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Scanning Camera and Augmented Reality Based Localization of Omnidirectional Robot for Indoor Application

Procedia Computer Science 2017年 105卷 27-33页

作者： Ananda Sankar Kundu Oishee Mazumder Ankit Dhar Prasanna K. Lenka Subhasis Bhaumik School of Mechatronics and Robotics IIEST Shibpur Howrah-711103 India National Institute of Orthopaedically Handicapped Bonhooghly Kolkata-700091 India Aerospace Engineering and Applied Mechanics IIEST Shibpur Howrah-711103 India

The aim of this paper is to develop an absolute visual localization system of an Omni wheeled robot for indoor navigation. Omni wheeled based robots have omni directional drive capacity. Conventional localization technique like odometry is not suitable for such drives due to wheel slippage. An omni robot platform with 4 omni-directional wheels powered by dynamixel motor and a scanning platform has been developed. We have implemented a localization technique using camera as visual sensor and multiple markers based on ‘ArToolKiT’ an augmented reality application. Various camera related distortion were reduced using 2 nd order surface fit of camera calibration data. To increase the accuracy of the system, fusion of results from multiple markers has been implemented. Performance of the proposed localization has been verified by studying different pattern based movement of the system in a test area of 5m X 5m. Novelty of this paper is in development of an omni wheeled robotic wheelchair and proposing a robust absolute visual based localization set up with single camera and multiple fused markers for indoor navigation.

关键词： Augmented reality Fusion Visual localization Omni robot Scanning Camera

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Assessing the Integration of Software Agents and Industrial Automation Systems with ISO/IEC 25010

Assessing the Integration of Software Agents and Industrial ...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Stamatis Karnouskos Roopak Sinha Paulo Leitão Luis Ribeiro Thomas. I. Strasser SAP Walldorf Germany IT & Software Engineering Auckland University of Technology New Zealand Research Centre in Digitalization and Intelligent Robotics (CeDRI) Instituto Politécnico de Bragança Campus de Santa Apolónia Bragança Portugal Linköping University Linköping Sweden Center for Energy – AIT Austrian Institute of Technology and Institute of Mechanics and Mechatronics – Vienna University of Technology Vienna Austria

Agent-technologies have been used for higher-level decision making in addition to carrying out lower-level automation and control functions in industrial systems. Recent research has identified a number of architectural patterns for the use of agents in industrial automation systems but these practices vary in several ways, including how closely agents are coupled with physical systems and their control functions. Such practices may play a pivotal role in the Cyber-Physical System integration and interaction. Hence, there is a clear need for a common set of criteria for assessing available practices and identifying a bestfit practice for a given industrial use case. Unfortunately, no such common criteria exist currently. This work proposes an assessment criteria approach as well as a methodology to enable the use case based selection of a best practice for integrating agents and industrial systems. The software product quality model proposed by the ISO/IEC 25010 family of standards is used as starting point and is put in the industrial automation context. Subsequently, the proposed methodology is applied, and a survey of experts in the domain is carried out, in order to reveal some insights on the key characteristics of the subject matter.

关键词： Automation IEC Standards ISO Standards Stakeholders Software Best practices

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About the sensitivity to hydrostatic pressure of Mohr-Coulomb criterion with circular failure envelope, dedicated to ductile materials

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IOP Conference Series: Materials Science and engineering 2018年第4期400卷

作者： A David P D Barsanescu A M Comanici 'Gheorghe Asachi' Technical University of Iasi-Romania Department of Mechanical Engineering Mechatronics and Robotics Blvd. Mangeron No. 63 700050 Iasi Romania

Knowledge of material properties, in particular under hydrostatic pressure, is essential, both to select the proper material for a specific engineering application and to predict accurately its behaviour using mathematical models. Many criteria were proposed to describe the behaviour of the various engineering materials under complex state of stress. Both materials and criteria can be sensitive or insensitive to hydrostatic pressure. This work demonstrates that modified Mohr-Coulomb criterion, with circular failure envelope, applied for ductile materials, is insensitive to hydrostatic pressure.

