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MOBILE ROBOT LOCALIZATION USING A SINGLE ROTATING SONAR AND 2 PASSIVE CYLINDRICAL BEACONS

ROBOTICA 1995年第3期13卷 243-252页

作者： BEOM, HR CHO, HS Research & Development Laboratory Gold Star Industrial Systems CO. Ltd. Anyang (Korea). Center for Robotics and Automation Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology373–1 Kusong-dongTaejeon305–701 (Korea).

This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beacon is acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.

关键词： MOBILE ROBOT SONAR BEACON LOCALIZATION

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Task and behavior formulations for robotic rock excavation

Task and behavior formulations for robotic rock excavation

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Xiaobo Shi Fei-Yue Wang P.J.A. Lever Advanced Mining Systems Laboratory Mining and Geologcal Engineering Department University of Arizona Tucson Tucson AZ USA Systems and Industrial Engineering Department Robotics and Automation Laboratory Canada

This paper presents a formulation of excavation tasks and behaviors using finite state machines (FSM). A robotic excavation goal is achieved through several excavation tasks, while a task is completed through sequences of excavation behaviors, which are carries out by an ordered application of primitive, machine executable excavation actions. Both tasks and behaviors are specified by finite state machines that define all feasible sequences of behaviors or actions. The behavior selection for state transitions in a task FSM is achieved through situation assessment and behavior arbitration. For a behavior FSM, a method of terminating a behavior execution based on the activation levels of its actions is proposed. Since it is almost impossible to infer the exact status of bucket/environment interaction from force/torque data, excavation actions are specified using fuzzy logic rules acquired from human experience and heuristics. Experimental results have indicated that the proposed formulation has lead to a more efficient execution of excavation tasks than the authors' previous formulation.

关键词： Humans robotics and automation Laboratories Control systems Service robots Automata Fuzzy logic Soil Industrial engineering Geology

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Categorical color projection for robot road following

Categorical color projection for robot road following

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nan Zeng J.D. Crisman Robotics & Vision Systems Laboratory Department of Electrical and Computer Engineering Northeastern University Boston MA USA

This paper shows that categorical color developed in Yue Du (1994) is a good representation of color space for some robot vision tasks. The authors use SCARF as a test case to compare 'equivalent' RGB, categorical color, and intensity robot vision algorithms on a difficult robot road following task. SCARF uses a full three-dimensional representation of color space to formulate road and off-road colors. Performing categorical color or intensity projection, the authors can model the road and off-road colors as single dimensional probability density functions. This greatly reduces the time to process the color image. Moreover, the authors show that categorical color is a good representation in that it outperforms an equivalent intensity algorithm on the robot tasks. Categorical color, while it cannot outperform the original RGB algorithm, performs well enough to be used in this particular robot application. Its effectiveness is verified by many experiments on difficult road image sequences.

关键词： Roads Robot vision systems Orbital robotics Color Machine vision Mobile robots Image segmentation Layout Image edge detection Degradation

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Design of a structured light sensor for in situ calibration

Design of a structured light sensor for in situ calibration

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： F.W. DePiero R.L. Kress Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA Roboticsand Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA

This paper highlights a ranging sensor that can be calibrated at standoffs of 1 to 3 feet with a depth of field of /spl ap/1 ft. Tests at a 16" standoff have produced a 0.004 inch standard deviation in height measurement errors. The data density and field of view are programmable. The sensor is positioned robotically, allowing it to provide accurate, shed-range measurements prior to manipulation tasks. The sensor head is relatively inexpensive (/spl ap/$10 k) and is designed for in situ calibration. This approach is intended to allow replacement components to be installed, calibrated, and validated without decontamination. Calibration, validation and data acquisition are all designed to be performed remotely and in a highly automated fashion. These in situ features of the design are targeted for the interest of industry with the aim of producing a sensor having a longer lifetime and a lower maintenance cost.

关键词： Calibration Testing Measurement standards Measurement errors Robot sensing systems Position measurement Decontamination Data acquisition Sensor phenomena and characterization Costs

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Synthesized passive feedback control of sensor-rich smart structures-experimental results

Synthesized passive feedback control of sensor-rich smart st...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures Department of Electrical Computer and Systems EngineeringCenter for Advanced Technology in Automation Robotics & Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring down" matrix which renders a system passive by using a linear combination of all collocated and non-collocated sensor/actuator pairs. The design uses experimental transfer functions and does not require the knowledge of the system model. The problem of finding the squaring down matrix is cast as a solution to a set of linear matrix inequalities (LMIs) subject to some additional performance considerations. The design procedure of the squaring down matrix assumes that velocity information is available from the sensors which is not generally the case. We show that the squaring down matrix can be implemented without the use of such velocity information. We provide experimental results gathered from the single link flexible beam setup in the C/sub La/MS laboratory at RPI to show that implementation of passive loops without velocity measurements provides very good results.

关键词： Feedback control Linear matrix inequalities Intelligent sensors Control system synthesis Robust control Sensor systems Hydraulic actuators Transfer functions Laboratories Economic indicators

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Preisach modeling of piezoceramic and shape memory alloy hysteresis

Preisach modeling of piezoceramic and shape memory alloy hys...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： D. Hughes J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Smart materials such as piezoceramics and shape memory alloys (SMAs) exhibit significant hysteresis and in order to estimate the effect on open and closed loop control a suitable model is needed. One promising candidate is the Preisach independent domain hysteresis model that is characterized by the congruent minor loop and wiping out properties. Comparable minor loop and decaying oscillation test data for a multi-sheet piezoceramic actuator (made of lead zirconate titanate) attached to a flexible beam are presented and are seen to be very consistent with the two Preisach model properties. The commanded parameter is the sheet transverse electric field while the measured parameter is an approximately colocated strain induced in the beam. Equivalent data for a Nitinol SMA wire muscle, attached to the same beam, are also presented. The input and output parameters are the SMA current and a beam strain respectfully. The minor loop and wiping out evidence is less strong than that of the piezoceramic case, but encouraging. In all experiments the quasi-steady state responses were generated in order to avoid exciting beam flexible modes which would complicate the analysis.

