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检索条件"机构=Laboratory of Robotics and Systems in Science and Engineering"

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Vibration-based terrain classification for electric powered wheelchairs

Vibration-based terrain classification for electric powered ...

引用

4th IASTED International Conference on Telehealth and Assistive Technologies, Telehealth/AT 2008

作者： Coyle, Eric Collins, Emmanuel G. DuPont, Edmond Dan, Ding Hongwu, Wang Cooper, Rory A. Grindle, Garrett Dept. of Mechanical Engineering at FAMU-FSU Center for Intelligent Systems Control and Robotics Tallahassee FL 32310 United States Dept. of Rehabilitation Science and Tech. Human Engineering Research Laboratory Univ. of Pittsburgh Pittsburgh PA 15261 United States

ISBN: (纸本)9780889867406

Automated terrain classification for electric powered wheelchairs (EPWs) has two primary motivations. First, certain terrains (e.g., sand and gravel) make wheelchair mobility more difficult. To alleviate this problem the wheelchair control system can be manually tuned for maximum speeds and/or accelerations to help adapt to various terrains. Terrain classification can then be used to automate the switch from one control mode to another. Second, terrain classification can help yield a better understanding of the surfaces traversed by various groups of wheelchair users. This can provide the data needed to develop wheelchairs geared to specific groups of users. This paper presents an algorithm for vibration-based terrain classification on EPWs. This algorithm has been shown to be highly accurate in offline analysis of experimental data. Future work will stress online implementation and algorithm improvements.

关键词： Wheelchairs

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Nanorobotic manipulation of carbon nanotubes inside a transimission electron microscope

Nanorobotic manipulation of carbon nanotubes inside a transi...

引用

作者： Dong, Lixin Nelson, Bradley J. Tao, Xinyong Zhang, Li Zhang, Xiaobin Frutiger, Dominic R. Subramanian, Arunkumar Institute of Robotics and Intelligent Systems ETH Zurich 8092 Zurich Switzerland Dept. of Materials Science and Engineering Zhejiang University Hangzhou 310027 China Laboratory for Micro- and Nanotechnology Paul Scherrer Institute CH-5232 Villigen-PSI Switzerland

ISBN: (纸本)9783902661173

Basic processes for nanorobotic manipulation of carbon nanotubes (CNTs) inside a transmission electron microscope are investigated experimentally. These processes are fundamental for the characterization of nanoscale materials, for the structuring of nanosized building blocks, and for the prototyping of nanoelectromechanical systems. Multi-walled CNTs, bamboo-structured CNTs, Cutipped CNTs, and quantum dots attached to CNTs have been used as test structures for manipulation. Copyright © 2006 IFAC.

关键词： Transmission electron microscopy

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Kinematic calibration of an active camera system

Kinematic calibration of an active camera system

引用

1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 1992

作者： Young, G.-S. Hong, T.-H. Herman, M. Yang, J.C.S. GaithersburgMD20899 United States Robotics Laboratory Department of Mechanical Engineering University of Maryland College ParkMD20742 United States Department of Computer Science and Information Systems American University WashingtonDC20016 United States

ISBN: (纸本)0818628553

A technique for the calibration of an active camera system is presented. The calibration of manipulator, camera-to-manipulator, camera, and base-to-world is treated in a unified and elegant way. In this approach, the camera frames and manipulator link frames are all related to the world frame, therefore the camera-to-manipulator and base-to-world calibration is very straightforward. The approach is simple, since it uses the form of one equation solving one parameter. Two experiments that verify the accuracy of the technique are reported. © 1992 IEEE.

关键词： Manipulators

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Enhancing Impulse Response-Based SSVEP Decoding Method by Incorporating Temporal Local Correlation 7

Enhancing Impulse Response-Based SSVEP Decoding Method by In...

引用

7th International Conference on Biological Information and Biomedical engineering, BIBE 2024

作者： Huang, Jiayang Wang, Jiaxi Yang, Pengfei Xiong, Bang Zhang, Zhi-Qiang School of Computer Science and Technology The Key Laboratory of Smart Human-Computer Interaction Wearable Technology of Shaanxi Province Xidian University China School of Electronic and Electrical Engineering Institute of Robotics Autonomous Systems and Sensing University of Leeds United Kingdom

ISBN: (纸本)9783800762910

Various training-based spatial filtering methods have been proposed to classify steady-state visual evoked potential (SSVEP)-based brain-computer interfaces (BCIs). However, many overlook the temporal instability of SSVEPs, leading to decreased classification performance. Therefore, we propose an SSVEP decoding method that calculates template signals and spatial filters using the subject's impulse responses and periodic impulses, incorporating the temporally local correlation coefficient in the SSVEP decoding process. Then, we employ a combined correlation coefficient for SSVEP classification. The proposed method addresses the temporal instability of SSVEPs, with template signals that exhibit strong individual characteristics. Utilizing a public benchmark dataset, we achieved a classification accuracy of 87.43% and an ITR of 256.1 bits/min at 1s time window, demonstrating the performance of this method. Compared to other classical spatial filtering methods, the proposed method demonstrates superior classification performance, which can enhance the practical usability of SSVEP-BCI systems. © VDE VERLAG GMBH.

