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arXiv 2017年

作者： Jayasumana, Anura P. Paffenroth, Randy Ramasamy, Sridhar Department of Electrical & Computer Engineering Colorado State University Fort CollinsCO80525 Department of Mathematical Sciences Department of Computer Science Data Science Program Worcester Polytechnic Institute WorcesterMA01609

For many important network types (e.g., sensor networks in complex harsh environments and social networks) physical coordinate systems (e.g., Cartesian), and physical distances (e.g., Euclidean), are either difficult to discern or inappropriate. Accordingly, Topology Preserving Maps (TPMs) derived from a Virtual-Coordinate (VC) system representing the distance to a small set of anchors is an attractive alternative to physical coordinates for many network algorithms. Herein, we present an approach, based on the theory of low-rank matrix completion, to recover geometric properties of a network with only partial information about the VCs of nodes. In particular, our approach is a combination of geodesic recovery concepts and low-rank matrix completion, generalized to the case of hop-distances in graphs. Distortion evaluated using the change of distance among node pairs shows that even with up to 40% to 60% of random coordinates missing, accurate TPMs can be obtained. TPM generation can now also be based on different context appropriate VC systems or measurements as long as they characterize each node with distances to a small set of random nodes (instead of a global set of anchors). The proposed method is a significant generalization that allows the topology to be extracted from a random set of graph geodesics, making it applicable in contexts such as social networks where VC generation may not be *** Codes 15A83 Copyright © 2017, The Authors. All rights reserved.

关键词： Sensor networks

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Analysis of a compliant Multi-Module Robot for circular stair climbing

Analysis of a compliant Multi-Module Robot for circular stai...

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2016 International Conference on robotics: Current Trends and Future Challenges, RCTFC 2016

作者： Sathya, Narayanan K. Gokul Narasimhan, S. Madhava Krishna, K. Robotics Engineering Worcester Polytechnic Institute MA United States School of Mechanical Engineering SASTRA University Thanjavur India Robotics Research Center IIIT-Hyderabad Hyderabad India

ISBN: (纸本)9781509033423

The primary objective of a robot is to substitute or complement humans in life-endangering situations. The paper deals with the design and analysis of a robot suitable for such Urban Search and Rescue operation (USAR) scenarios. A survey of the existing robots in this field is done and new design considerations have been developed. Further, quasi-static analysis of the robot along a circular stair is performed to confirm whether the design considerations will satisfy versatility as well as mobility, the key requirements of a true uneven terrain robot. © 2016 IEEE.

关键词： Nonlinear programming

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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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Motion Control of a Soft-Actuated Modular Manipulator

Motion Control of a Soft-Actuated Modular Manipulator

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IEEE International Conference on robotics and Automation

作者： Erik H. Skorina Weijia Tao Fuchen Chen Ming Luo Cagdas D. Onal Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA 01609 USA

ISBN: (纸本)9781467380270

Soft pneumatic actuators can allow robotic manipulators to interact safely in complex environments in close proximity to humans, but work still needs to be done controlling them more effectively. We explore this area by introducing a 2-degree of freedom (DoF) universal joint module actuated by three reverse Pneumatic Artificial Muscles (rPAMs) and an associated geometric Jacobian-enhanced iterative sliding mode controller. After demonstrating the effectiveness of this controller, we combine two of these modules to form a 4-DoF soft actuated manipulator. To control this modular manipulation system, we propose two controllers: a direct inverse kinematic (IK) controller and an end-effector geometric Jacobian controller. Though both controllers were validated to function effectively, the Jacobian controller was more precise (especially under payload) while the IK controller was more accurate.

关键词： Control Soft-Actuated Modular

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A Composite Soft Bending Actuation Module with Integrated Curvature Sensing

A Composite Soft Bending Actuation Module with Integrated Cu...

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IEEE International Conference on robotics and Automation

作者： Selim Ozel Erik H. Skorina Ming Luo Weijia Tao Fuchen Chen Yixiao Pan Cagdas D. Onal Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA 01609 USA

ISBN: (纸本)9781467380270

Soft robotics carries the promise of making robots as capable and adaptable as biological creatures, but this will not be possible without the ability to perform self-sensing and control with precision and repeatability. In this paper, we seek to address this need with the development of a new pneumatically-actuated soft bending actuation module with integrated curvature sensing. We designed and fabricated two different versions of this module: One with a commercially available resistive flex sensor and the other with a magnetic curvature sensor of our own design, and used an external motion capture system to calibrate and validate these two approaches. In addition, we used an iterative sliding mode controller to drive the modules through step curvature references to demonstrate the controllability of the modules as well as compare the usability of the two sensors. We found that the magnetic sensor returned noisy but accurate data, while the flex sensor had minor inaccuracies and it was subject to overshoot but did not exhibit notable noise. Experimental results show that this phenomenon of overshoot from the flex sensor causes active feedback control of the bending actuator to exhibit significant positioning errors. This work demonstrates that our soft bending actuator can be controlled with repeatability and precision, and that our magnetic curvature sensor represents an improvement for use in proprioception and closed-loop control of soft robotic devices.

关键词： Module Integrated Curvature

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Participating in authentic engineering projects improves teachers' ability to teach the design process to middle school students 123

Participating in authentic engineering projects improves tea...