关键词： Piezoelectric materials Shape memory alloys Hysteresis Strain measurement Shape control Open loop systems Testing Actuators Titanium compounds Electric variables measurement

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Depth extraction using lateral or axial camera motion: an integration of depth from motion and stereo

Depth extraction using lateral or axial camera motion: an in...

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IEEE International Conference on Image Processing

作者： A.K. Dalmia M.M. Trivedi Web Systems Group Datacube Inc. Danvers MA USA Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

We present an integrated methodology that can be used to extract the depth from a sequence of images. The method combines the ability of stereo processing to acquire highly accurate depth measurements and the efficiency of spatial and temporal gradient analysis. As a result of this integration, depth measurements of a high quality are obtained at a speed approximately ten-times higher than that of stereo processing. Without any a priori information of the locations of the points in the scene, the correspondence problem in stereo processing is computationally expensive. In our approach, we use the spatial and temporal gradient analysis, which has been shown to provide the depth with a high efficiency but limited accuracy, to guide the stereo matching process. Experiments for lateral and axial camera translations have acquired depth results with a mean error of less than 3 percent.

关键词： Cameras Displacement measurement Robot vision systems Computer vision Equations Laboratories Data engineering Velocity measurement Layout Energy resolution

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Model development of MIMO nets: a H-EPN based approach

Model development of MIMO nets: a H-EPN based approach

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IEEE Conference on Decision and Control

作者： S. Ramaswamy K.P. Valavanis S. Barber The Laboratory for Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA The Robotics and Automation Laboratory The Center for Advanced Computer Studies and the Apparel-CIM Center University of Southwestern Louisiana Lafayette LA USA

The construction and analysis of multiple-input multiple-output (MIMO) subnets is discussed. It is shown that hierarchical time-extended Petri nets (H-EPNs) allow the development of structured MIMO subnets through the use of bottom-up Petri net synthesis techniques. The paper analyzes Petri net extensions that allow a truly hybrid approach to Petri net based systems modeling, analysis and development. The case study emphasizes the advantage of the activator arc extension in studying issues such as static priority scheduling, dynamic failure recognition, and rescheduling in manufacturing systems. The SPNP package, suitably modified to handle the H-EPN extensions, is used to analyze the properties of the derived H-EPN model.

关键词： MIMO Petri nets Failure analysis Job shop scheduling Dynamic scheduling Modeling Timing Manufacturing Packaging Solids

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CONTROL OF SWITCHED RELUCTANCE MOTOR TORQUE FOR FORCE CONTROL APPLICATIONS

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1994年第4期41卷 461-466页

作者： GOLDENBERG, AA LANIADO, I KUZAN, P ZHOU, C Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ON Canada RAFAEL Advanced Defense Systems Limited Haifa Israel Robotics and Automation Laboratory University of Toronto Canada

The paper presents a method for controlling Switched Reluctance Motor (SRM)'s torque for force control applications. SRM's are used in AdeptOne robots, and we perform experiments with two robots, controlled in coordination, in grasping and manipulation of various objects. The object and robot parameters are not exactly known, and adaptive methods are used to control the overall system. These methods are model-based control techniques which require high bandwidth torque control. This requirement is typical for high precision mechanisms. SRM's characteristics are very nonlinear. In particular the torque ripple, friction, and the torque versus position and current relationships were analyzed in the context above-mentioned, and specifically, for force control applications. The proposed method is based on a new commutation algorithm and a measured torque versus position and current relationship, used to smoothen the SRM's torque ripple, hence generating a torque output nearly independent of position. Furthermore, the internal friction is estimated on-line, and compensated for. This renders a high accuracy torque tracking. The torque control method is based on feedback from the motor angular velocity, motor angle, armature current, and feedforward for friction compensation and cancellation of nonlinear effects. The method has been tested experimentally on Adept motors and the results were very encouraging. The method has been also used for adaptive control of two coordinated Adept robots.

关键词： Force control Torque control Reluctance motors Reluctance machines Robot kinematics Friction Adaptive control Robot control Programmable control Control systems

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ON THE EXTREMAL FUNDAMENTAL FREQUENCIES OF ONE-LINK FLEXIBLE MANIPULATORS

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INTERNATIONAL JOURNAL OF robotics RESEARCH 1994年第2期13卷 162-170页

作者： WANG, FY [o_1]Robotics and Automation Laboratory Department of Systems and Industrial Engineering The University of Arizona Tucson Arizona 85721

The problem of maximizing the fundamental vibration frequency of a flexible manipulator through the optimum design of its link is addressed. A larger fundamental vibration frequency is desired because it will enable the manipulator to move faster without causing serious oscillation of its end point. Using the variational method, we show that this design problem can be formulated as a nonlinear eigenvalue problem and thus solved by a set of successive iteration schemes. Sensitivity analysis for the optimum design is also performed to obtain useful information for machining allowance specifications. The results of this investigation should be very useful in the design of lightweight and high-performance robotic arms. For example, numeric calculations indicated that an increase ranging from 194.92% to 600.25% in the fundamental vibration frequency can be achieved by the optimum tapering of a flexible manipulator with a link of geometrically similar cross sections. This may lead to a significant improvement in productivity, as the manipulator can rotate three to seven times faster.

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