检索结果-内蒙古大学图书馆

International Conference on Control, Automation and Systems ( ICCAS)

作者： Sunghwan Ahn Wan Kyun Chung Pohang University of Science and Technology Pohang South Korea Department of Mechanical Engineering Robotics and Bio-Mechatronics Laboratory

In this paper, we propose a scheme of generating a hybrid visual map for SLAM. The hybrid visual map has two levels of map representations: 1) the absolute map representation of highly distinctive visual planes via EKF- SLAM and 2) the relative map representation of dense visual features for each visual plane via sparse information filter update. The absolute map can maintain its global consistency by matching the visual plane, the group of visual features. It improves data association and reduces the number of landmarks against individual visual features. Moreover, the relative map can reconstruct a 3-D map of visual features efficiently without loosing dense visual information. The performance of the proposed method was verified by the experimental results of consistent hybrid visual maps in an indoor environment.

关键词： Simultaneous localization and mapping Indoor environments Robot vision systems robotics and automation Information filters Cameras State estimation Robot kinematics Automatic control Control systems

来源：评论

学校读者我要写书评

暂无评论

A Hybrid Motion Model for Aiding State Estimation in Dynamic Quadrupedal Locomotion

A Hybrid Motion Model for Aiding State Estimation in Dynamic...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Surya P. N. Singh Kenneth J. Waldron Robotics and Mechatronics Laboratory of the School of Mechanical Engineering University of Western Australia Perth WA Australia Robotics Locomotion Laboratory of the Mechanical Engineering Department University of Stanford Stanford CA USA

Trotting and galloping allow a quadruped to rapidly traverse rough terrain. Modeling this motion, which is only dynamically stable, is of importance for legged robot operation and for quadrupedal animal motion estimation. Derived from an eight-step galloping cycle, this study presents a kinetic hybrid model in which the states vary based on the principal forces present. As compared to foot contact, or kinematic, hybrid quadruped models this reduces the maximum number of possible states from 120 to 6 and provides an alternative to foot contact monitoring. This approach was tested on a trotting quadruped robot equipped with an inertial sensor aided by video. This was processed using an EKF estimator framework to give attitude estimates at rates of up to 250 Hz with 5deg error.

关键词： State estimation Legged locomotion Foot Animals Motion estimation Kinetic theory Kinematics Monitoring Testing Robot sensing systems

来源：评论

学校读者我要写书评

暂无评论

Neural Network-Aided Extended Kalman Filter for SLAM Problem

Neural Network-Aided Extended Kalman Filter for SLAM Problem

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Minyong Choi R. Sakthivel Wan Kyun Chung Robotics and Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

This paper addresses the problem of simultaneous localization and map building (SLAM) using a neural network aided extended Kalman filter (NNEKF) algorithm. Since the EKF is based on the white noise assumption, if there are colored noise or systematic bias error in the system, EKF inevitably diverges. The neural network in this algorithm is used to approximate the uncertainty of the system model due to mismodeling and extreme nonlinearities. Simulation results are presented to illustrate the proposed algorithm NNEKF is very effective compared with the standard EKF algorithm under the practical condition where the mobile robot has bias error in its modeling and environment has strong uncertainties. In this paper, we propose an algorithm which enables a biased control input in vehicle model using neural network

关键词： Neural networks Simultaneous localization and mapping State estimation Colored noise Uncertainty Mobile robots Predictive models robotics and automation White noise Vehicles

来源：评论

学校读者我要写书评

暂无评论

Stable Bilateral Control of Teleoperators Under Time-varying Communication Delay: Time Domain Passivity Approach

Stable Bilateral Control of Teleoperators Under Time-varying...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Jee-Hwan Ryu Carsten Preusche School of Mechanical Engineering Korea University of Technology and Education Cheonan South Korea Institute of Robotics and Mechatronics DLR Wessling Germany

In this paper, modified two-port time-domain passivity approach is proposed for stable bilateral control of teleoperators under time-varying communication delay. We separate input and output energy at each port of a bilateral controller, and propose a sufficient condition for satisfying the passivity of the bilateral controller including time-delay. Output energy at the master port should be less than the transmitted input energy from the slave port with time-delay, and output energy at the slave port should be less than the transmitted input energy from the master port with time-delay. For satisfying above two conditions, two passivity controllers are attached at each port of the bilateral controller. Teleoperation experiment with about 120 (msec) of time-delay each way is performed. Stable teleoperation is achieved in free motion and hard contact as well.

关键词： Communication system control Teleoperators Delay effects Master-slave Robots Automatic control Time domain analysis Computer networks Force feedback robotics and automation

来源：评论

学校读者我要写书评

暂无评论

Experimental analysis of human control characteristics on driving tasks based on gaze measurement data

Experimental analysis of human control characteristics on dr...

引用

2007 International Conference on Control, Automation and Systems (ICCAS 2007), vol.6

作者： Satoshi Suzuki Yuichi Watanabe Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan Department of Electrical Electronic Engineering Tokyo Denki University Tokyo Japan

This paper reports experimental analyses of human characteristic in machine operation. We build a hovercraft simulator, designed the giant slalom task, and measured the operator's line-of sight to know switching-timing of human control property. By combining the identification with ARX model and statistic analysis, the process and factors for the operation skill were investigated. As the results, common factors for the skill in all participants could be found. And, it could be shown quantitatively that enhancement of immersion sense into virtual 3D work space has significant relation to the skill.