关键词： Wiener filtering

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Dimensional synthesis of a flexible gripper with a high degree of stability

Dimensional synthesis of a flexible gripper with a high degr...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Yuru Zhang Feng Gao Yidong Zhang W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

Since form-closure grasps are a strong condition for stability, they are very useful for applications. Whether form closure can be obtained depends on the design of the end-effector and the geometry of the grasped object. Previously, we proposed a new type of grasping mechanism using closed kinematic chains that can provide form-closure grasps for nearly any geometry of the object. An important design issue is the determination of the link lengths of the closed chain. This paper considers the design with respect to grasp stability. A criterion for evaluating grasp stability is proposed. The link lengths corresponding to an optimal value of the criterion is utilized to obtain a solution for dimensional synthesis. Because the criterion is a nonlinear function of the link lengths, the optimization cannot be obtained by simple computation. To avoid the computational burden in finding the optimal link lengths, we develop a graphical method for determining the link lengths. The grasping of cylindrical objects demonstrates the method.

关键词： Grippers Intelligent robots Terminology Manufacturing systems Laboratories Computational geometry Kinematics Stability criteria Sufficient conditions Fingers

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Swarm pattern transformation methodologies

Swarm pattern transformation methodologies

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IEEE Swarm Intelligence Symposium, SIS

作者： Blesson Varghese Gerard T. McKee Active Robotics Laboratory School of Systems Engineering University of Reading UK Head of Computer Science Department School of Systems Engineering University of Reading UK

The work reported in this paper is motivated by the need for developing swarm pattern transformation methodologies. Two methods, namely a macroscopic method and a mathematical method are investigated for pattern transformation. The first method is based on macroscopic parameters while the second method is based on both microscopic and macroscopic parameters. A formal definition to pattern transformation considering four special cases of transformation is presented. Simulations on a physics simulation engine are used to confirm the feasibility of the proposed transformation methods. A brief comparison between the two methods is also presented.

关键词： Robots Microscopy systems engineering and theory Physics Engines Pattern formation Humans Laboratories Computer science Ant colony optimization

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Fuzzy-neural tuned genetic algorithm applied to large-space constraint satisfaction

Fuzzy-neural tuned genetic algorithm applied to large-space ...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Tiehua Zhang W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

The paper treats a fuzzy-neural tuned genetic algorithm for solving a constraint satisfaction problem for an industrial application. It describes the design of a reflecting lamp composed of five consecutive straight mirror segments that satisfy both illumination efficiency and uniformity properties. An analytically established neural network dynamically controls the genetic algorithm mutation rate and the convergence criteria. The neural network implements a six-rule fuzzy system that gains its knowledge from a human operator and works in a similar way to monitor the convergence process. Using numerical experiments the lamp configurations are determined. The proposed method can also be applied to other optimization design tasks.

关键词： Genetic algorithms Lamps Neural networks Convergence Electrical equipment industry Mirrors Lighting Algorithm design and analysis Genetic mutations Fuzzy systems

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Stable hybrid position/force control for redundant manipulators

Stable hybrid position/force control for redundant manipulat...

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IEEE International Conference on systems, Man and Cybernetics

作者： Luya Li W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

Hybrid position/force control is not always stable by adjusting the control parameters. There may be unstable regions if position and force control are exerted simultaneously because of an inappropriate kinematic coordinate transformation in the feedback path. To realize hybrid control for redundant manipulators, we analyze system stability and develop an improved hybrid control scheme that ensures kinematically stable operation.

关键词： Force control Manipulator dynamics Jacobian matrices Control systems Force feedback Error correction Velocity control Intelligent robots Robot kinematics Stability

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Criteria based analysis and design of three degree of freedom planar robotic manipulators

Criteria based analysis and design of three degree of freedo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Gao F. Guy W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

Three degree of freedom planar mechanisms occur in nature and are fundamental to many robotic devices. This paper concerns the use of evaluation criteria, developed by the authors, to select the link lengths of 3 DOF planar manipulators and analyze their operational performance. The technique has wide application to the design of serial and parallel robots.

关键词： Manipulators Intelligent robots Orbital robotics Legged locomotion Humans Animals Biological system modeling Service robots Manufacturing systems Parallel robots

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Determination of contact forces in grasping

Determination of contact forces in grasping

引用

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems. IROS '96

作者： Y. Zhang F. Gao W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

The determination of contact forces between a grasped object and fingers of a robot hand is treated in this research. In previous research on fingertip grasps, the underlying assumption is generally that the fingers can apply any required force. In cases of enveloping or power grasps, the latter assumption does not always hold because same components of the contact forces may not be controllable. These uncontrollable forces need to be separated in the representation of contact forces to ensure that the contact forces are obtained by adjusting the controllable components of the contact forces. This paper provides a method to solve this problem. We decompose the space of contact forces into four subspaces. Based on this decomposition, the contact forces can be explicitly represented with respect to the joint torques. Therefore, the application of the technique leads to a controllable solution. Three examples are provided to illustrate the decomposition.

关键词： Fingers Intelligent robots Grasping Force control Torque control Manufacturing systems Laboratories Grippers Equations Vectors

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