operations with limited sensory information in unknown environments. The robot is able to dynamically build an accurate map of its immediate limited surroundings for its navigation. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation derived from Hodgkin and Huxley’s membrane equation. The robot can only sense a limited measurable range and the obtained sensory information are used for its navigation. The feasibility of the proposed algorithm is validated by simulation studies on cases under unknown environments.

关键词： Robot sensing systems Vehicle dynamics robotics and automation Path planning Navigation Neural networks Cleaning Fuzzy logic Intelligent robots Equations

来源：评论

学校读者我要写书评

暂无评论

A novel approach to proactive human-robot cooperation

A novel approach to proactive human-robot cooperation

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： O.C. Schrempf U.D. Hanebeck A.J. Schmid H. Worn Intelligent Sensor-Actuator-Systems Laboratory Institute of Computer Science and Engineering Universität Karlsruhe Karlsruhe Germany Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

This paper introduces the concept of proactive execution of robot tasks in the context of human-robot cooperation with uncertain knowledge of the human's intentions. We present a system architecture that defines the necessary modules of the robot and their interactions with each other. The two key modules are the intention recognition that determines the human user's intentions and the planner that executes the appropriate tasks based on those intentions. We show how planning conflicts due to the uncertainty of the intention information are resolved by proactive execution of the corresponding task that optimally reduces the system's uncertainly. Finally, we present an algorithm for selecting this task and suggest a benchmark scenario.

关键词： Robot sensing systems Intelligent robots Uncertainty Application software Humanoid robots Human robot interaction Bayesian methods Intelligent sensors Laboratories Computer science

来源：评论

学校读者我要写书评

暂无评论

GA BASED SENSOR PLACEMENT AND CONTROL DESIGN FOR REACTIVE NAVIGATION OF MOBILE ROBOTS

引用

International Journal of Information Acquisition 2005年第2期2卷 77-91页

作者： XIAOCHUAN WANG SIMON X. YANG MAX Q.-H. MENG Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ON Canada N1G 2W1 Canada Department of Electronic Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong China

In this paper, a novel genetic algorithm based approach is proposed for optimal sensor placement and controller design of a mobile robot to facilitate its reactive navigation and obstacle avoidance in unknown environments. The mobile robots considered in this paper have flexible sensor and control structure. A genetic algorithm is developed to evolve the parameters of optimal sensor placement and controller design simultaneously. The effectiveness of the proposed GA based co-evolution approach to robot sensor placement and control design is demonstrated by simulation studies.

关键词： Sensor placement control design mobile robots obstacle avoidance genetic algorithm co-evolution

来源：评论

学校读者我要写书评

暂无评论

Design and experiment of a novel link-type shape shifting modular robot series

Design and experiment of a novel link-type shape shifting mo...

引用

IEEE International Conference on robotics and Biomimetics

作者： Jinguo Liu Shugen Ma Zhenli Lu Yuechao Wang Bin Li Jing Wang Shenyang Inst. of Autom. Chinese Acad. of Sci. Beijing Robotics Laboratory Shenyang Institute of Automation (SIA) Chinese Academy and Sciences China Department of Systems Engineering Faculty of Engineering Ibaraki University Japan

Being hyper-redundant, modularized and continuously driving, link-type robots have high mobility under unstructured environment as the nature snake does. In this study, we have experimented on the nature snake and analyzed the link-type structure's character in detail, and then we have proposed a novel link-type shape shifting modular robot. The key advantage of this design over other link-type vehicle is their adaptability and flexibility for its various configurations. Robot in such link type can change its configuration to adapt to the environment and mission by reconfiguring and shape shifting. A standard module is mainly composed of a link arm, a link handle, an offset pitch joint, an offset yaw joint, and the track driven system. The adjacent modules are connected through the link arm and the link handle. The multi-module robot can change it shape by the motion of the offset joints. After modification of the standard module, a two-module robot and a three-module robot's assembled structure have been designed respectively. After planning of their locomotion configuration, locomotion experiments of these two robots have been made on the slope, over the trench, up the stairs and on the debris. Experiments have demonstrated that such kind structure permits good mobility' and high flexibility under unstructured environment. Being simple, small and portable, the tracked robot platform series have been developed for potential application such as urban search and rescue (USAR) efforts, and planetary exploration

关键词： robotics and automation Robotic assembly Laboratories Mobile robots Couplings Shape control DC motors systems engineering and theory Vehicles Motion planning

来源：评论

学校读者我要写书评

暂无评论

The i-match project: A VR based system to allow matching of an optimum interface to a user of assistive technology

The i-match project: A VR based system to allow matching of ...

