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检索条件"机构=Robotics Engineering Program"

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Optimized design of a rigid kinematic module for antagonistic soft actuation

Optimized design of a rigid kinematic module for antagonisti...

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IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015

作者： Luo, Ming Skorina, Erik H. Tao, Weijia Chen, Fuchen Onal, Cagdas D. Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA01609 United States

ISBN: (纸本)9781479987573

Soft actuators can be useful in human-occupied environments because of their adaptable compliance and light weight. We previously introduced a variation of fluidic soft actuators we call the reverse pneumatic artificial muscle (rPAM), and developed an analytical model to predict its performance both individually and while driving a 1 degree of freedom revolute joint antagonistically. Here, we expand upon this previous work, adding a correction term to improve model performance and using it to perform optimization on the kinematic module dimensions to maximize achievable joint angles. We also offer advances on the joint design to improve its ability to operate at these larger angles. The new joint had a workspace of around ±60°, which was predicted accurately by the improved model. © 2015 IEEE.

关键词： Kinematics

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Anytime RRBT for handling uncertainty and dynamic objects

Anytime RRBT for handling uncertainty and dynamic objects

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hyunchul Yang Jongwoo Lim Sung-eui Yoon Robotics Program KAIST Daejeon South Korea Division of Computer Science and Engineering Hanyang University Seoul South Korea School of Computing KAIST Daejeon South Korea

ISBN: (纸本)9781509037636

We present an efficient anytime motion planner for mobile robots that considers both other dynamic obstacles and uncertainty caused by various sensors and low-level controllers. Our planning algorithm, which is an anytime extension of the Rapidly-exploring Random Belief Tree (RRBT), maintains the best possible path throughout the robot execution, and the generated path gets closer to the optimal one as more computation resources are allocated. We propose a branch-and-bound method to cull out unpromising areas by considering path lengths and uncertainty. We also propose an uncertainty-aware velocity obstacle as a simple local analysis to avoid dynamic obstacles efficiently by finding a collision-free velocity. We have tested our method with three benchmarks that have non-linear measurement regions or potential collisions with dynamic obstacles. By using the proposed methods, we achieve up to five times faster performance given a fixed path cost.

关键词： Uncertainty Mobile robots LOW LEVEL Byways Branch and bound methods barriers

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Towards supervisory control of humanoid robots for driving vehicles during disaster response missions

Towards supervisory control of humanoid robots for driving v...

引用

IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015

作者： Knoedler, Kevin Dimitrov, Velin Conn, Doug Gennert, Michael A. Padir, Taskin Robotics Engineering Program United States Worcester Polytechnic Institute WorcesterMA01609 United States

ISBN: (纸本)9781479987573

We describe the approach of Worcester Polytechnic Institute's (WPI) robotics engineering C Squad (WRECS)to the utility vehicle driving task at the Defense Advanced Research Projects Agency (DARPA) robotics Challenge (DRC) Trials held in December 2013. WRECS was one of only seven teams to attempt the driving task, and the only team with an ATLAS robot to successfully drive the course. We implement a supervisory control system that allows the robot to control the speed of the vehicle, while the operator helps the robot steer the vehicle. Two different methods of estimating speed, using the LIDAR and stereo cameras, are presented, and the performance of the robot at the Trials is discussed. © 2015 IEEE.

关键词： Stereo image processing

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BLISS: Using Robot in Learning Intervention to Promote Social Skills for Autism Therapy 2016

BLISS: Using Robot in Learning Intervention to Promote Socia...

