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INDUSTRIAL ROBOT 1994年第6期21卷 18-21页

作者： SIMON, G Mechatronic Systems and Robotics Research Group Department of Mechanical Engineering University of Surrey

For the off‐line programming of robots to be successful thegraphical simulation must model the real work cell to a very high degree ofaccuracy which calls for equally accurate calibration of the robot. TheUniversity of Surrey has been developing a optical, non‐contact3‐D repeat motion tracking system called Optotrac to carry out thistask. Outlines the Optotrac specification and principals of operation whichis based on the use of a “cat’s eye” target and two laserbeams. Compares Optotrac with other robot metrology tools and gives examplesof fits application. Concludes that most metrology tools are still confinedto the laboratory but as the systems become more widely available and theprices fall they will spread into industrial application.

关键词： Robots Calibration Metrology Lasers

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An embodiment paradigm in evaluation of human-in-the-loop control

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IFAC-PapersOnLine 2019年第34期51卷 104-109页

作者： Fröhner, Jakob Beckerle, Philipp Endo, Satoshi Hirche, Sandra Chair of Information-oriented Control Technical University of Munich Munich80333 Germany Elastic Lightweight Robotics Group Robotics Research Institute Technische Universität Dortmund Dortmund44221 Germany Institute for Mechatronic Systems Technische Universität Darmstadt Darmstadt64287 Germany

This study introduces a novel approach for evaluating the quality of human-in-the-loop control using the psychological construct of embodiment in a haptic human-machine interaction task. Despite the fact that various forms of assistive control have been introduced, these methods mainly design semi-autonomous control to improve task-specific interaction performance. From a user perspective, however, the introduction of semi-autonomous control reduces controllability of the system, which could lead to negative user experience. Psychological research suggests sensory-motor factors dynamically modulate cognition of an external entity belonging to one's own body, i.e., embodiment. In our paradigm, we apply methods for evaluating embodiment in a virtual reality (VR) environment where the human users perform a reaching task with semi-autonomous haptic assistance to measure the degree to which the embodiment is effected by the quality of semi-autonomy Our results with 8 participants show good persistence of subjective embodiment and subcomponents of presence within VR environment when a predictable assistive control is introduced while unpredictable assistance hindered the subjective embodiment. Results indicate embodiment can be exploited as a quantitative evaluation method of semi-autonomous controllers from a user-centric perspective. © 2019

关键词： Quality control Closed loop control systems Virtual reality Embodiment Human machine interaction Human in the loop control Psychological research Quantitative evaluation methods Semi autonomous control Shared control Specific interaction

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A Comparative study of the deformation of planetary soils under tracked and legged rovers

A Comparative study of the deformation of planetary soils un...

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Space 2008 Conference

作者： Scott, Gregory P. Meirion-Griffith, Gareth N. Saaj, Chakravarthini M. Moxey, Eddie Surrey Space Centre Mechatronic Systems and Robotics Research Group University of Surrey Guildford Surrey GU2 7XH United Kingdom

ISBN: (纸本)9781563479465

Wheeled micro-rovers, typically between five and thirty kilograms, suffer inherent losses in traction when subjected to the fine, granular soils such as lunar regolith. Bekker theory, the method of benchmarking the trafficability of a soil based terrain, allows for the evaluation of vehicle mobility performance via non-empirical methods. In order to investigate the effects of soil deformation on vehicles of interest, the authors have developed several soil simulator programs reproducing Earth-based soil modeling carried out in laboratories and validated against empirical experiments preformed in labs around the world. Through these software packages and experimental investigations on several microand nano-rover designs, a comparative analysis between tracked and legged vehicle performance on planetary surfaces has been conducted. Copyright © 2008 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： Soils

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A machine vision approach to video based eye tracker calibration

A machine vision approach to video based eye tracker calibra...

