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检索条件"机构=Robotics Engineering Program"

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Development of a low-cost, self-contained, combined vision and inertial navigation system

Development of a low-cost, self-contained, combined vision a...

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IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Justin M. Barrett Michael A. Gennert William R. Michalson Michael D. Audi Julian L. Center James F. Kirk Bryan W. Welch Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA Autonomous Exploration Inc. Andover MA USA NASA Glenn Research Center Cleveland OR USA

In the field of autonomous vehicle research, maintaining accurate estimates of a vehicle's velocities, position, and orientation is crucial to successful navigation. Normally, this information can be obtained through the use of a GPS system. However, GPS signals are not always available in some of the more exotic or dangerous locations that a vehicle might be dispatched to. This paper proposes a hybrid navigation system for autonomous vehicles that uses inertial sensors and a stereo camera system to accurately determine the velocities, position, and orientation of a vehicle. Such a system would be ideal for vehicles that have to operate in underground, indoor, extraterrestrial, or other GPS-denied environments.

关键词： Navigation Kirk field collapse effect Robots Vehicles Cameras Heating Vehicle dynamics

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Development of master handle for robotic laparoscopy using cable-conduit

Development of master handle for robotic laparoscopy using c...

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SICE Annual Conference

作者： Woo-Hyeok Choi Sung-Min Yoon Min-Cheol Lee Interdisciplinary Program in Robotics Pusan NationalUniversity Busan South Korea Graduate School of Mechanical Engineering Pusan National University Busan South Korea Department of Mechanical Engineering Pusan National University Busan South Korea

ISBN: (纸本)9781479914951

In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. For haptic realization, it requires much more information through various sensors. However, because of the special environment inside human body, it is not easy to apply sensors such as a force sensor. The low inertia master device for laparoscope operation with cable-conduit was developed in previous research to give haptic function. This suggested a possibility of developing a master device by using the cable-conduit. However, since each axis of rotations does not match with human wrist joint, it is very inconvenient to use. This paper suggests a new mechanism design structure to solve these problems of previous work by new form of master device. And it is experimented and analyzed that a cable conduit connected control box can follow well according to a trajectory of one axis's angle.

关键词： Robot sensing systems Trajectory Force Production Industries Surgery

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Nuclear forensics education at the University of Texas at Austin

Nuclear forensics education at the University of Texas at Au...

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作者： Landsberger, S. Biegalski, S. Kapsimalis, R. Pryor, M. Tamalis, D. Nuclear Engineering Teaching Lab R-9000 University of Texas at Austin Austin TX 78712 United States Nuclear Robotics Program Microelectronics and Engineering Research Center University of Texas at Austin PRC-160 Austin TX 78712 United States Department of Health and Natural Sciences Florida Memorial University 15800 NW 42nd Avenue Miami Gardens Miami Gardens FL 33054 United States

Nuclear forensics continues to be an integral part of the Domestic Nuclear Detection Office, the Defense Threat Reduction Agency and the National Nuclear Security Administration. As with our previous three-year Nuclear Forensics Education Award program we will continue to offer a comprehensive educational program and closely collaborate with national laboratories to pursue common research. Our research will primarily focus on analysis of radioactive debris following a nuclear or radiological dispersive device event or the investigation of the pedigree of nuclear materials in nonproliferation. This research will include using Compton suppression and gamma coincidence low-level gamma ray counting, investigation of nuclear fuel cycles for nonproliferation, on-site inspection within the context of the Comprehensive Nuclear-Test-Ban Treaty and radioxenon detection physics. We also offer a graduate program in nuclear robotics, an interdisciplinary program in the automation of handling special nuclear materials. To better equip our students who are entering the workforce at the national laboratories and government agencies we are also proposing the development of several new laboratory modules for non-destructive identification of fission products in environmental samples and irradiated uranium specimens at various enrichments and characterizing naturally occurring radioactive material. Collaboration with Florida Memorial University a Historically Black Colleges and Universities will continue for training and collaborative research. © 2012 Akadémiai Kiadó, Budapest, Hungary.