引用

Proceedings of the international Convention on Rehabilitation engineering & Assistive Technology

作者： Settapon Santatiwongchai Boonserm Kaewkamnerdpong Wisanu Jutharee Kajornvut Ounjai Department of Computer Engineering Faculty of Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Biological Engineering Program Faculty of Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Institute of Field Robotics King Mongkut's University of Technology Thonburi Bangkok Thailand

Robots have been introduced for autism therapy. However, most robotics studies focused on providing means of practice with dyadic interaction activities. To live in the society, autistic children need social interaction skills. In this study, we developed a mobile robot with non-threatening facial expression and investigated the potential of using this robot in triadic interaction activity for autism therapy to promote social interaction in children with autism. From the experiment that subjects play a picture matching game, it can be indicated that the robot can attract children with autism. Subjects can learn and understand the rule with their parents' participation. They could learn the name of the object in the picture that they do not know before as well. Some parents found that the robot could aid them in training their children. Autism specialists discovered some capabilities that they have never observed from the subjects in their therapeutic sessions. Therefore, this robot could be useful for autism specialists in finding aptitudes of children with autism in order to provide suitable intervention for effective therapy. This robot could be helpful for parents/caregivers in conducting therapeutic activities at home (continuing after therapeutic session with specialists) for even more effective therapy.

关键词： Mobile Robot Autism Non-Humanoid Robot Social Interaction

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Propositional Temporal Logic for planning in an embedded Concurrent Autonomous Agent

Propositional Temporal Logic for planning in an embedded Con...

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2015 IEEE International Conference on robotics and Automation, ICRA 2015

作者： Stéfano, Diego Ferreira, F. Martins, Priscila S. Conceição, André Gustavo S. Da Costa, Augusto Loureiro Robotics Laboratory Postgraduate Program in Electrical Engineering Federal University of Bahia Salvador Bahia40210-630 Brazil

ISBN: (纸本)9781479969234

In this paper, a Propositional Temporal Logic (PTL) inference engine is implemented in the cognitive level of a Concurrent Autonomous Agent (CAA). The hardware architecture of the system is an embedded microcontrollers network designed to fit the concurrency requirements of the cognitive model of the aforementioned agent. The architecture of the agent comprises three levels, namely, the reactive level, instinctive level and the cognitive level, which runs concurrently. The reactive level is embedded in a PSoC 5LP, consisting of behaviours created over a embedded kinematic controller. The instinctive level runs in an ARM mbed, which receives perceptions from and sends the active behaviour to the reactive level through a CAN bus. This level uses a Knowledge Based System (KBS) with First Order Logic (FOL) as automatic reasoning mechanism. The cognitive level runs an implementation of the METATEM algorithm on a DNP/2486 which, in turn, receives symbolic information from the instinctive level to update its logical world model. It also sends new local goals to instinctive level through an Ethernet network. Finally, the architecture used in the experiments is presented, followed by the results. © 2015 IEEE.

关键词： Temporal logic

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

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

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IEEE International Conference on Environment and Electrical engineering

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

ISBN: (纸本)9781509023219

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.

关键词： Carter's factor finite elements method rotating machines

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programmable skins based on core-shell microsphere/nanotube/polymer composites

Programmable skins based on core-shell microsphere/nanotube/...

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2015 MRS Spring Meeting

作者： Panchapakesan, Balaji Onal, Cagdas Loomis, James Systems Laboratory Department of Mechanical Engineering Worcester Polytechnic Institute WorcesterMA01609 United States Soft Robotics Laboratory Department of Mechanical Engineering Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01609 United States Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States

ISBN: (纸本)9781510826533

In this paper, we describe unique thermally responsive polymer system based on nanotube-elastomers dispersed with core-shell expanding microspheres (phase-change material). Upon thermal or infrared stimuli, liquid hydrocarbon cores encapsulated within the microspheres vaporize, expanding the surrounding shells and stretching the matrix. Microsphere transfonnation resulted in visible dimensional changes associated with macroscopic volume increase (>500%), reduction in density (>80%), and increase in elastic modulus (>675%). Additionally, electrically conductive nanotubes allowed for expansion dependent electrical responses. We present our new findings on expansion dependent superhydrophobicity in these materials and present some outlook and comparison of our stimuli responsive polymers with other material systems for future origami based applications. © Materials Research Society 2015.

