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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Yuli Lai Pasi Kallio Hao Zhang Hui Xie Yasuhito Sugano Johan Bobacka Department of Automation Science and Engineering Tampere University of Technology Tampere Finland The State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Department of Chemistry University of Helsinki Helsinki Finland Johan Gadolin Process Chemistry Centre Åbo Akademi University Turku Finland

ISBN: (纸本)9781509029464

Development of novel high added value cellulose products requires improved understanding of interaction forces, which includes also the adhesion force, between cellulose surfaces. However, the interaction forces between cellulose surfaces have not been adequately studied. In this paper, cellulose-cellulose adhesion force is studied by using a customized dual-probe atomic force microscope (AFM) with a cellulose colloidal probe. Two different types of cellulose membranes (CM) with cellulose concentration of 1.5% and 2% are used as test samples, and about ten thousand tests are repeated on each CM sample type. Adhesion force histograms are provided and they show a large difference between the two types of CM. The average adhesion force on CM 1.5% is approximately 10 times higher than that on CM 2%. On CM 1.5%, the adhesion forces concentrate on the range from 450nN to 650nN, whereas on CM 2% the force distribute from 50 to 75nN. The difference in the adhesion force on these two types of CM can be attributed to their difference in surface roughness and surface energy.

关键词： Probes Adhesives Force Surface topography Force measurement Rough surfaces Surface roughness

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Cooperative formation control in the scope of the EC MORPH project: Theory and experiments

Cooperative formation control in the scope of the EC MORPH p...

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OCEANS - Europe

作者： Pedro Caldeira Abreu Mohammadreza Bayat João Botelho Pedro Góis João Gomes António Pascoal Jorge Ribeiro Miguel Ribeiro Manuel Rufino Luís Sebastião Henrique Silva Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Universidade de Lisboa Lisboa Lisboa PT Laboratory of Robotics and Systems in Engineering and Science (LARSyS) University of Lisbon Lisbon Portugal

The EC MORPH project, described in [1], proposes a novel concept of an underwater robotic system that emerges from the integration, albeit in a non-physical manner, of several different mobile robot-modules with distinct and complementary resources. This approach aims to afford end-users efficient tools to map the underwater environment with great accuracy in situations that defy existing technology: namely, underwater surveys over rugged terrain and structures with full 3D complexity. The paper gives a brief presentation of theoretical and practical implementation issues on cooperative navigation and formation control, followed by a description of the results of tests carried out at sea with vehicles from different partners, in June and September 2014. The theoretical set-up builds on leader-follower formation control algorithms, whereby formation control is achieved in both relative position (using USBL units) and range-only measurement (using range measuring devices) scenarios. We conclude with the improvements introduced for the recent trials in Girona, March 2015, that will be the focus of work in the immediate future.

关键词： Vehicles Target tracking Acoustics Trajectory Sea measurements Oceans Robots

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Gesture recognition based on sparse representation

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International Journal of Wireless and Mobile Computing 2016年第4期11卷 348-356页

作者： Miao, Wei Li, Gongfa Sun, Ying Jiang, Guozhang Kong, Jianyi Liu, Honghai College of Machinery and Automation Wuhan University of Science and Technology Wuhan430081 China State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Intelligent Systems and Biomedical Robotics Group School of Computing University of Portsmouth PortsmouthPO1 3HE United Kingdom

Aiming at the problem that the robustness of gesture recognition is difficult to guarantee, this paper presents a method based on multi-features and sparse representation. Hu invariant moments and HOG features of training samples are extracted in training phase. The K-SVD algorithm is used to train the initial value of dictionary formed by two features so as to obtain two sub-dictionaries. In recognition phase, sparse coefficients of corresponding training dictionary are derived by solving minimum l1-norm. Finally, the overall reconstruction error is calculated to judge the categories of test samples. In experimental simulation, five kinds of grasp gesture are collected to create gesture sample library. After selecting optimal HOG parameters and the weight of two features, the recognition effect of the method is analysed. Compared with the commonly used classification, the results show that the method has better recognition rate and robustness. Copyright © 2016 Inderscience Enterprises Ltd.

