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检索条件"机构=Program for Robotics"

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Work in progress — Initial identification of program components leading to retention of women in a pre-engineering high school program, and an undergraduate engineering program

Work in progress — Initial identification of program compon...

引用

Frontiers in Education (FIE) Conference

作者： Mary Kasarda Brenda Brand Eileen Weigand Hank Yochum Michael Collver CIMME Virginia Technology USA Science Education Program Virginia Technology USA Virginia Technology USA Sweet Briar College UK Blacksburg High School MCPS Robotics Laboratory USA

This paper presents preliminary results from an NSF-sponsored project, Why Women Stay: An Investigation of Two Successful programs. Our initial findings from interviews conducted with high school level students, (both males and females) and college age female students are revealing some of the reasons why girls and young women are staying in engineering programs. We are seeing the positive program components are those that directly contributed to creating a supportive stress-free environment, which made the technical applications accessible and technical skill acquisition possible. Girls in the high school program and the women in the college program noted the inclusive team-oriented and mutual goal-oriented engineering experiences through team design projects as those critical to their successes. In comparison, the male high-school students focused more on mastery experiences and technical/engineering skill acquisition. Goal-oriented engineering rather than content oriented learning benefited all of the students. Preliminary analysis of all interviews indicates that in order to retain women in engineering, programs must be designed to support women in stress-reduction including overcoming negative social perceptions about their ability to participate (inclusion) and succeed in engineering, and give them confidence to tackle technical/engineering challenges that they will encounter.

关键词： Educational institutions Interviews Educational robots Conferences Engineering education Reflection

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Telepresence robot system for English tutoring

Telepresence robot system for English tutoring

引用

IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Oh-Hun Kwon Seong-Yong Koo Young-Geun Kim Dong-Soo Kwon Robotics Program Korea Advanced Institute of Science and Technology Taejon South Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Taejon South Korea Rastech Taejon South Korea

This paper introduced a telepresence robot system for English tutoring. The system consists of the user system, the server system and the robot system. The robot is controlled by the collision prevention system, direct interface, server interface with assistant teacher and remote interface with native teacher. A remote native teacher had given lessons in English using this system for a month and several issues of telepresence robot system for remote lecture are found from the lecture.

关键词： Education Collision avoidance Servers Robot sensing systems Materials Electronic mail

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Visual motion observer-based stabilizing receding horizon control via image space navigation function

Visual motion observer-based stabilizing receding horizon co...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Toshiyuki Murao Hiroyuki Kawai Masayuki Fujita Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

This paper investigates stabilizing receding horizon control via an image space navigation function for a three-dimensional (3-D) visual feedback system. Firstly, a brief summary of a visual motion observer is given. Next, a visual motion error system is reconstructed in order to apply to time-varying desired motion. Then, visual motion observer-based stabilizing receding horizon control for the 3-D visual feedback system, highly nonlinear and relatively fast system, is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through the image space navigation function to keep all features into a camera field of view. Finally, simulation results are shown in order to confirm the proposed method.

关键词： Visualization Navigation Cameras Aerospace electronics Lyapunov method Estimation error Feedback control

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Intelligent navigation and control of an autonomous underwater vehicle based on Q-learning and self-organizing control

Intelligent navigation and control of an autonomous underwat...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Kim, Namhoon Yoon, Gyeong-Hwan Lee, Doheon Robotics Program KAIST Korea Republic of Robotics Program KAIST Daeyang Electric Co.Ltd. Korea Republic of Robotics Program KAIST Dept. of Bio and Brain Engineering Korea Republic of

ISBN: (纸本)9784907764333

An autonomous underwater vehicle(AUV) is developed to explore and patrol in underwater environments. To accomplish these objectives, an autonomous navigation and control system is essential to an AUV. An intelligent navigation system produces safe paths from the start point to the target point by itself, and the control system makes the vehicle follow the planned path. In this paper, we propose an autonomous navigation and control system for AUVs based on reinforcement learning scheme. © 2009 SICE.

关键词： Intelligent systems

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Visual Motion Observer-based Pose Control with Panoramic Camera via Passivity Approach

Visual Motion Observer-based Pose Control with Panoramic Cam...

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American Control Conference

作者： Hiroyuki Kawai Toshiyuki Murao Masayuki Fujita Department of Robotics Kanazawa Institute of Technology Ishikawa 921-8501 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo 140-0011 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8550 Japan

ISBN: (纸本)9781424474264

This paper considers the vision-based estimation and control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After that, we propose a visual motion observer to estimate the relative rigid body motion from the measured camera data. We show that the estimation error system with a panoramic camera has the passivity which allows us to prove stability in the sense of Lyapunov. After that, stability and L_(2)-gain performance analysis for the closed-loop system are discussed. Finally, simulation and experimental results are shown in order to confirm the proposed method.

关键词： panoramic cameras Passivity rigid body motion Standing Orders

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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7th Annual International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Suteeratanapirom, Wijin Rattanawaorahirankul, Rapeepong Laosapan, Chutima Sanposh, Peerayot Chayopitak, Nattapon Tungpimolrut, Kanokvate Kunieda, Hiroaki TAIST Tokyo Tech ICTES Program Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-65 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward Controller (FFC-PFC) are presented.

关键词： Friction

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Adaptive integral backstepping controller for an autonomous rotorcraft

Adaptive integral backstepping controller for an autonomous ...