关键词： Vehicle operation Human controller Skill Line-of-sight

来源：评论

学校读者我要写书评

暂无评论

Controlling Heat, Vibration and EMI in an Integral Motor

Controlling Heat, Vibration and EMI in an Integral Motor

引用

Compatibility in Power Electronics (CPE)

作者： Mehran Ektesabi Hasib Felic Department of Robotics & Mechatronics Faculty of Engineering & Industrial Sciences Swinburne University of Technology Hawthorn VIC Australia CMG Technology Rowville VIC Australia

Controlling heat and vibration produced by the motor & variable drive systems when integrated as an integral motor are the problems affecting the reliable operation of the system. In this paper a new-generation integral motor-drive has been demonstrated, true innovation in its design and development is a technological advancement. It is a truly integrated motor-drive unit with a design to overcome heat, vibration and electromagnetic interference which are damaging to sensitive electronics without requirement of any additional cooling system. It proposes a compact unit built to operate in arduous industrial environments.

关键词： Temperature control Vibration control Electromagnetic interference Frequency Costs Motor drives Manufacturing industries Insulation Voltage Stress

来源：评论

学校读者我要写书评

暂无评论

Experiment on operating methods of an electric wheelchair for a system of detecting position and direction

Experiment on operating methods of an electric wheelchair fo...

引用

IEEE International Conference on robotics and Biomimetics

作者： Takashi Asakawa Kazue Nishihara Tadashi Yoshidome Graduate School of Engineering Kanagawa Institute of Technology Atsugi Kanagawa Japan Department of Robotics and Mechatronics Kanagawa Institute of Technology Atsugi Kanagawa Japan

ISBN: (纸本)9781424417612

In this paper, we propose a voice-controlled electric wheelchair with a system for detecting the position and direction. Thus far, we have studied systems that incorporated voice instructions with our indoor navigation equipment using RF tags. An operating method which is different in order to clarify the problem of the operation method of an existing wheelchair was measured in the same environment. We then evaluated the results from the viewpoint of the usability of each operation in order to determine the most suitable assisting operation. We found that it is very effective to memorize one of the possible stopping positions and the angles of rotations to desired directions, which could adequately assist the movement of a wheelchair.

关键词： Wheelchairs Radio frequency Mobile robots mechatronics Navigation Usability Helium Speech recognition Microcomputers Biomimetics

来源：评论

学校读者我要写书评

暂无评论

Modeling of a Horizontal Active Magnetic Bearing System with Uncertainties in Deterministic Form

Modeling of a Horizontal Active Magnetic Bearing System with...

引用

Asia International Conference on Modeling & Simulation

作者： Abdul Rashid Husain Mohamad Noh Ahmad Abdul Halim Mohd Yatim Department of Mechatronics and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia Department of Energy Conversion Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

In this paper the derivation of mathematical model of a horizontal active magnetic bearing (AMB) system in deterministic form is presented. The system is open-loop unstable and highly coupled due to nonlinearities inherited in the system such as gyroscopic effect and mass imbalance. Based on the equation of motions of the rotor and dynamic equation of electromagnetic coils, the dynamic model of the system with eight inputs is derived and represented in state-space format in which the system matrix is 16times16 in size. By using the upper and lower bounds of the parameter and the state variables of the system, the model is transformed into deterministic form where it can be shown that the system contains mismatched uncertainties in the state and disturbance matrices. This final system model with its numerical values can be used for the design of a class of a dynamic controller for system stabilization

关键词： Magnetic levitation Uncertainty Nonlinear equations Nonlinear dynamical systems Mathematical model Couplings Coils Electromagnetic modeling Numerical models Control system synthesis

来源：评论

学校读者我要写书评

暂无评论

Construction of hybrid visual map for indoor SLAM

Construction of hybrid visual map for indoor SLAM

引用

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Sunghwan Ahn Wan Kyun Chung Sang-Rok Oh Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Institute for Information Technology Advancement Daejeon South Korea

Our previous work, SLAM with visual plane, allowed correct data association and computationally feasible solution for vision-based SLAM. In this paper, we propose a scheme of generating a hybrid visual map based on the visual plane framework. The hybrid visual map has two levels of map representations: 1) absolute map representation of distinctive visual planes via EKF-SLAM and 2) relative map representation of dense visual features for each visual plane via sparse information filter update. It can inherit the advantages of the visual plane by maintaining the absolute map. Moreover, the relative map can reconstruct a 3-D map of visual features efficiently without loosing dense visual information. The performance of the proposed method was verified by the experimental results of consistent hybrid visual maps in two real indoor environments.

关键词： Simultaneous localization and mapping Information filters Indoor environments Robot vision systems Cameras Image databases Principal component analysis Spatial databases Visual databases Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

FUSBOTUS: Empirical Studies Using a Surgical Robotic System for Urological Applications

引用

AIP Conference Proceedings 2007年第1期911卷 117-121页

作者： Sunita Chauhan Gail ter Haar *Division of Mechatronics and Design Robotics Research Center School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore †Institute of Cancer Research Royal Marsden Hospital Sutton Surrey U.K

A custom designed robotic system, FUSBOT‐US (acronym for Focal Ultrasound Surgery Robot), for non‐invasive surgery of deep‐seated cancers of the urological organs was devised at RRC, NTU. This robotic system has modular multi‐axes manipulation components, guiding a set of HIFU transducers through a pre‐determined and image‐guided trajectory. HIFU is applied using extra‐corporeal means with approach to the targets from multiple routes. The robot automatically positions and registers the diagnostic and HIFU probes with respect to each other and with respect to the target in a desired configuration under supervisory control. The user is prompted to select target‐areas on subsequent 2‐D images and the selected protocol is replayed either in manual or auto mode. In laboratory set‐up, the system is tested for tissue phantoms in‐vitro and ex vivo trials. The compensated end‐point accuracy during these trials is accomplished to within 0.5mm.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：