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2013 IEEE Conference on Technologies for Practical Robot Applications, TePRA 2013

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

ISBN: (纸本)9781467362252

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. © 2013 IEEE.

关键词： Global positioning system

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Human-Robot Collaborative Manipulation Planning Using Early Prediction of Human Motion

Human-Robot Collaborative Manipulation Planning Using Early ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Jim Mainprice Dmitry Berenson Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Rd Worcester MA 01609 USA

ISBN: (纸本)9781467363563

In this paper we present a framework that allows a human and a robot to perform simultaneous manipulation tasks safely in close proximity. The proposed framework is based on early prediction of the human's motion. The prediction system, which builds on previous work in the area of gesture recognition, generates a prediction of human workspace occupancy by computing the swept volume of learned human motion trajectories. The motion planner then plans robot trajectories that minimize a penetration cost in the human workspace occupancy while interleaving planning and execution. Multiple plans are computed in parallel, one for each robot task available at the current time, and the trajectory with the least cost is selected for execution. We test our framework in simulation using recorded human motions and a simulated PR2 robot. Our results show that our framework enables the robot to avoid the human while still accomplishing the robot's task, even in cases where the initial prediction of the human's motion is incorrect. We also show that taking into account the predicted human workspace occupancy in the robot's motion planner leads to safer and more efficient interactions between the user and the robot than only considering the human's current configuration.

关键词： Human Motion human's current configuration robot than only considering

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Synchronization of a class of second order distributed parameter systems

Synchronization of a class of second order distributed param...

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1st IFAC Workshop on Control of Systems Governed by Partial Differential Equations, CPDE 2013

作者： Demetriou, Michael A. Fahroo, Fariba Aerospace Engineering Program Mechanical Engineering Department Worcester Polytechnic Institute Worcester MA 01609 United States Department of Applied Mathematics Naval Postgraduate School Monterey CA 93943 United States

ISBN: (纸本)9783902823540

In this work, we examine the synchronization control for a class of second order distributed parameter systems. The objective is to design controllers that guarantee agreement between the position and velocity states of N identical second order systems. The controller structure involves coupling terms consisting of the pairwise difference of both position and velocity states of the second order systems in order to enforce consensus. Possible improvements of the agreement amongst the states of each of the systems are considered and compared to the case of noninteracting controllers. Extensions to synchronizing controllers for the case of partial connectivity are discussed. Extensive numerical studies are included to provide a further insight on the effects of synchronization control of second order distributed parameter systems. © IFAC.

关键词： Synchronization

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Manipulation of Deformable Objects Without Modeling and Simulating Deformation

Manipulation of Deformable Objects Without Modeling and Simu...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dmitry Berenson Department of Computer Science and the Robotics Engineering Program Worcester Polytechnic Institute (WPI) 100 Institute Road Worcester MA 01609 USA

ISBN: (纸本)9781467363563

We present a method to manipulate deformable objects that does not require modeling and simulating deformation. Our method is based on the concept of diminishing rigidity, which we use to quickly compute an approximation to the Jacobian of the deformable object. This Jacobian is used to drive the points within the deformable object towards a set of targets. However, this Jacobian alone is insufficient to avoid stretching the object beyond its allowed length and to avoid gripper collision with obstacles. Thus a key part of our approach is incorporating techniques to avoid collision and excessive stretching. Our experiments show how to perform several interesting tasks for one and two-dimensional deformable objects using our method. They also show how the method can be applied to collaborative tasks, where the robot and a user simultaneously manipulate the deformable object. Our experiments are conducted in simulation but we emphasize that our method does not have access to the model of the deformable object used by the simulator, although we assume we are able to sense the geometry of the object. While our method is local, we find that it is quite versatile in the range of tasks it can perform, especially since it has no knowledge of the model of the deformable object.

关键词： Jacobian Modeling simulating Religious Missions Collisions

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Development of Modular Sensors for Semi-Autonomous Wheelchairs

Development of Modular Sensors for Semi-Autonomous Wheelchai...

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IEEE Conference on Technologies for Practical Robot Applications

作者： Ross Desmond Matthew Dickerman James Fleming Dmitry Sinyukov Jerome Schaufeld Taskin Padir Worcester Polytechnic Institute Robotics Engineering - Cyber Physical Systems

ISBN: (纸本)9781467362238

This paper provides an overview of the sensor network and mounting hardware used to convert a commercially available powered wheelchair into a semi-autonomous wheelchair. Emphasis is placed on modular design and ease of use. Although the sensor packages are used for the semi-autonomous navigation of a powered wheelchair, the sensor network presented has the potential to be used in a number of different robotic applications.

关键词： Semi-autonomous Wheelchair Modular Sensors Navigation

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Proceedings from the 9th annual conference on the science of dissemination and implementation: Washington, DC, USA. 14-15 December 2016

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Implement Sci 2017年第SUPPL 1期12卷 48-48页

