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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Heiko Hirschmuller Stefan Gehrig Institute of Robotics and Mechatronics Oberpfaffenhofen Germany Group Research & Advanced Engineering Daimler AG

Stereo matching commonly requires rectified images that are computed from calibrated cameras. Since all underlying parametric camera models are only approximations, calibration and rectification will never be perfect. Additionally, it is very hard to keep the calibration perfectly stable in application scenarios with large temperature changes and vibrations. We show that even small calibration errors of a quarter of a pixel are severely amplified on certain structures. We discuss a robotics and a driver assistance example where sub-pixel calibration errors cause severe problems. We propose a filter solution based on signal theory that removes critical structures and makes stereo algorithms less sensitive to calibration errors. Our approach does not aim to correct decalibration, but rather to avoid amplifications and mismatches. Experiments on ten stereo pairs with ground truth and simulated decalibrations as well as images from robotics and driver assistance scenarios demonstrate the success and limitations of our solution that can be combined with any stereo method.

关键词： Calibration Cameras Robot vision systems Temperature Robot sensing systems Filtering theory Filters Lenses Image reconstruction Layout

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Neural network based speed observer for interior permanent magnet synchronous motor drives

Neural network based speed observer for interior permanent m...

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2009 IEEE Electrical Power and Energy Conference, EPEC 2009

作者： Chaoui, Hicham Gueaieb, Wail Yagoub, Mustapha C. E. Machine Intelligence Robotics and Mechatronics Research Group School of Information Technology and Engineering University of Ottawa Ottawa ON K1N 6N5 Canada Microsystems Strategic Alliance of Quebec École Polytechnique de Montréal Montréal QC H3C 3A7 Canada Research Group School of Information Technology and Engineering University of Ottawa Ottawa ON K1N 6N5 Canada

ISBN: (纸本)9781424445080

This paper introduces an artificial neural network (ANN) based observer for accurate speed control of an interior permanent magnet synchronous machine (IPMSM). A multilayer perception is trained online using back-propagation learning algorithm to estimate the rotor speed. Unlike other observers, no a priori offline training or weights initialization is required. Experiments for different situations highlight the performance of the proposed observer in transient, steady-state, and standstill conditions. The proposed observer is reliable and effective for IPMSM speed control. Furthermore, the neural networks inherent parallelism makes them a good candidate for implementation in real-time PMSM drive systems. ©2009 IEEE.

关键词： Neural networks

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Neural network based speed observer for interior permanent magnet synchronous motor drives

Neural network based speed observer for interior permanent m...

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IEEE Canada Electric Power Conference, EPEC

作者： Hicham Chaoui Wail Gueaieb Mustapha C.E. Yagoub Microsystems Strategic Alliance of Quebec École Polytechnique de Montréal Montreal QUE Canada Machine Intelligence Robotics and Mechatronics research group School of Information Technology and Engineering University of Ottawa Ottawa ONT Canada Machine Intelligence Robotics and Mechatronics Laboratory School of Information Technology and Engineering University of Ottawa Ottawa ONT Canada RF and Microwave (RFM) research group School of Information Technology and Engineering University of Ottawa Ottawa ONT Canada

ISBN: (纸本)9781424445080;9781424445097

关键词： Neural networks Permanent magnet motors Artificial neural networks Velocity control Permanent magnet machines Magnetic multilayers Multi-layer neural network Rotors Steady-state Real time systems

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Autonomous staircase detection and stair climbing for a tracked mobile robot using fuzzy controller

Autonomous staircase detection and stair climbing for a trac...

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IEEE International Conference on robotics and Biomimetics

作者： E. Mihankhah A. Kalantari E. Aboosaeedan H.D. Taghirad S. Ali A. Moosavian Student of masters in Mechatronics member of Resquake Robotics Team Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Associate professor Department of Electrical Engineering member of ARAS Research Group Department of Mechanical Engineering K.N. Toosi University of Technology Tehran KN Toosi University of Technology Tehran Tehran IR

Theoretical analysis and implementation of autonomous staircase detection and stair climbing algorithms on a novel rescue mobile robot are presented in this paper. The main goals are to find the staircase during navigation and to implement a fast, safe and smooth autonomous stair climbing algorithm. Silver is used here as the experimental platform. This tracked mobile robot is a tele-operative rescue mobile robot with great capabilities in climbing obstacles in destructed areas. Its performance has been demonstrated in rescue robot league of international RoboCup competitions. A fuzzy controller is applied to direct the robot during stair climbing. Controller inputs are generated by processing the range data from two laser range finders which scan the environment one horizontally and the other vertically. The experimental results of stair detection algorithm and stair climbing controller are demonstrated at the end.

