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检索条件"机构=Robotics Engineering Program"

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Ocean Deployment and Testing of a Semi-Autonomous Underwater Vehicle

Ocean Deployment and Testing of a Semi-Autonomous Underwater...

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OCEANS MTS/IEEE Monterey (Conference)

作者： Nicholas R. J. Lawrance Thane Somers Dylan Jones Seth McCammon Geoffrey A. Hollinger Robotics Program School of Mechanical Industrial and Manufacturing Engineering Oregon State University Corvallis 97331 USA

ISBN: (纸本)9781509015276

We present the design overview and navigation performance for an offshore deployment of a semi-autonomous underwater vehicle (sAUV). The system is based on a commercially-available observation class remotely operated vehicle (ROV), combined with a commercial AUV navigation system. The vehicle also has onboard visual cameras, a Doppler velocity log, and a multibeam imaging sonar. We present the integration of the various subsystems as well as a Robot Operating System (ROS)-based interface that allows researchers to visualize sensor and navigation data and send commands to the vehicle in real time. Results from an April 2016 offshore trial are presented, demonstrating the station keeping and waypoint following capabilities of the vehicle in open water.

关键词： Vehicles Sonar navigation Robot sensing systems Oceans Data visualization

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BiRRTOpt: A combined sampling and optimizing motion planner for humanoid robots

BiRRTOpt: A combined sampling and optimizing motion planner ...

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IEEE-RAS International Conference on Humanoid Robots

作者： Lening Li Xianchao Long Michael A. Gennert WPI Humanoid Robotics Lab Worcester Polytechnic Institute Worcester MA US Electrical and Computer Engineering Northeastern University Boston MA USA Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

ISBN: (纸本)9781509047192

Currently, the optimization-based methods are widely adopted on humanoid robots and other bipedal robots. However, using these methods to plan robot motions suffers from getting stuck in infeasible solution given bad initial guesses. Conversely, sampling-based methods which are probabilistically complete perform well in practice. But trajectories generated by these methods require smoothing techniques, normally in low-quality in terms of a given cost function. This paper proposes a software framework called BiRRTOpt which combines the advantages of both approaches, aiming to compute a feasible, collision-free and optimized trajectory for humanoid robots. This work is mainly divided into 2 phases: Initial Guess and Optimization. Two experiments in the simulator and on an actual Atlas robot demonstrate the success of our approach. The idea described in this paper can easily be extended to other humanoid robots or bipedal robots to plan motions.

关键词： Trajectory Optimization Humanoid robots Planning Collision avoidance Robot motion

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Influence of slot geometry on air gap magnetic flux density of rotating machines 16

Influence of slot geometry on air gap magnetic flux density ...

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16th International Conference on Environment and Electrical engineering, EEEIC 2016

作者： De Lima, Rodrigo Alves Coimbra, A. C. Paulo Almeida, Tony Gomes, Viviane Margarida Pereira, Thiago Martins Alves, Aylton Jose Calixto, Wesley Pacheco Program in Electronic Systems and Automation PGEA Department of Electrical Engineering ENE University of Brasilia UnB Brazil Institute of Systems and Robotics ISR University of Coimbra UC Portugal Experimental and Technological Research and Study Group NExT Federal Institute of Goias IFG Brazil

ISBN: (纸本)9781509023196

The objective of this work is to investigate the influence of slotted air gap constructive parameters on magnetic flux density of rotating machines. For this purpose, different approaches were used to solve the air gap field diagram using finite element method and the magnetic field distribution uniformity was evaluated by Carter's factor calculation. Sensitivity analysis of slot constructive parameters was performed and results show that slot geometry modifies the magnetic flux on air gap and shifts the air gap magnetic equipotential midline of double slotted machines. © 2016 IEEE.

关键词： Finite element method

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SMCSPO based reaction force estimation for 7 DOF robot arm

SMCSPO based reaction force estimation for 7 DOF robot arm

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Hyun Hee Kim Wang Jie Karam Dad Kallu Min Cheol Lee Interdisciplinary Program in Robotics Pusan National University Busan Korea School of Mechanical Engineering Pusan National University Busan Korea

ISBN: (纸本)9781467390583

The high degree-of-freedom robot arms need the end-effector's assembly force information for precision and accuracy works. But attaching a force sensor on the end-effector of robot is difficult because of cost, weight and structural problems. In this paper, we will apply SMCSPO(Sliding Mode Control with Sliding Perturbation Observer) robust control algorithm to a 7 degree-of-freedom robot arm to estimate assembly force without force sensor in robotics Lab simulation. From estimated perturbation, we can decide whether the end-effector of robot arm crashes the assembly part of not. If the absolute value of perturbation of most axes is sharply increasing case, it can be assumed that the end-effector of robot manipulator and assembling parts collide into each other.