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2003 International Conference on Visual Information Engineering VIE 2003

作者： L.J. Hitchin G.A. Parker Mechatronic Systems and Robotics Research Group University of Surrey Guildford Surrey UK

Calibration of eye trackers to establish the relationship between the user's eye and the target environment is important to achieve accurate results. This paper concentrates on video based eye trackers with the gaze target being a computer monitor. Different calibration procedures have been proposed by many people (Sheena and Borah, 1981; Stampe, 1993; Baluja and Pomerleau, 1994) to relate the image of the eye from the tracker to a gaze position on the monitor. In this paper a machine vision approach to calibrating the eye tracker is used; specifically the Tsai camera calibration approach (Tsai, 1987; Lenz & Tsai, 1988). A comparison with two other eye tracker calibration methods is then presented.

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Get a head in virtual reality

Get a head in virtual reality

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IEE Colloquium on Control of Remotely Operated systems: Teleassistance and Telepresence

作者： J. Pretlove R. Asbery Mechatronic Systems and Robotics Research Group Department of Mechanical Engineering University of Surrey Guildford Surrey UK

There are many essential features required of a telepresence system: it must consist of a sensor system which gathers information from the remote environment and a suitable method of displaying this information to the operator. In addition to the presentation of the visual information, the operator must also be capable of interacting with the remote system. This must be achieved in such a way that the operator does not feel visually separate or removed from the remote environment. This paper presents an overview of the design and development of an advanced, dynamic telepresence system which is the result of over six years experience building stereo vision systems.< >

关键词： Design methodology Detectors Stereo vision Virtual reality

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Remote vehicle manoeuvring using augmented reality

Remote vehicle manoeuvring using augmented reality

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2003 International Conference on Visual Information Engineering VIE 2003

作者： V. Brujic-Okretic J.-Y. Guillemaut L.J. Hitchin M. Michielen G.A. Parker Mechatronic Systems and Robotics Research Group University of Surrey UK Speech and Signal Processing University of Surrey UK

In this paper we present an application of augmented reality aimed for remote vehicle navigation and manoeuvring. The concept is used to aid the operator in manoeuvring a vehicle in the case of temporary loss of vision or poor visibility conditions, relying entirely on the graphics. The approach is based on the continuous acquisition of vehicle position and orientation in the world reference frame, combined with a near-scene reconstruction obtained from a laser-scan, in real-time. An algorithm to register real imagery from an on-board stereo camera system with a generated graphical scene representation has previously been developed and implemented. A successful integration of graphical and sensory information in real-time was achieved combining a digital elevation model of the terrain with accurate registration techniques. A fully functional demonstrator has been developed for a one-dimensional test-case, while the concept is derived for an arbitrary motion pattern over a flat surface.

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Some aspects of road sweeping vehicle automation

Some aspects of road sweeping vehicle automation

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： G. Peel M. Michielen G. Parker Mechatronic Systems and Robotics Research Group School of Mechanical and Materials Engineering University of Surrey Guildford Surrey UK

ISBN: (纸本)0780367367

This paper reports on work being undertaken to enhance the performance and safety of road sweeping vehicles, including a forward looking debris detection system alongside research into brushes and the brushing process. Vision processing techniques are used to identify various road surfaces and debris. A continuous flow of data is provided by laser striping building up a 3D profile of the road ahead. Only when the scene cannot be fully identified with sizes and shapes alone, other more advanced image processing techniques are applied. A brush rig was constructed to test different brush types used on road sweeping vehicles. An extensive range of practical tests were undertaken on a variety of contact surfaces. Analysis of the results shows that the common brush types currently on the market have very different characteristics depending on the orientation of their tines.

关键词： Road vehicles Automation Brushes Road safety Vehicle safety Testing Vehicle detection Layout Shape Image processing

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Walking micro-rovers for planetary exploration: Investigation into the mechanics of soil-footprint interaction

Walking micro-rovers for planetary exploration: Investigatio...