关键词： Fission products

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Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation

Visual motion observer-based bilateral control for eye-in-ha...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Toshiyuki Murao Hiroyuki Kawai Yusei Tsuruo 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, as a first step for visual feedback bilateral control, visual motion observer-based bilateral attitude and position control for eye-in-hand mobile robot teleoperation systems. Firstly, visual motion observers for eye-in-hand mobile robots are presented. Then, a visual motion observer-based bilateral and coordination control laws for attitude maneuvers are proposed. Moreover, visual motion observer-based bilateral position control and stability analysis are presented. The main contribution of this paper is to show that the bilateral control framework in which teleoperation systems utilize visual information to obtain the relative poses of the master and slave robots can be provided based on passivity. Finally, the effectiveness of the proposed framework is verified through computer simulations and experiments.

关键词： Visualization Mobile robots Attitude control Torque Force Observers

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The new robotics engineering bs program at WPI

The new robotics engineering bs program at WPI

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2008 ASEE Annual Conference and Exposition

作者： Ciaraldi, Michael Cobb, Eben Cyganski, David Gennert, Michael Demetroiu, Michael Looft, Fred Michalson, William Miller, Bradley Rong, Yiming Schachterle, Lance Stafford, Kenneth Tryggvason, Gretar Van De Ven, James Worcester Polytechnic Institute Worcester Polytechnic Institute 100 Institute Rd. Worcester MA 01609 United States Department of Computer Science Department of Mechanical Engineering Department of Electrical and Computer Engineering Robotics Engineering Program Robotics Resource Center Department of Mechanical Engineering Department of English

In the spring of 2007, Worcester Polytechnic Institute introduced a BS degree program in robotics engineering. The degree program is a collaborative effort, involving faculty from the departments of Computer Science, Electrical and Computer engineering and Mechanical engineering. The motivation for establishing the program is two-fold: needs of the rapidly growing robotics industry and student interest as demonstrated by numerous high school robotics competitions. The program relies in part on already existing courses, but the core curriculum consists of five new "unified robotics engineering" courses. Although robotics engineering is not recognized as a distinct engineering field by ABET, the program is designed to be accreditable under the "General engineering" ABET criteria. While the program is less than a year old, there is already significant student interest. © American Society for engineering Education, 2008.

关键词： engineering education

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Analysis of Needle-Tissue Friction during Vibration-Assisted Needle Insertion

Analysis of Needle-Tissue Friction during Vibration-Assisted...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Iman Khalaji Mostafa Hadavand Ali Asadian Rajni V. Patel Michael D. Naish Canadian Surgical Technologies and Advanced Robotics (CSTAR) Lawson Health Research Institute London Canada Biomedical Engineering Graduate Program Western University Department of Electrical and Computer Engineering Western University Department of Electrical and Computer Engineering and the Department of Surgery Western University Department of Mechanical and Materials Engineering and the Department of Electrical and Computer Engineering Western University

ISBN: (纸本)9781467363563

In this paper, a vibration-assisted needle insertion technique has been proposed in order to reduce needle-tissue friction. The LuGre friction model was employed as a basis for the current study and the model was extended and analyzed to include the impact of high-frequency vibration on translational friction. Experiments were conducted to evaluate the role of insertion speed as well as vibration frequency on frictional effects. In the experiments conducted, an 18 GA brachytherapy needle was vibrated and inserted into an ex-vivo soft tissue sample using a pair of amplified piezoelectric actuators. Analysis demonstrates that the translational friction can be reduced by introducing a vibratory low-amplitude motion onto a regular insertion profile, which is usually performed at a constant rate.

关键词： friction high frequency vibration LuGre friction Vibrational frequencies Insertion Mutation Pairing

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Modular drive system for a planetary exploration mobility platform

Modular drive system for a planetary exploration mobility pl...