关键词： Manipulators Robot sensing systems Force Service robots Collision avoidance Observers

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Cogent Confabulation-based Hierarchical Behavior Planner for Task Performance

Cogent Confabulation-based Hierarchical Behavior Planner for...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Se-Hyoung Cho Seung-Hwan Baek Deok-Hwa Kim Yong-Ho Yoo Sanghyun Cho Jong-Hwan Kim Robotics Program KAIST 291 Daehak-ro Yuseong-gu Daejeon 305-701 Republic of Korea School of Electrical Engineering

ISBN: (纸本)9781509018987

This paper proposes a novel hierarchical behavior planner with a multi-layered confabulation based behavior selection structure for robots to perform tasks. The proposed planner integrates a STRIPS based behavior selection approach and cogent confabulation approach. The STRIPS based behavior selection approach is a goal tree search that induces goaloriented sequences of behaviors, while the cogent confabulation approach is based on conditional probabilities between input symbols and target behaviors, aims to model human thinking mechanism. Our planner is applied with a set of behaviors defined in a multi-layered structure to show that it can plan a hierarchical sequences of behaviors to perform given tasks. The effectiveness and applicability of the proposed scheme is demonstrated through the experiments with the robot Mybot, developed in the Robot Intelligence Technology Lab. at KAIST.

关键词： behaviors perform demonstrated task performance Ribbon Device Component confabulation Behavior Demonstrate Robot multilayers Hierarchical

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Approach to Integrate Episodic Memory into Cogency-based Behavior Planner for Robots

Approach to Integrate Episodic Memory into Cogency-based Beh...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Min-Joo Kim Seung-Hwan Baek Se-Hyoung Cho Jong-Hwan Kim Robotics Program School of Electrical Engineering KAIST 291 Daehak-ro Yuseong-gu Daejeon 305-701 Republic of Korea

ISBN: (纸本)9781509018987

This paper proposes a novel scheme of integrating episodic memory into semantic memory based task planner. Task planners have taken an important role in AI research along with semantic memory to better perform tasks for robots. Episodic memory memorizes and retrieves temporal sequence of situated behaviors by which temporal relationship between behaviors can be defined. None of any research, however, has implemented it into their work for task planning. By introducing episodic memory into task planner, the temporal causal relationship between situated behaviors, which are stored in semantic memory, is taken into consideration. The integrated architecture proves its effectiveness by notably reducing the number of nodes traversed in finding solutions. Robots can reduce time complexity in solving given problems by retrieving previous memories. Deep Adaptive Resonance Theory (Deep-ART) neural model and cogency-based hierarchical behavior planner are used for the episodic memory and the task planner, respectively. Cogency-based hierarchical behavior planner proves its capability of solving given problems in experiment with humanoid robot Mybot, and Deep-ART is augmented to the planner and tested in simulations. Therefore, the contribution of this approach lies on developing a framework which takes advantage of implementing episodic memory and planner in one place.

关键词： Semantics Planning Robots Compounds Subspace constraints Silicon Conferences

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The development of flying touch hot rolling control method based on SMCSPO

The development of flying touch hot rolling control method b...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Hyun-Hee Kim Sung-Jin Kim Min Cheol Lee Interdisciplinary Program in Robotics Pusan National University Busan Republic of Korea Department of Mechanical Engineering Pusan National University Busan Republic of Korea

ISBN: (纸本)9781509020669

To produce good quality of steel plates, scratches on steel plate should be minimized in hot rolling process. The new method, flying touch algorithm is introduced to control the gap between upper and lower roller for reducing scratches. In the flying touch method, the uniformity of coil can be debased due to variation of reaction force between rollers and steel plate. Therefore, the robust control algorithm and force estimation method is needed to apply flying touch method to hot rolling process. This paper introduces sliding mode control with sliding perturbation observer (SMCSPO) in flying touch hot rolling process. This paper also survey the effect of improved smoothen curve trajectory for realizing the flying touch and velocity synchronization on rolling mills' roller to reduce a scratch due to a friction force caused by the velocity desynchronization.