引用

IEEE 9th International Conference on Rehabilitation robotics

作者： Amirabdollahian, F Munih, M Kouris, F Laudanna, E Stokes, E Johnson, G CREST Centre for Rehabilitation and Engineering Studies Department of Mechanical and Systems Engineering University of Newcastle Upon Tyne United Kingdom IEEE United Kingdom IEE Institutions United Kingdom Laboratory of Robotics and Biomedical Engineering Faculty of Electrical Engineering Ljubljana Slovenia IFMBE Slovenia IFESS Germany IFAC Italy Department of new Business Development HITECH SNT SA Athens Greece FDG-SIVA Fondazione Don Carlo Gnocchi Servizio Informazione e Valutazione Ausili (S.I.V.A) Milano Italy School of Physiotherapy Trinity College Dublin Dublin Ireland CREST United Kingdom i-match Project United Kingdom Royal Academy of Engineering United Kingdom

ISBN: (纸本)0780390032

Many people with disabilities rely upon items of assistive technology for their independence. However, in many cases, the potential of a specific assistive device is limited by the difficulties in actual user operation. Whilst success in use of a particular interface depends on appropriateness of the user's skills to the interface physical characteristics, there is a need to develop novel systems that will provide quantitative skills relevant to interface operation. The i-match project, funded by the European Commission, focuses on quantifying upper limb skills and performance as well as characterising different interfaces based on their physical and functional characteristics. The objective is to aid the selection of an optimum interface by matching between user's abilities to control and features of an existing interface. This paper overviews the project and different steps taken to produce a novel matching system.

关键词： Pattern matching

来源：评论

学校读者我要写书评

暂无评论

Development of a hand-guided apparatus for measuring ossicular mobility

Development of a hand-guided apparatus for measuring ossicul...

引用

12th International Congress on Sound and Vibration 2005, ICSV 2005

作者： Koike, Takuji Hamanishi, Shinji Kobayashi, Toshimitsu Merchant, Saumil N. Wada, Hiroshi Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications 1-5-1 Chofugaoka Chofu Tokyo 182-8585 Japan Department of Bioengineering and Robotics Tohoku University Sendai 980-8579 Japan Department of Otorhinolaryngology Head and Neck Surgery Tohoku University Graduate School of Medicine Sendai 980-8574 Japan Department of Otology and Laryngology Harvard Medical School Eaton-Peabody Laboratory MA 02114 United States

ISBN: (纸本)9781627481496

In this study, an apparatus that quasi-statically measures the relationship between the load applied to the ossicles and the displacement of the ossicles was developed, and the ossicular mobility in human temporal bones was measured before and after the ossicles were artificially fixed. Results were compared with estimates of vibration amplitude of the ossicles obtained with a laser Doppler velocimeter in the same temporal bones when sound stimulus was applied to the tympanic membrane. Although the data set is small, a correlation was seen between the ossicular mobility measured with our apparatus and the vibration amplitude of the ossicles. This result suggests that our apparatus is able to detect the difference in mobility between fixed and normal ears, and indicates that our apparatus is a potentially useful tool for the estimation of ossicular disorders.

关键词： Laser Doppler velocimeters

来源：评论

学校读者我要写书评

暂无评论

Visual-based feedback control of Casting Manipulation

Visual-based feedback control of Casting Manipulation

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： A. Fagiolini H. Arisumi A. Bicchi Interdepartmental Research Center E. Piaggio Faculty of Engineering University of Pisa Pisa Italy ISRI/AIST-STIC/CNRS Joint Japanese-French Robotics Laboratory Intelligent Systems Research Institute AIST Tsukuba Ibaraki Japan

In this paper, we present a method to control casting manipulation by means of real-time visual feedback. Casting manipulation is a technique to deploy a robotic end-effector at large distances from the robot’s base, by throwing the end-effector and controlling its ballistic flight using forces transmitted through a light tether connected to the end-effector itself. The tether cable can also be used to retrieve the end-effector and exert forces on the robot’s environment. Previous work has shown that casting manipulation is able to catch objects at a large distance, proving it viable for applications such as sample acquisition and return, rescue, etc. In previous experiments, the position of the target object was known exactly. In this paper, we present a first attempt at closing a real-time control loop on casting manipulation using visual feedback of moving targets. As accurate planning methods developed for off-line open-loop planning cannot be used in real-time, we develop a simplified model and control algorithm, whose effectiveness is demonstrated through experiments.

关键词： Feedback control Casting Robots Orbital robotics Open loop systems Manipulators Force control Lighting control Feedback loop Analytical models

来源：评论

学校读者我要写书评

暂无评论

Task planning and behavior scheduling for a reconfigurable planetary robot system

Task planning and behavior scheduling for a reconfigurable p...

引用

IEEE International Conference on Mechatronics and Automation

作者： Minghui Wang Shugen Ma Bin Li Yuechao Wang Xinyuan He Liping Zhang Shenyang Inst. of Automatior Chinese Acad. of Sci. Shenyang China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan School of Mechanical Engineering Xi''an Jiaotong University Xi'an China

In this paper, the synthetical approach of behavior tree and logic syntactic representation is presented to implement task planning and behavior scheduling for autonomous motion, reconfiguration and cooperation in a new planetary rover, reconfigurable planetary robot system (RPRS). This approach provides support for task decomposition, behavior scheduling, synchronization, execution monitoring and exception handling. The analytic process is illustrated in an example. The modularized design method of single child-robot is proposed and implemented. Two-layered hierarchical hybrid control architecture is designed for RPRS, which applies the centralized plan at task-level and the distributed control at motion-level. As a result, child-robots can reconfigure to some configurations and perform some tasks cooperatively. The latest results of this research are demonstrated in the experiments of the prototype.

关键词： robotics and automation Reconfigurable logic Mobile robots Motion control Planets Sliding mode control Helium Laboratories systems engineering and theory Mechanical engineering

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：