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2012 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2012

作者： Amato, Joseph L. Anderson, Jon J. Carlone, Thomas J. Fagan, Michael E. Stafford, Kenneth A. Padir, Taskin Robotics Engineering Program Worcester Polytechnic Institute United States

ISBN: (纸本)9781467308557

This paper discusses the design of a modular drive system for a planetary rover, and presents the testing and thermal monitoring results to validate the design. A rover, Oryx 2.0, is designed and developed to serve as a research platform that can transport payloads over rough terrain. One of the key design features is the modular drive system. The mechanical design, communications and control interfaces are discussed. Moreover, EPOS2 motion controllers by Maxon Motor are explored as motor controllers for the drive system as they provide an easy-to-use high level motor control functionality. The paper will outline step-by-step instructions for setting up the EPOS2 libraries and drivers in Linux/Robot Operating System (ROS) environment. The details of testing procedures and results for the motor modules are also provided. © 2012 IEEE.

关键词： Rovers

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Building wall extraction method using land registration map image

Building wall extraction method using land registration map ...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Hyun Chul Roh Yungeun Choe Myung Jin Chung Robotics Program Korea Advanced Institute of Science and Technology (KA1ST) Daejeon Republic of Korea Department of Electrical Engineering Korea Advanced Institute of Science and Technology (KA1ST) Daejeon Republic of Korea

Digital map can be a good materials for some robotic problems such as localization, segmentation, classification, SLAM algorithm. In this paper, we propose building wall extraction algorithm from land registration map image using corner, edge detection methods and simple matching approach. Experimental results show that this algorithm is valid for general land registration map.

关键词： Buildings Robots Classification algorithms Image edge detection Image segmentation Conferences Materials

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A sensor-zone hierarchical topology for multi-robot exploration

A sensor-zone hierarchical topology for multi-robot explorat...

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2012 8th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2012

作者： Alunni, Nicholas Goloski, Richard Haggerty, Andrew Jones, Eric Fischer, Gregory S. Nestinger, Stephen S. Department of Mechanical Engineering Robotics Engineering Program Worcester Polytechnic Institute Worcester MA United States

ISBN: (纸本)9781467323475

Distributed computing is becoming more prevalent in engineering today. Multi-robot systems are simply an extension of that, not only dividing the computing power, but also the physical capabilities among multiple robots. This paper serves as a proof of concept investigation into a sensor-zone hierarchical topology by assessing its ability to autonomously explore an unknown area. This goal was approached by designing a three-tier robotic hierarchy as well as developing the concept of abstract robot sensor zones. Experiments were conducted by modifying the total number of robots in the system using a custom built simulation and experimentally verified using custom fabricated mobile robots. Results showed that different combinations of robots can yield positive results for heterogeneous multi-robot systems, allowing computational and physical resources to be tailored to specific scenarios. © 2012 IEEE.

关键词： Multipurpose robots

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The design and realization of a high mobility biomimetic quadrupedal robot

The design and realization of a high mobility biomimetic qua...

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2012 8th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2012

作者： Chernyak, Vadim Flynn, Timothy O'Rourke, Jeffrey Morgan, Jonathan Zalutsky, Anton Chernova, Sonia Nestinger, Stephen S. Padir, Taskin Robotics Engineering Program Worcester Polytechnic Institute Worcester MA 01609 United States

ISBN: (纸本)9781467323475

Legged robots have made significant strides in facing challenging tasks including navigating rough terrain with the help of energy conserving techniques. This paper describes the detailed design considerations and realization of Sabertooth, a high mobility biomimetic quadrupedal robot. Each leg of Sabertooth has three active degrees of freedom with the bottom two links employing a spring system to allow for compliance and power recovery. Sabertooth has two notable biomimetic features including a passive two degree of freedom spine and a fully compliant ankle system. The front and back ankles are designed differently to mimic a quadrupedal animals power and stability legs. The full system integrates an array of sensors including an inertial measurement unit, laser range finder, camera, and multiple potentiometers. The computing power is split between an onboard FPGA and netbook computer. © 2012 IEEE.

关键词： Biomimetics

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