关键词： Mobile robots Fuzzy control Robot control Humans Robot sensing systems Orbital robotics Silver Biomimetics Mechanical engineering Remotely operated vehicles

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Required improvements and possible solutions for urban search and rescue (USAR) robots

Required improvements and possible solutions for urban searc...

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2008 International Conference on Automation, robotics and Control Systems, ARCS 2008

作者： Stopforth, Riaan Bright, Glen Mechatronics and Robotics Research Group University of KwaZulu-Natal South Africa

ISBN: (纸本)9781615677146

Robots used for Search and Rescue purposes have encountered many problems. The main focus of this research is the traction, communication and intelligence systems. Background is given as to the need of USAR robots and problems that have been encountered before. The traction system, transformability and material used for the structure of the robot are discussed. A solution to be used for the communication of the robot entails the frequency, antenna to use and the protocols that could be useful. Finally, information on some of the sensors that will be needed is also discussed.

关键词： Robots

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Standardised framework for flexible materials handling management based on operating system primatives

Standardised framework for flexible materials handling manag...

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2007 Australasian Conference on robotics and Automation, ACRA 2007

作者： Bright, Glen Walker, Anthony Mechatronics and Robotics Research Group Department of Mechanical Engineering University of KwaZulu-Natal Durban South Africa

ISBN: (纸本)9780958758390

Future Flexible Materials Handling systems will employ multiple cooperating mobile materials handling platforms in order to carry out required materials handling tasks. Mobile robotic system research and development is by nature, distributed. An internationally developed and accepted Flexible Materials Handling management framework will aid in correlating research efforts and allow for system developments to be communicated across a standardised and well understood platform. This paper presents a layout of such a standardised framework, structured around the model of a multiuser Operating System in order to develop well understood and generic mechanisms. This aids in the realisation of Flexible Materials Handling (FMH) systems.

关键词： Materials handling

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A mobile mechatronic platform architecture for flexible materials handling

A mobile mechatronic platform architecture for flexible mate...

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2007 Australasian Conference on robotics and Automation, ACRA 2007

作者： Bright, Glen Walker, Anthony Mechatronics and Robotics Research Group Department of Mechanical Engineering University of KwaZulu-Natal Durban South Africa

ISBN: (纸本)9780958758390

Mass production of customised products requires materials handling platform architectures to be flexible enough to accommodate varying geometries, masses and volumes of materials. Multi-agent control and coordination structures are under development to provide flexible and scalable transportation systems. In this paper the concept of mechatronics has been used to develop a Flexible Materials Handling mobile platform architecture, suited to operation in both singular mobile platform and multiple cooperating mobile platform contexts. Materials handling was provided by the cooperation of multiple differential drive platforms fitted with servo operated and articulated conveyors.

关键词： Materials handling

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Sensor System for Multi Axis Automated Assembly and Manufacturing Machines

Sensor System for Multi Axis Automated Assembly and Manufact...

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2007 IEEE International Symposium on Assembly and Manufacturing (ISAM 2007)

作者： Ahmed Asif Shaik G. Bright W. L. Xu Council of Scientific and Industrial Research Pretoria South Africa Mechatronics and Robotics Research Group University of KwaZulu-Natal Durban South Africa Institute of Technology and Engineering Massey University Auckland New Zealand

Many computer controlled multi-axis machines operate under 'open loop' control. The exact position in space of the end effector cannot always be sensed directly. The controlling software makes a calculated estimate of where the tool head should be by monitoring sensors on axes that track linear translation and rotations of shafts/gears. For some applications this may be appropriate;however positional errors occur, and may accumulate. There exists a need for a sensor system that provides direct feedback of the end effector's spatial coordinates for machining and assembly applications.

关键词： Sensor systems Assembly systems Manufacturing automation Automatic control Open loop systems End effectors Software tools Magnetic heads Computerized monitoring Shafts

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Optimized force allocation: A general approach to control and to investigate the motion of over-actuated vehicles

Optimized force allocation: A general approach to control an...

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作者： Knobel, Christian Pruckner, Alfred Bünte, Tilman BMW Group Research and Technology 80788 Munich Germany Institute of Robotics and Mechatronics Oberpfaffenhofen Germany

ISBN: (纸本)9783902661173

A general approach is introduced to allocate the forces acting on the center of gravity to the four wheels of a vehicle by using an inversion of vehicle dynamics and a non-linear optimization. This makes it possible to compare all useful configurations of actively and passively controlled influencing variables of vehicle dynamics (steering angles, brake/drive torques, wheel loads and camber angles), with and without actuator dynamics and to investigate the impact of actuator failures on vehicle dynamics.

关键词： Nonlinear programming

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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