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检索条件"机构=Mechatronics and Robotics Engineering"

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Application of Particle Filtering Technique for Sensor Fusion in Mobile robotics

Application of Particle Filtering Technique for Sensor Fusio...

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2011 IEEE International Conference mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Shikha Jain S. Nandy R. Ray S. N. Shome School of Mechatronics CSIR-Ceniral Mechanical Engineering Research Institute Durgapur-713209 INDIA Department of Robotics & Automation CSIR-Central Mechanical Engineering Research Institute Durgapur-

Accurate position estimation is very essential for successful operation of any autonomous .mobile robots. Generally, Extended Kalman Filter (EKF) is used to fuse multiple low cost sensor information for better position estimation of mobile robots. However, due to the first-order approximation while performing linearization of the nonlinear model in the EKF, it will introduce large estimation errors over the time. In order to reduce the significant estimation errors, the Particle Filter (PF) is presently used as a modern sensor fusion methodology applied to mobile robotics due to its generic nature to tackle uncertainty & nonlinearity. This paper illustrates application of Particle Filtering Technique for reliable estimation of the state vector of a mobile robot in association with proprioceptive (Odometry) and exteroceptive (Laser Range Finder) sensors for efficient control. The paper also presents a comparison of the performance of the EKF & PF techniques for the estimation of the states & control of the mobile robot and establishes the superiority of PF over EKF.

关键词： Particle filter Sensor fusion localization

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Estimation of Operational Intention by Utilizing Self-Organizing Map, Ontology, and Petri-net

Estimation of Operational Intention by Utilizing Self-Organi...

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SICE Annual Conference

作者： Takuya Kidokoro Hiroshi Igarashi Shuichi Nakata Tetsuya Yasuda Harumi Kobayashi Satoshi Suzuki Department of Robotics and Mechatronics Tokyo Denki University Department of Electrical and Electronic Tokyo Denki University School of Science and Engineering Tokyo Denki University

ISBN: (纸本)9781457707148

This paper proposes a new approach for an estimation of user's intention using Self-Organizing Map (SOM), ontology, and Petri-net. In order to construct the intention estimator, the ontology and Petri-net are used to classify the operational intention. The SOM technique is used to form the relation between the intention modes and operational state. A kind of knowledge data base of user's intention was constructed by using the ontology, and the knowledge was utilized to build a task scenario. By using the Petri-net model, an event-driven scenario of the task is constructed and is utilized to improve the SOM. An experiment using a virtual transportation task simulator to verify the presented approach was performed, and the user's intention during the machine manipulation was estimated from the time-series data which was obtained through the experiment. Comparing the estimated intention with the other one extracted by human analysis, the effectiveness of the estimator was analyzed.

关键词： Estimation of intention Machine operation Self-organizing map Ontology Petri-net

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ANFIS Based Controller for Double Inverted Pendulum System with Payload

ANFIS Based Controller for Double Inverted Pendulum System w...

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2011 IEEE International Conference on Intelligent Computing and Intelligent Systems(ICIS 2011)

作者： Omar Mehrez Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and TechnologyE-JUSTNew Borg El-Arab cityAlexandriaEgypt

The swing up and stabilization of inverted pendulum systems represents a challenge task for *** more the number of links,the more difficult is to control the ***,we propose a double inverted pendulum system with a payload of significant mass attached to the second *** mass addition is not only to increase the complexity of the control problem,but also has significant effect on the development of applications that are simply modeled with inverted pendulum systems such as humanoid robots and mobile *** ANFIS controller based on the training from an optimal LQR controller is introduced to stabilize the system around the equilibrium *** rule numbers explosion of the ANFIS controller is solved by combining the system variables into only two states;the error and error *** performance of the ANFIS controller is compared with the optimal one,which shows better performance,covering wider range,and much more robustness against disturbances.

关键词： fuzzy control double inverted pendulum with payload fuzzy rules number problem

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Workspace determination of a chameleon-like space service robot with planar configurations

Workspace determination of a chameleon-like space service ro...