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Bond grapgh representation of linear time-varying systems 35

Bond grapgh representation of linear time-varying systems

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35th IASTED International Conference on Modelling, Identification and Control, MIC 2016

作者： Gonzalez-A, Gilberto Breedveld, Peter C. Nuñez-Hernadez, Israel Faculty of Electrical Engineering University of Michoacan Mexico Robotics and Mechatronics Group University of Twente Netherlands

The bond graph representation is applied to Linear Time-Varying (LTV) *** state-space repre-sentation and an equivalence transformation are pre-sented. From the state space description of a LTV sys-tem, a bond graph m... 详细信息

ISBN: (纸本)9780889869790

关键词： Graph theory

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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

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Frontiers of Mechanical engineering 2016年第2期11卷 144-158页

作者： Mingfeng WANG Marco CECCARELLI Giuseppe CARBONE School Of Mechanical and Electrical Engineering Central SouthUniversity Changsha 410083 China Laboratory of Robotics andMechatronics (LARM) DICeM University of Cassino and SouthLatium Cassino 03043 Italy Laboratory of Robotics and Mechatronics (LARM) DICeM Universityof Cassino and South Latium Cassino 03043 Italy

A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three- dimensional model is elaborated in SolidWorks environ- ment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in *** environment with the aims of characterizing and evaluat- ing the dynamic walking design. Simulation results performance of the proposed show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on fiat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

关键词： feasibility study biped locomotor bipedwalking mechanical design dynamic simulation tripodleg mechanism 3-UPU parallel manipulator

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Experiments and simulations of the standing wave acoustic field produced by two transducers mounted in contraposition 6

Experiments and simulations of the standing wave acoustic fi...

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2017 ICU Honolulu: 6th International Congress on Ultrasonics

作者： Dong, Huijuan Jia, Longfei Guan, Yingzi Zhao, Jie School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang150001 China Chongqing Vocational College of Transportation Chongqing China School of Astronautics Harbin Institute of Technology Harbin Hei Longjiang150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Hei Longjiang150001 China

Acoustic standing wave levitation transmission technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers' output are assembled face to face at a certain angle. Each transducer's output acts as both its radiator and another transducer's reflector. The authors termed it as contraposition transducer array. Standing acoustic wave in the cavity between the radiator and the reflector is formed when optimizing the angle between the central lines of the two transducers, the distance of the cavity, and the phase differential of the generator being used to excite the two transducers. Accordingly, the object during the acoustic field can be levitated, moved and manipulated. Not only the standing acoustic field pressure is theoretically derived, but also its potential location is Ansys-programmed simulated and illustrated. As a result, the restrictions are detailed which are necessary to form the standing acoustic wave. The corresponding experiments are carried out to demonstrate the proposed method by the authors. Finally, the influences of geometrical parameters and exciting phase differential on the formed acoustic field are numerically simulated. © 2018 Acoustical Society of America.

关键词： Acoustic fields

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Design considerations of the duo fugam dual rotor UAV

Design considerations of the duo fugam dual rotor UAV

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robotics and mechatronics Conference (RobMech)

作者： Riaan Stopforth Shaniel Davrajh Alexander Ferrein Stopforth Robotics and Mechatronics Research Lab University of KwaZulu-Natal Durban South Africa Department of Mining Engineering and Mine Surveying UJ Mechatronics and Micro-manufacturing CSIR Johannesburg South Africa MASCOR FH Aachen Aachen Germany

A prototype Unmanned Aerial Vehicle (UAV), named Duo Fugam, was designed and tested as a dual rotor copter capable of semi-autonomous flight. The design involved consideration of the mechanical and control requirements for the UAV. Additional features such as wireless communication and gesture with voice control were also implemented. Various testing experiments were conducted to assess and improve the stability and duration of the copter flight. An analysis of the air flow is shown when shrouds are implemented. Payloads were also incorporated into copter frame to assist in stability by lowering the centre of gravity of the copter creating a pendulum effect. This pendulum effect acts as a rotary damper, as the Dual-Rotor UAV (DR-UAV) is roll and pitch sensitive, due to the two rotary axial control modes. The copter may be flown via remote control or through keyboard interface which linked in with wireless communication that was developed, and was facilitated by Arduino coding and Xbee modules. Using a Kinect sensor gesture and voice control of the copter were also configured. Specific hand gestures and voice commands were used to correlate to certain functions such as hovering and forward motion.