关键词： Microspheres

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User-adaptive fall detection for patients using wristband

User-adaptive fall detection for patients using wristband

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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Young-Hoon Nho Jong Gwan Lim Dae-Eon Kim Dong-Soo Kwon Robotics Program and Human-Robot Interaction research center Korea Advanced Institute of Science and Technology Daejeon Republic of Korea Department of Information Engineering Computer Science and University of Trento Italy KAIST Human-Robot Interaction Research Center Daejeon Republic of Korea Department of Mechanical Engineering Human-Robot Interaction research center Daejeon Republic of Korea

Fall detection systems have been proposed to prevent additional injuries following fall accidents. This paper introduces an easily learnable fall detection system based on the data of an individual patient in a hospital room. The improvement of low performance using a single accelerometer at wrists and the inconvenience of sensor attached to a waist in the conventional approach was concentrated on by integrating heart rate signals to the conventional acceleration approach and changing the sensor location from a waist to wrists. As for the optimal heart rate feature selection, we proposed a four-feature vector combination (root mean square of successive differences, standard deviation of successive differences, normal to normal 50, normal to normal 20) with correlation and mutual information analysis in addition to mean absolute deviation selected as an accelerometer feature. To easily acquire and train the patients' fall data, our system was based on unsupervised learning approaches using Gaussian mixture models for optimal classifiers with the optimal cluster number decided by cluster validation index of square error sum. A 10-fold cross validation was applied for a final performance evaluation where each threshold for separating fall state from non-fall state was automatically decided in several comparison groups, which were created on the basis of fusion timing and used sensors. As a result, despite sensors attached to the wrist, the wearable inconvenience of the conventional is overcome using the feature-level fused approach between heart rates and accelerations with the accuracy up to 98.39 %, which is closest to 99.34 % of the case using a single accelerometer located at the waist.

关键词： Accelerometers Heart rate Wrist Training data Hospitals Robot sensing systems Unsupervised learning

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Underwater Visual SLAM with Loop-Closure using Image-to-Image Link Recovery

Underwater Visual SLAM with Loop-Closure using Image-to-Imag...

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OCEANS

作者： Seonghun Hong Taeyun Kim Jinwhan Kim Robotics Program Department of Mechanical Engineering KAIST Daejeon Korea

ISBN: (纸本)9781479987375

This study develops an underwater visual simultaneous localization and mapping (SLAM) algorithm using a monocular vision as a major measurement sensor, focusing in particular on the loop-closure problem. Although most vision-based loop-closure approaches have been implemented by feature-based pairwise image matching, matching underwater images is generally a challenging task due to the limited number of feature correspondences or relatively small overlapping regions between the compared images. The lack of loop-closing events caused by these challenges can degrade the navigation and mapping performance of visual SLAM. For robust visual SLAM, a loop-closure algorithm that can recover image-to-image matching links is presented. The proposed loop-closure algorithm is more resilient to failures of pairwise matching and thus can maximize the use of image-to-image links, thereby improving the estimation performance in the context of visual SLAM. To validate the effectiveness of the proposed algorithm, a hover-capable unmanned underwater vehicle was used for in-water experiments, and the proposed algorithm was also evaluated through a series of comparative results drawn from an experimental dataset.

关键词： Underwater visual SLAM Loop-closure Link recovery

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Optimization of fish-like locomotion using hierarchical reinforcement learning

Optimization of fish-like locomotion using hierarchical rein...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Jeonghyeon Wang Jinwhan Kim Robotics Program Ocean Robotics & Intelligence (ORIN) Laboratory Department of Mechanical Engineering KAIST Daejeon Korea

With an interest in advanced marine propulsion systems, much research has been done on mimicking fish-like locomotion using flapping fins. This study aims to optimize the swimming pattern of fish-like locomotion based on hierarchical reinforcement learning. A simplified carangiform fish model is employed and a segmented tail motion is learned by Q-learning to maximize the average forward velocity by flapping the tail fin. The performance of the self-learned swimming pattern is verified and analyzed in terms of the flapping efficiency. The results show that the flapping angle limit of approximately 35 degrees is best in maximizing the forward moving velocity and the hierarchical reinforcement learning approach is effective in providing a reasonable solution for a large-scale problem.

关键词： Learning (artificial intelligence) Learning systems Mathematical model Markov processes Robots Propulsion

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