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2009 6th International Symposium on Mechatronics and its Applications, ISMA 2009

作者： Younes, Al-Younes Jarrah, M.A. Sukkarieh, Salah Mechatronics Graduate Program American University of Sharjah United Arab Emirates Australian Centre for Field Robotics University of Sydney NSW Australia

ISBN: (纸本)9781424434817

In this paper, a new control approach is proposed using Adaptive Integral Backstepping Controller (AIBC) for controlling an autonomous rotorcraft. The recursive Lyapunov methodology in the backstepping technique will ensure the system stability, the integral action will increase the system robustness against disturbances and model uncertainties, and the adaptation law will estimate the modeling errors caused by assumptions in simplifying the complexity of the helicopter model. In addition, a Lyapunov-based Velocity Controller (LVC) is introduced to work side by side with the AIBC for hover and like-hover control. Simulation results show that the proposed algorithms are capable of controlling the nonlinear helicopter model, while showing robustness against disturbances and model uncertainties. © 2009 IEEE.

关键词： System stability

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Designing an undergraduate robotics engineering curriculum: Unified robotics I and II

Designing an undergraduate robotics engineering curriculum: ...

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2009 ASEE Annual Conference and Exposition

作者： Ciaraldi, Michael Cobb, Eben Looft, Fred Norton, Robert Padir, Taskin Robotics Engineering Program Worcester Polytechnic Institute United States Department of Electrical and Computer Engineering Lake Superior State University United States

robotics Engineering (RBE) is a new undergraduate degree program at the Worcester Polytechnic Institute (WPI). As of the fall semester of 2008, the program is the fourth largest discipline at the institution in terms of freshman enrollment. At the core of the curriculum are four signature courses called Unified robotics I-IV. The goal of these courses is to introduce students to the multidisciplinary theory and practice of robotics engineering, integrating the fields of computer science, electrical and computer engineering and mechanical engineering. The sophomore level courses, RBE 2001 and RBE 2002, introduce students to the foundational concepts of robotics such as kinematics, pneumatics, circuits, electric motors, sensors, signal processing and embedded system programming. The junior level courses, RBE 3001 and RBE 3002, build on this foundation to ensure that students understand the analysis of selected components and learn system-level design and development of a robotic system including embedded design. This paper discusses the development of a two-course sequence in undergraduate robotics education, Unified robotics I and II, in detail. Learning outcomes and sample schedules illustrating our approach to designing a new robotics engineering program at the undergraduate level are presented. The paper exemplifies the robotics systems designed by the students within the scope of laboratory experiences and course projects. Finally, we discuss lessons learned, future directions, and student feedback. The initial observations and results are in favor of promoting robotics engineering as a new undergraduate engineering program. © American Society for Engineering Education, 2009.

关键词： Students

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A portable workcell design for robotics industry

A portable workcell design for robotics industry

引用

2009 ASEE Annual Conference and Exposition

作者： Padir, Taskin Department of Robotics Engineering Program Worcester Polytechnic Institute United States Department of Electrical and Computer Engineering Lake Superior State University United States

This paper presents how a senior capstone project can be utilized to build partnerships between the academia and several companies representing key industries in modern robotics technology. The project can be described as designing a portable robotic workcell for industry to showcase state-of-the-art equipment and technologies in robotics. The industrial sponsor for this project is Applied Manufacturing Technologies (AMT) located in Orion, Michigan. AMT plans to use the workcell for demonstrating current robotics technology in tradeshows, industrial open houses and/or robotics conferences. In addition, the workcell is to be used as a platform to provide training to engineers working in robotics industry on robot programming, machine vision and systems integration. The small size, flexible design and durability make the workcell appealing to many other applications in robotics engineering. An engineering senior project design team composed of one computer engineer, two electrical engineers and two manufacturing engineering technologists at Lake Superior State University has worked on this project as their capstone design requirement through the 2007-2008 academic year. Lake Superior State University offers ABET accredited programs in computer, electrical and mechanical engineering as well as in manufacturing engineering technology. robotics and automation is a degree option in all majors. The capstone senior design project is an integral part of all the degree programs and provides a real-life experience for the engineering senior students. The two-semester course has been an important tool to introduce students to soft skills such as project management, communications, engineering economics, and engineering ethics. The paper illustrates how a capstone design project can be used to build partnerships in robotics technology. An educational partnership between Lake Superior State University and Applied Manufacturing Technologies has quickly expanded to include many oth

关键词： Engineering education

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A self-organizing autonomous prediction system for controlling mobile robots

A self-organizing autonomous prediction system for controlli...

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2009 International Conference on Automation, robotics and Control Systems, ARCS 2009

作者： De Leeuw, Josh R. Livingston, Kenneth R. Interdisciplinary Robotics Research Lab. Vassar College Poughkeepsie NY United States Department of Psychology and Program in Cognitive Science Vassar College Poughkeepsie NY United States

ISBN: (纸本)9781615676552

No single innovation is likely to precipitate the sudden emergence of a truly general and robust artificial intelligence. Instead, a careful study of the history of efforts to build AI systems and consideration of factors responsible for evolved general intelligence suggest point toward several promising lines of research. In the research reported here we explore the hypothesis that the ability to learn autonomously from patterns of success and failure at making predictions about what will happen next in a perception-action loop may be a necessary condition for robust AI, even if it is not sufficient. We present a novel learning architecture, the Self-Organizing Autonomous Prediction System, which learns to predict the consequences of actions within a perception-action loop. Two simulation studies demonstrate the success of the approach and the value of prediction-based learning as an important feature of highly adaptive intelligence. Future elaborations of this approach are also discussed.

关键词： Forecasting

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