关键词： Gesture recognition

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Cooperative Navigation and Control: the EU MORPH project

Cooperative Navigation and Control: the EU MORPH project

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Oceans MTS/IEEE Washington (Conference)

作者： Pedro Caldeira Abreu Mohammadreza Bayat Joao Botelho Pedro Gois Joao Pedro Gomes Antonio Pascoal Jorge Ribeiro Miguel Ribeiro Manuel Rufino Luis Sebastiao Henrique Silva Laboratory of Robotics and Systems in Engineering and Science (LARSyS) ISR/IST University of Lisbon

ISBN: (纸本)9781467393744

The EU MORPH project advances the use of a formation of five autonomous marine vehicles for mapping and scientific surveying of challenging, unstructured underwater environments as a means to overcome the limitations imposed by current single-vehicle based technology. We describe the test scenarios envisioned in the project and the requirements and constraints that they impose on the cooperative navigation and control systems that enable the concerted operation of the vehicle formation. We then provide a high-level description of each of the blocks that compose the final navigation and formation control architecture, developed at ISR/IST. We highlight how the systems take into account specific mission-related requirements and applications (e.g., typical trajectories employed for mapping and surveying). We describe the results of several trials at sea (involving multiple partners in the project and a group of heterogeneous vehicles) that illustrate the applicability of the MORPH concept in real operational scenarios as well as the limitations of the systems developed.

关键词： Autonomous marine vehicles Underwater surveying Formations of autonomous vehicles Cooperative navigation and control

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Development of a robotic teaching interface for human to human skill transfer

Development of a robotic teaching interface for human to hum...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Chenguang Yang Peidong Liang Arash Ajoudani Zhijun Li Antonio Bicchi Zienkiewicz Centre for Computational Engineering Swansea University UK State Key Lab of Robotics Systems Harbin Institute of Technology China Human-Robot Interfaces and Physical Interaction (HRI2) Laboratory of the Istituto Italiano di Tecnologia Genova Italy College of Automation Science and Engineering South China University of Technology Guangzhou China Interdepartmental Research Center "E. Piaggio" Faculty of Engineering University of Pisa Italy

ISBN: (纸本)9781509037636

The tutor-tutee hand-in-hand teaching may be the most effective approach for a tutee to acquire new motor skills. Repetitive nature of such procedures in a group setting usually results in a high labour cost and time inefficiency. Potential solution can be utilizing robotic platforms playing the role of tutors for demonstrating and transferring the required skills. This requires an appropriate guidance scheme to integrate the tutor's motor functionalities into the robot's control architecture. For instance, for hand-in-hand supervision of the writing task, the tutor's corrections can be applied when necessary, while a very compliant motion can be achieved if no errors are detected. Inspired by this behavior, we develop a teaching interface using a dual-arm robotic platform. In our setup, one arm is connected to the tutees arm providing guidance through a variable stiffness control approach, and the other to the tutor to capture the motion and to feedback the tutees performance in a haptic manner. The reference stiffness for the tutors arm stiffness is estimated in real-time and replicated by the tutees robotic arm. Comparative experiments have been carried out on a dual-arm Baxter robot. The results imply that the human tutor is able to intuitively transfer writing skills to the tutee and also show superior learning performance over over some conventional teaching by demonstration techniques.

关键词： Manipulators Robot sensing systems Impedance Training Muscles Manipulator sensing systems Manipulators impedance muscles Functional training Pedagogy Teaching LABOUR COSTS Human compliant motion Writing Skills Arm spiral arm Coaching Motor Skills

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Powered Upper-Limb Control using Passivity-Based Nonlinear Disturbance Observer for Unknown Payload Carrying Applications

Powered Upper-Limb Control using Passivity-Based Nonlinear D...

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IEEE International Conference on robotics and Automation

作者： Min Jun Kim Woongyong Lee Jae Yeon Choi Yong Sik Park Sung Ho Park Goobong Chung Kyung-Lyong Han I1 Seop Choi I1 Hong Suh Youngjin Choi Wan Kyun Chung the Robotics Laboratory School of Mechanical Engineering Pohang University of Science and Technology (POSTECH) Pohang 790-784 Gyung-buk Korea the Korea Institute of Robot and Convergence (KIRO) Pohang 790-784 Gyung-buk Korea the POSCO Technical Research Laboratories Pohang 790-300 Gyung-buk Korea the Department of Electronics and Computer Engineering Hanyang University Seoul Korea the Department of Electronic Systems Engineering Hanyang University Ansan Korea

ISBN: (纸本)9781467380270

This paper proposes a passivity-based nonlinear disturbance observer (DOB) design for a powered upper-limb robot control. The proposed DOB allows for the nonlinearities of the robot dynamics, whereas the typical DOB designs cannot. Moreover, by virtue of the passivity property, human operator and environmental interactions can be embedded in the control loop. As a DOB, the proposed approach has a disturbance observation property that makes the actual robot behave like a nominal model selected by the user. Performance analysis proposes a gain tuning rule. In experimental validation, actual powered upper-limb robot is used to perform unknown payload carrying applications.