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16th International Conference of the International Society for Terrain Vehicle systems 2008, ISTVS 2008

作者： Scott, Gregory P. Saaj, Chakravarthini Moxey, Eddie Surrey Space Centre University of Surrey Guildford Surrey GU2 7XH United Kingdom Mechatronic Systems and Robotics Research Group University of Surrey Guildford Surrey GU2 7XH United Kingdom

ISBN: (纸本)9781627482936

Utilising the methodology for detailed examination into the pressure-sinkage relationship for a walking micro-rover, this paper investigates the deformation of planetary soil as a result of this vehicle's stancing and stepping phases of locomotion. An investigation into the vehicle sinkage during the stepping phase of the vehicle's wave gait is conducted. Further investigations into vehicle slip are performed for the stancing phase of this gait. Footprint sinkage and vehicle slip are modelled in order to be fed-forward into the vehicle controller. Other leg resistances in soil are examined to determine the estimated tractive capability of the vehicle. A hexapod micro-rover is proposed for surface exploration of the Martian surface based on validated simulations that were created to determine the capability of a legged vehicle in soil. This paper introduces this simulator and presents the results of this research, including an introduction to the control methodology, soil mechanics principles and vehicle simulation. Copyright © 2008 by the International Society for Terrain Vehicle systems.

关键词： Rovers

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Improved Model of the PWM Driven 3/2 Solenoid Valve Pneumatic System for Soft Pneumatic Actuators

Improved Model of the PWM Driven 3/2 Solenoid Valve Pneumati...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Krisjanis Visnevskis Shakiru Olajide Kassim Maria Elena Giannaccini Vahid Vaziri Sumeet S. Aphale Artificial Intelligence Robotics and Mechatronic Systems Group (ARMS) Centre for Advanced Dynamic Research (CADR) School of Engineering University of Aberdeen Aberdeen UK

Soft pneumatic actuators (SPAs) are the building blocks of soft robots that are characterized by their inherent compliance, high degree of dexterity, and safety in human-robot interaction. The non-linear dynamics of the pneumatic system and elastomeric material deformation in SPAs presents a challenge in developing control systems for these actuators. Therefore simulations are often used to aid in the design and validation of new control schemes for SPAs. Pressure control is an important aspect of achieving precise motion control of the *** paper presents an improved simulation model for a SPA pneumatic system that utilizes a 3/2 solenoid valve. The model was implemented using the SimScape Fluids toolbox in MATLAB. The proposed simulation model builds on existing models by accounting for the 3/2 solenoid valve dynamics. The open-loop response of the improved model was compared with the previous model and experimental data. The results showed that the improved model was more representative of the real-world performance of the system under open-loop control.

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Human body schema exploration: analyzing design requirements of robotic hand and leg illusions

Human body schema exploration: analyzing design requirements...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： P. Beckerle A. De Beir T. Schurmann E. A. Caspar Institute for Mechatronic Systems in Mechanical Engineering Germany Robotics and Multibody Mechanics Belgium Work and Engineering Psychology Research Group Germany Center for Research in Cognition & Neurosciences Belgium

ISBN: (纸本)9781509039302

Understanding the integration of user-proximal robots in the body schema of their human users has a distinct potential to improve human-robot interaction. Robotic devices can help to investigate the psychological fundamentals of body schema integration. While the Rubber Hand Illusion experiment indicates how artifacts can be perceived as a part of the own body, it relies on a passive limb that does not perform motions during the examinations. Novel setups aim at Robotic Hand/Leg Illusions induced by robotic devices which imitate human motions. Although such devices distinctly extend experimental possibilities, their design is rather proprietary and unstructured up to now. This paper analyzes the requirements of robotic hand and leg illusion setups based on systematic discussion of a multidisciplinary team of researchers from engineering and psychology. In a comparative study, requirements are collected and structured, their similarities and differences are determined, and the most important ones are extracted yielding design implications. The requirements with the highest priority are setup characteristics that concern the occurrence and quality of the illusion, i.e., hiding the real limb, anatomical plausibility, visual appearance, temporal delay, and software-controlled experimental conditions. Based on the results, the design of future robotic devices for the exploration of human body schema integration might be guided and supported.

关键词： Legged locomotion Delays Robot sensing systems Psychology Rubber Visualization Manipulator sensing systems robotic hand Psychology Biped locomotion Illusions rubbers Visualization delay Body Schema Exploration Human Body

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