关键词： Propellers Rotors Unmanned aerial vehicles Blades Gravity Atmospheric modeling

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Theoretical and experimental study of specimens with stress concentrators in dependence of stress triaxiality

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Ciencia e Tecnologia dos Materiais 2017年第1期29卷 e254-e261页

作者： Comanici, Ana Maria Goanta, Viorel Barsanescu, Paul Doru "Gheorghe Asachi" Technical University of Iaşi Department of Mechanical Engineering Mechatronics and Robotics Bvd Prof. Dr. doc. Dimitrie Mangeron 61-63 Iasi700050 Romania

The literature presents several results referring to multiaxial tests of stress concentrators specimens. Different types of these specimens are presented and they were used accordingly to the stress triaxiality as follows: butterfly specimen for high degree of stress triaxiality, plane specimen for medium state of triaxiality and cylindrical specimen for low degree of triaxiality. This article shows the results of experimental determinations, finite element analysis and theoretical study of two types of plate specimens with stress concentrators and it aims to obtain high stress state in failure section (volume), more uniform stress distribution and stress ratio to be constant until failure. © 2017 Portuguese Society of Materials (SPM)

关键词： Finite element method

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Determining South African distribution power system big data integrity using fuzzy logic: Power measurements data application

Determining South African distribution power system big data...

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robotics and mechatronics Conference (RobMech)

作者： Sibonelo Motepe Bhekisipho Twala Riaan Stopforth Faculty of Engineering and the Built Environment University of Johannesburg Johannesburg South Africa Stopforth Mechatronics Robotics and Research Lab University of Kwa-Zulu Natal Durban South Africa

This paper presents a fuzzy logic method and experiment to determine distribution power systems big data integrity. The method is applied on a South African power systems network loading measurements data. Simulation results show fuzzy logic as an efficient strategy in determining loading data integrity in comparison to a traditional approach of manual human analysis. In addition, the proposed strategy consumes less time relative to this traditional manual data analysis method of using plots for visual inspection, load balancing and data files cross-checking.

关键词： Big Data Power systems Fuzzy logic Power measurement Loading Load modeling

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Condition directed multi-domain adversarial learning for loop closure detection

arXiv

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arXiv 2017年

作者： Yin, Peng He, Yuqing Liu, Na Han, Jianda Xu, Weiliang State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China School of Mechatronics Engineering and Automation Shanghai University Shanghai China Department of Mechanical Engineering University of Auckland Auckland New Zealand

Loop closure detection (LCD) is the key module in appearance based simultaneously localization and mapping (SLAM). However, in the real life, the appearance of visual inputs are usually affected by the illumination changes and texture changes under different weather conditions. Traditional methods in LCD usually rely on handcraft features, however, such methods are unable to capture the common descriptions under different weather conditions, such as rainy, foggy and sunny. Furthermore, traditional handcraft features could not capture the highly level understanding for the local scenes. In this paper, we proposed a novel condition directed multi-domain adversarial learning method, where we use the weather condition as the direction for feature inference. Based on the generative adversarial networks (GANs) and a classification networks, the proposed method could extract the high-level weather-invariant features directly from the raw data. The only labels required here are the weather condition of each visual input. Experiments are conducted in the GTAV game simulator, which could generated lifelike outdoor scenes under different weather conditions. The performance of LCD results shows that our method outperforms the state-of-arts significantly. Copyright © 2017, The Authors. All rights reserved.

关键词： Generative adversarial networks

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