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IEEE Conference on robotics, Automation and mechatronics

作者： Tao Li Hui Li Marco Ceccarelli Qiang Huang Que Dong LARM Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino Frosinone Italy School of Mechatronical Engineering Beijing Institute of Technology BIT Beijing China

The chameleon-like robot is a new designed robot especially for working in space station environment. While working in this environment, the robot can work in planar configurations. This paper focuses on the workspace determination of this chameleon-like robot with its planar configurations. For this purpose, a geometric approach is used. Formulations and an algorithm have been outlined and implemented for generation and computation of the workspace. Several numerical examples are presented with different design parameters for analyzing the operation performance of this chameleon-like robot.

关键词： Joints Manipulators Robot kinematics Legged locomotion Equations Mathematical model

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Particle filter based monocular human tracking with a 3d cardbox model and a novel deterministic resampling strategy

Particle filter based monocular human tracking with a 3d car...

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Ziyuan Liu Dongheui Lee Wolfgang Sepp Institute of Automatic Control Engineering Technische Universität München Munchen Germany Institute of Robotics and Mechatronics German AeroSpace Center (DLR) Germany

The challenge of markerless human motion tracking is the high dimensionality of the search space. Thus, efficient exploration in the search space is of great significance. In this paper, a motion capturing algorithm is proposed for upper body motion tracking. The proposed system tracks human motion based on monocular silhouette-matching, and it is built on the top of a hierarchical particle filter, within which a novel deterministic resampling strategy (DRS) is applied. The proposed system is evaluated quantitatively with the ground truth data measured by an inertial sensor system. In addition, we compare the DRS with the stratified resampling strategy (SRS). It is shown in experiments that DRS outperforms SRS with the same amount of particles. Moreover, a new 3D articulated human upper body model with the name 3D cardbox model is created and is proven to work successfully for motion tracking. Experiments show that the proposed system can robustly track upper body motion without self-occlusion. Motions towards the camera can also be well tracked.

关键词： Humans Tracking Solid modeling Three dimensional displays Estimation Torso Cameras

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Design of a 23-DOF Small Humanoid Robot with ZMP Force Sensors

Design of a 23-DOF Small Humanoid Robot with ZMP Force Senso...

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics (CAR 2011 LNEE 132)

作者： Awais Yasin Qian Xu Bo Chen Qiushi Lu M.Waqas Khan Key Laboratory of Biomimetic Robots and Systems Beijing Institute of TechnologyMinistry of Education Intelligent Robotics Institute School of Mechatronics Engineering Beijing Institute of Technology

This paper presents a design of a 23-DOF small humanoid robot with force sensors for zero moment point(ZMP) measurement. Piezoresistive strain gauges are used under the feet of the robot to measure ground reaction force which is used to locate ZMP under the robot foot support area. The robot also uses gyroscope and acceleration sensor for motion *** robot developed is capable of all directional walking, running and performing different kung fu like *** specifications, joints distribution, walking planning of the robot, ZMP measurement scheme and vibration control using gyro sensor are discussed in this paper.

关键词： Humanoid Robot,Biped,ZMP,Walking Planning,Force sensor

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The application of real-time operating system QNX in the computer modeling and simulation

The application of real-time operating system QNX in the com...

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International Conference on Artificial Intelligence, Management Science and Electronic Commerce (AIMSEC)

作者： Mingxin Hou Fenglei Ni Minghe Jin Li Jiang Hong Liu Yue Jin Mingbo Hou State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Institute of Robotics and Mechatronics German AeroSpace Center Munich Germany College of Electromechanical Engineering China University of Petroleum China Department of Electronic Engineering University of York UK

The objective of this study is to show the applications of the simulation implementation of QNX identified model combining with Matlab/Simulink platform, QNX C/C++ compiler and QNX real-time operating system. The HIT/DLR Hand II dexterous hand QNX real-time simulation model is generated by the Simulink platform and QNX C/C++ compiler link files. Moreover, this model can be implemented in the QNX real-time system. Simulations in the QNX real-time system show that the HIT/DLR Hand II dexterous hand QNX model which based on the methods in this research, was able to offer an attractive performance during both real-time simulation and feedback operations.