关键词： Steel Force Friction Mathematical model Rubber Torque Belts

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Automated Incline Detection for Assistive Powered Wheelchairs

Automated Incline Detection for Assistive Powered Wheelchair...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Mahdieh Nejati Brenna D. Argall McCormick School of Engineering Master of Science in Robotics Program Northwestern University Evanston IL USA Department of Electrical Engineering and Computer Science Northwestern University Evanston IL USA

ISBN: (纸本)9781509039302

This work presents an algorithm for automated real-time ramp detection using 3D point cloud data in the context of shared-control powered wheelchairs. Limitations in the interfaces available to those with severe motor impairments can make basic maneuvering tasks with powered wheelchairs difficult. Although a significant amount of work has been done on obstacle detection and avoidance, much less attention has been given to algorithms for the safe and reliable detection of ramps and inclines;even though navigating these structures is an important part of urban life. We provide an algorithmic solution for accurately detecting traversable inclines for applications with powered wheelchairs using the Point Cloud Library (PCL) within the robotics Operating System (ROS) framework. All algorithms are implemented first in simulation and later evaluated on data obtained from indoor and outdoor urban environments. We measure the performance of our algorithm with systematic testing on several different ramp structures, observed from varied viewpoints. Results show that our algorithm is successful in detecting the orientation, slope, and width of traversable ramps with up to 100% accuracy and an average detection accuracy of 88%.

关键词： Wheelchairs Mobile robots Three-dimensional displays Robot sensing systems Navigation Image edge detection three-dimensional displays Manipulator sensing systems Edge detection Wheelchair Mobile robots navigation RAMP Inclined Ramps physical impairment algorithms Town life Obstacle detection Traversable urban environment

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Towards real-time underwater 3D reconstruction with plenoptic cameras

Towards real-time underwater 3D reconstruction with plenopti...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Katherine A. Skinner Matthew Johnson-Roberson Robotics Program University of Michigan Ann Arbor 48109 USA Department of Naval Architecture and Marine Engineering University of Michigan Ann Arbor 48109 USA

ISBN: (纸本)9781509037636

Achieving real-time perception is critical to developing a fully autonomous system that can sense, navigate, and interact with its environment. Perception tasks such as online 3D reconstruction and mapping have been intensely studied for terrestrial robotics applications. However, characteristics of the underwater domain such as light attenuation and light scattering violate the brightness constancy constraint, which is an underlying assumption in methods developed for land-based applications. Furthermore, the complex nature of light propagation underwater limits or even prevents subsea use of real-time depth sensors used in state-of-the-art terrestrial mapping techniques. There have been recent advances in the development of plenoptic (also known as light field) cameras, which use an array of micro lenses capturing both intensity and ray direction to enable color and depth measurement from a single passive sensor. This paper presents an end-to-end system to harness these cameras to produce real-time 3D reconstructions underwater. Our system builds upon the state-of-the-art in online terrestrial 3D reconstruction, transferring these approaches to the underwater domain by gathering real-time color and depth (RGB-D) data underwater using a plenoptic camera, and performing dense 3D reconstruction while compensating for attenuation effects of the underwater environment simultaneously, using a graphics processing unit (GPU) to achieve real-time performance. Results are presented for data gathered in a water tank and the proposed technique is validated quantitatively through comparison with a ground truth 3D model gathered in air to demonstrate that the proposed approach can generate accurate 3D models of objects underwater in real-time.

关键词： computer vision plenoptic cameras light field cameras underwater 3D reconstruction real-time 3D reconstruction

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Design and validation of a high-order weighted-frequency fourier linear combiner-based Kalman filter for parkinsonian tremor estimation

Design and validation of a high-order weighted-frequency fou...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Y. Zhou M. E. Jenkins M. D. Naish A. L. Trejos Biomedical Engineering Program and the Department of Electrical and Computer Engineering (ECE) Western University Movement Disorders Program Clinical Neurological Sciences Western University Canadian Surgical Technologies and Advanced Robotics (CSTAR) Western University CSTAR and ECE Western University

The design of a tremor estimator is an important part of designing mechanical tremor suppression orthoses. A number of tremor estimators have been developed and applied with the assumption that tremor is a mono-frequency signal. However, recent experimental studies have shown that Parkinsonian tremor consists of multiple frequencies, and that the second and third harmonics make a large contribution to the tremor. Thus, the current estimators may have limited performance on estimation of the tremor harmonics. In this paper, a high-order tremor estimation algorithm is proposed and compared with its lower-order counterpart and a widely used estimator, the Weighted-frequency Fourier Linear Combiner (WFLC), using 18 Parkinsonian tremor data sets. The results show that the proposed estimator has better performance than its lower-order counterpart and the WFLC. The percentage estimation accuracy of the proposed estimator is 85±2.9%, an average improvement of 13% over the lower-order counterpart. The proposed algorithm holds promise for use in wearable tremor suppression devices.

关键词： Harmonic analysis Estimation Power harmonic filters Band-pass filters Pathology Frequency estimation Physiology

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