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123rd ASEE Annual Conference and Exposition

作者： Billiar, Kristen Hubelbank, Jeanne Quinn, Jared Oliva, Thomas Andrew Rolle, Marsha W. Camesano, Terri A. Department of Biomedical Engineering Worcester Polytechnic Institute United States Independent Program Evaluator United States Overlook Middle School United States Worcester Public Schools United States

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Towards a haptic feedback framework for multi-DOF robotic laparoscopic surgery platforms

Towards a haptic feedback framework for multi-DOF robotic la...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Adnan Munawar Gregory Fischer Worcester Polytechnic Institute MA 01609 USA Faculty of Mechanical Engineering and Robotics Engineering at Worcester Polytechnic Institute MA 01609 USA

ISBN: (纸本)9781509037636

The use of robotics for laparoscopic surgery has been an established field for over a decade. However, with the influx of advanced tools and algorithms for general purpose robotics, there is a need to incorporate these advancements into medical robotics technology. The daVinci Research Kit and its software framework provides a step towards these advancements. This paper presents the development of new tools and utilization of previously developed tools used for general purpose robotics, and their tailored use in medical robotics. Additionally, a method for computing haptic forces for tele-operated surgical robots is presented. The technique utilizes elastic, Spherical Proxy Regions (SPR) to readily compute directional interaction forces and manipulate them to create a dynamic behavior at the surgeon/user's manipulator.

关键词： Haptic interfaces Force Manipulators Planning Minimally invasive surgery Haptic interfaces Manipulators minimally invasive surgery Force laparoscopic surgery robotics Minimally Invasive Surgical Procedures Haptic Device Component medical robotics Touch Software Frameworks Planning

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Motion-planning with global temporal logic specifications for multiple nonholonomic robotic vehicles

Motion-planning with global temporal logic specifications fo...

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American Control Conference

作者： Zetian Zhang Raghvendra V. Cowlagi Aerospace Engineering Program Worcester Polytechnic Institute MA USA

ISBN: (纸本)9781467386838

We investigate motion-planning for a team of robotic vehicles assigned to a collaborative intelligent task in the form of global linear temporal logic (LTL) specifications. Specifically, we extend recent results from the literature to include nonholonomic kinematic constraints on the robotic vehicles. The problem formulation relies on workspace cell decompositions, where certain regions of interest in the robots' shared workspace are defined. The proposed algorithm involves two graphs: first, the topological graph arising from the workspace cell decomposition, and second, a graph arising from vertex aggregation on the previous graph. The main technical innovation is the application of the so-called method of lifted graphs to determine the feasibility of edge transitions in these graphs. We illustrate the proposed approach with numerical simulation examples.

关键词： Vehicles Trajectory Robot kinematics Mathematical model Numerical models Finite element analysis vehicle Robot kinematics numerical models trajectory Mathematical Model Finite element method Workplace motion planning Temporal logic Problem Formulation

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Attitude tracking control of a GroundGen airborne wind energy system

Attitude tracking control of a GroundGen airborne wind energ...

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American Control Conference

作者： Haocheng Li David J. Olinger Michael A. Demetriou Aerospace Engineering Program Worcester Polytechnic Institute MA 01609 USA

ISBN: (纸本)9781467386838

An existing attitude tracking control method developed for a FlyGen airborne wind energy (AWE) system is extended to control a GroundGen AWE system. The GroundGen system produces energy through kite-generated aerodynamic forces that tension a flexible tether attached between the kite center of gravity and a ground generator system. The kite is modelled using a six degree of freedom aircraft dynamics model. We first provide an extension of a previously developed attitude tracking theorem which shows the possibility of simultaneously tracking both the effective angle of attack and sideslip angle on the kite. A detailed aerodynamic model with empirical airfoil data and three dimensional wing tip effects is included. A feedback linearization controller is designed, and a baseline simulation is studied for confirming the tracking behavior.

关键词： Aircraft Dynamics Airborne Wind Energy GroundGen System Attitude Tracking wind power system Effective angle of attack Wind energy Attitude tracking control kites Kites six degrees of freedom airborne

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Hierarchical Hybrid Control with Classical Planning and Trajectory Optimization

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IFAC-PapersOnLine 2015年第27期48卷 175-180页

作者： Cowlagi, Raghvendra V. Aerospace Engineering Program Worcester Polytechnic Institute WorcesterMA01609 United States

One method of control of cyberphysical systems, particularly intelligent mobile robots, involves a hierarchy of high-level classical planning and low-level trajectory optimization. We present a new technique to incorporate trajectory costs in a high-level classical planning problem (CPP). The proposed approach is particularly suited to leverage existing algorithms for solving CPPs and, independently, algorithms for trajectory optimization. To this end, we introduce a family of graphs called lifted planning graphs parametrized by an integer H, and we map paths in these graphs to solutions of the CPP. We show that the overall cost of a high-level plan is a nonincreasing function of H, and that there exists a finite H for which an optimal path in the lifted planning graph is associated with the optimal solution of the CPP. For computational speed and future real-time implementation, we discuss incremental modification of paths in the lifted planning graphs for increasing values of H. We illustrate the proposed ideas with a numerical simulation example involving classical planning for Dubins vehicle routing. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robot programming Aerodynamics Artificial intelligence Embedded systems Graph theory Graphic methods Intelligent robots Mobile robots Real time control Trajectories Vehicle routing Classical planning Computational speed Cyber physical systems (CPSs) Hierarchical control Intelligent mobile robot Optimal controls Real time implementations Trajectory optimization

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