关键词： Mathematical model Real time systems Computational modeling Robots Operating systems Conferences Joints

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Development of an Exoskeleton System for Elderly and Disabled People

Development of an Exoskeleton System for Elderly and Disable...

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International Conference on Information Science and Applications (ICISA)

作者： Galina Ivanova Sergey Bulavintsev Jee-Hwan Ryu Jury Poduraev Department of Mechanical Engineering Korea University of Technology and Education Cheonan South Korea Department of Robotics and Mechatronics Moscow State University of Technology STANKIN Moscow Russia

ISBN: (纸本)9781424492220

For supporting daily activities of elderly and physically disabled people who have lost their body functioning of motions, we have developed a 7-DOF robotic exoskeleton system. It is intended to assist the motions of shoulder and elbow by mounting this on a wheel chair since human shoulder and elbow motions are involved in a lot of activities of everyday life. The proposed mechanism can maximize workspace while escaping singularity by combining the parallel mechanism at the wrist part. Admittance based velocity control scheme enables a variety of tasks to be implemented and allows us to achieve fast enough motion with acceptable accuracy. Preliminary results for mechanism analysis, trajectory tracking experiment are shown.

关键词： Exoskeletons Joints Kinematics Wrist Humans Admittance Shoulder

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Homography-based ground area detection for indoor mobile robot using binocular cameras

Homography-based ground area detection for indoor mobile rob...

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2011 IEEE 5th International Conference on robotics, Automation and mechatronics, RAM 2011

作者： Ke, Peiqi Meng, Cai Li, Jihao Liu, Ying Image Processing Center School of Astronautics Beihang University Beijing 100191 China Social Robotics Lab. Interactive Digital Media Institute National University of Singapore 119613 Singapore Singapore Mechatronics Engineering Department School of Mechanical Engineering Beijing University of Science Technology Beijing 100083 China Industrial Robot and Production Automation Lab. School of Mechanical Engineering University of Science and Technology Beijing Beijing 100083 China

ISBN: (纸本)9781612842509

Drivable area detection is an important issue for mobile robot to work in indoor and outdoor environments with safety and security with respect to itself and environment. In this paper, we propose an approach to detect the ground area for indoor mobile robots with binocular cameras. At first, the ground induced homography between onboard binocular cameras is calibrated. In ground area detection, the right eye image is warped to left eye by the homography and subtracted by the left eye image. From the difference image the rough non-ground regions can be detected. Then the closed contours on the difference image and the left eye image are searched to segment them into regions. These corresponding regions are compared to judge whether they belong to ground plane. The conducted experiments show that the proposed method is valid in detecting ground area. © 2011 IEEE.

关键词： Mobile robots

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Feature extraction based on common spatial analysis for time domain parameters

Feature extraction based on common spatial analysis for time...

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Li, Xinyang Sam Ge, Shuzhi Pan, Yaozhang Hong, Keum-Shik Zhang, Zhengchen Hu, Xiaosu Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Singapore 138632 Singapore Cognitive Science Laboratory Department of Cogno-Mechatronics Engineering Pusan National University Busan 609735 Korea Republic of

ISBN: (纸本)9781457707223

In this paper, an approach of feature extraction by designing common spatial filters specifically for time domain parameters (TDP) is proposed. This approach is aiming at motor imagery detection in electroencephalogram (EEG). Particularly, this method calculates the derivatives of the original signals and then applies common spatial analysis (CSP) to each order of derivatives. Variances of the spatially filtered signal after taking logarithm are used as features. Quadratic discriminant analysis (QDA) is applied to the feature vectors and classifies the vectors into different categories. We evaluate our approach using data consisting of two classes: left-hand and right-hand movement imageries from three subjects, and comparison between the proposed method and applying CSP analysis to the whole set of EEG signal directly is presented. Our results show that the proposed method generates more discriminant features in this motor imagery classification issue. © 2011 IEEE.

关键词： Feature extraction

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