关键词： Observer Unknown DOB

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Cooperative control and navigation in the scope of the EC CADDY project

Cooperative control and navigation in the scope of the EC CA...

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OCEANS - Europe

作者： Pedro Abreu Mohammadreza Bayat João Botelho Pedro Góis António Pascoal Jorge Ribeiro Miguel Ribeiro Manuel Rufino Luís Sebastião Henrique Silva Laboratory of Robotics and Systems in Engineering and Science (LARSyS) ISR/IST University of Lisbon Lisbon Portugal

Cognitive Autonomous Diving Buddy (CADDY) is an FP7 project initiated in February 2014. The key objectives of the project are to develop, implement, and demonstrate in the course of missions at sea the efficacy of a number of innovative systems to assist human divers during the execution of demanding scientific and commercial activities in hazardous underwater environments. At the core of CADDY is the development of an underwater robot that plays the role of a buddy diver and a surface robot to improve guidance, monitoring, assistance, and safety of the diver's mission. The present paper gives a brief summary of the work done during the first year of the project towards the development and testing of the systems required for coordinated surface / underwater vehicle operations. We consider the cases where the leader is either the surface or the underwater vehicle. The architecture adopted for multiple vehicle coordination is described. Results of tests with the MEDUSA class of autonomous marine vehicles show the efficacy of the systems developed for navigation and coordinated motion control.

关键词： Vehicles Underwater vehicles Navigation Trajectory Robot kinematics

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A distributed formation-based odor source localization algorithm - Design, implementation, and wind tunnel evaluation

A distributed formation-based odor source localization algor...

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2015 IEEE International Conference on robotics and Automation, ICRA 2015

作者： Soares, Jorge M. Aguiar, A. Pedro Pascoal, Antonio M. Martinoli, Alcherio Lausanne1015 Switzerland Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Av. Rovisco Pais Lisboa1049-001 Portugal Research Center for Systems and Technology Faculty of Engineering University of Porto Rua Dr. Roberto Frias Porto4200-465 Portugal

ISBN: (纸本)9781479969234

Robotic odor source localization is a promising tool with numerous applications in safety, search and rescue, and environmental science. In this paper, we present an algorithm for odor source localization using multiple cooperating robots equipped with chemical sensors. Laplacian feedback is employed to maintain the robots in a formation, introducing spatial diversity that is used to better establish the position of the flock relative to the plume and its source. Robots primarily move upwind but use odor information to adjust their position and spacing so that they are centered on the plume and trace its structure. Real-world experiments were performed with an ethanol plume inside a wind tunnel, and used to both validate the algorithm and assess the impact of different formation shapes. © 2015 IEEE.

关键词： Wind tunnels

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROscience 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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A Null-Space-Based Behavioral Approach to Single Range Underwater Positioning ∗

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IFAC-PapersOnLine 2015年第16期48卷 55-60页

作者： Daniela De Palma Giovanni Indiveri António M. Pascoal Dipartimento Ingegneria Innovazione University of Salento - ISME Node - Lecce Italy Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Técnico (IST) University of Lisbon Portugal

This paper addresses the problem of driving an underwater vehicle to a desired position while optimizing the performance of a single-range based localization system. Indeed, the performance of single-range based localization techniques is strongly dependent on the vehicle's motion that needs to be sufficiently rich to yield a good measure of observability. We present a prioritized task oriented technique to combine a point-to-point guidance task with an observability optimization task. In particular, the minimum singular value of the Fisher Information Matrix is adopted as the observability metric. Task prioritization is achieved through a null-space-based projection technique that is also combined with a saturation management algorithm to cope with velocity command saturations. The stability of the resulting control law is analysed following a Lyapunov-based approach. Robustness against uncertainty in the initial position of the vehicle is also handled resorting to a procedure that maximises the minimum (worst-case) observability metric. Numerical simulations are reported confirming the effectiveness of the proposed strategy.

关键词： Marine systems Single-Range Navigation Observability Velocity Saturation Robot Navigation Autonomous vehicles

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