作者： David Chambers Lisa Simpson Gila Neta Ulrica von Thiele Schwarz Antoinette Percy-Laurry Gregory A. Aarons Ross Brownson Amanda Vogel Shannon Wiltsey Stirman Kenneth Sherr Rachel Sturke Wynne E. Norton Allyson Varley Cynthia Vinson Lisa Klesges Suzanne Heurtin-Roberts M. Rashad Massoud Leighann Kimble Arne Beck Claire Neely Jennifer Boggs Carmel Nichols Wen Wan Erin Staab Neda Laiteerapong Nathalie Moise Ravi Shah Susan Essock Margaret Handley Amy Jones Jay Carruthers Karina Davidson Lauren Peccoralo Lloyd Sederer Todd Molfenter Ashley Scudder Sarah Taber-Thomas Kristen Schaffner Amy Herschell Eva Woodward Jeffery Pitcock Mona Ritchie JoAnn Kirchner Julia E. Moore Sobia Khan Shusmita Rashid Jamie Park Melissa Courvoisier Sharon Straus Daniel Blonigen Allison Rodriguez Luisa Manfredi Andrea Nevedal Joel Rosenthal David Smelson Christine Timko Nicole Stadnick Jennifer Regan Miya Barnett Anna Lau Lauren Brookman-Frazee Erick Guerrero Karissa Fenwick Yinfei Kong Gregory Aarons Rebecca Lengnick-Hall Benjamin Henwood Nina Sayer Craig Rosen Robert Orazem Brandy Smith Lindsey Zimmerman David Lounsbury Rachel Kimerling Jodie A. Trafton Steven Lindley Rahul Bhargava Hal Roberts Laura Gibson Gabriel J. Escobar Vincent Liu Benjamin Turk Arona Ragins Patricia Kipnis Ashley Ketterer Gruszkowski Michael W. Kennedy Emily Rentschler Drobek Lior Turgeman Aleksandra Sasha Milicevic Terrence L. Hubert Larissa Myaskovsky Youxu C. Tjader Robert J. Monte Kathryn G. Sapnas Edmond Ramly Diane R Lauver Christie M Bartels Shereef Elnahal Andrea Ippolito Hillary Peabody Carolyn Clancy Randall Cebul Thomas Love Douglas Einstadter Shari Bolen Brook Watts Vera Yakovchenko Angela Park William Lukesh Donald R. Miller David Thornton Mari-Lynn Drainoni Allen L. Gifford Shawna Smith Julia Kyle Mark S Bauer Daniel Eisenberg Celeste Liebrecht Michelle Barbaresso Amy Kilbourne Elyse Park Giselle Perez Jamie Ostroff Sarah Greene Michael Parchman Brian Austin Eric Larson Stefanie Ferreri Chris Shea Megan Smith Kea Turner Jennifer Bacci Kyle Bigham Geoffr Division of Cancer Control and Population Sciences National Cancer Institute Rockville MD 20850 USA AcademyHealth Washington DC 20009 USA Department of Learning Informatics Management and Ethics Karolinska Institutet Stockholm 17177 Sweden Department of Psychiatry University of California San Diego San Diego CA 92093 USA George Warren Brown School of Social Work Washington University in St. Louis St. Louis MO 63130 USA Center for Global Health National Cancer Institute Rockville MD 20850 USA Dissemination and Training Division VA National Center for PTSD Palo Alto CA 94305 USA Department of Global Health University of Washington Seattle WA 98105 USA Center for Global Health Studies Fogarty International Center National Institutes of Health Bethesda MD 20912 USA School of Public Health University of Alabama at Birmingham Birmingham AL 35243 USA School of Public Health University of Memphis Memphis TN 38152 USA USAID Applying Science to Strengthen and Improve Systems (ASSIST) Project Bethesda Maryland 20814 USA Institute for Health Research Kaiser Permanente Denver CO 80231 USA ICSI Institute for Clinical Systems Improvement Bloomington MN 55425 USA Medicine University of Chicago Chicago IL 60637 USA Medicine Columbia University Medical Center New York NY 10032 USA Psychiatry Columbia University New York NY 10032 USA General Internal Medicine Epidemiology and Biostatistics University of California San Francisco San Francisco CA 94110 USA New York State Office of Mental Health New York NY 10001 USA Medicine Icahn School of Medicine at Mount Sinai New York NY 10029 USA Center for Health Enhancement System Studies University of Wisconsin Madison WI 53706 USA Department of Psychiatry University of Pittsburgh Pittsburgh PA 15213 USA Psychology University at Buffalo Buffalo NY 14260 USA Department of Psychology West Virginia University Morgantown WV 26506 USA MIRECC VA North Little Rock AR 72114 USA QUERI for Team-Based Behavioral Health Centr

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Adaptive consensus filters of spatially distributed systems with limited connectivity

Adaptive consensus filters of spatially distributed systems ...

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IEEE Annual Conference on Decision and Control

作者： Michael A. Demetriou Worcester Polytechnic Institute Dept of Mechanical Engineering Aerospace Engineering Program Worcester MA 01609 USA

ISBN: (纸本)9781467357159

This work is concerned with the design and optimization of distributed consensus filters for infinite dimensional systems. It is assumed that different sensors are available to provide state information of the infinite dimensional process and it is desired to design distributed filters, each of which is utilizing its own sensor, with the ultimate goal of arriving at an improved estimate of the infinite dimensional process state. The consensus filters for the infinite dimensional system are proposed and their well-posedness and convergence properties are examined for the case of limited connectivity between the agents generating the distributed filters. A modification in the form of an adaptive consensus gain is also proposed and the convergence properties are examined. Using Lyapunov-redesign methods for the infinite dimensional system, stable adaptive laws for the consensus weights are presented.

关键词： Distributed Systems Filters Multidimensional systems DIMENSIONAL Infinite Distribute Self tuning

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Adaptation of consensus penalty terms for attitude synchronization of spacecraft formation with unknown parameters

Adaptation of consensus penalty terms for attitude synchroni...

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IEEE Annual Conference on Decision and Control

作者： Kewen Zhang Michael A. Demetriou Aerospace Engineering Program Mechanical Engineering Dept Worcester Polytechnic Institute Worcester MA 01609 USA

ISBN: (纸本)9781467357159

The main concern of this work is on the temporal adjustment of the consensus weights, as applied to spacecraft formation control. Such an objective is attained by dynamically enforcing attitude synchronization via coupling terms included in each spacecraft controller. It is assumed that each spacecraft has identical dynamics but with unknown inertia parameters and external disturbances. By augmenting a standard adaptive controller that accounts for the unknown parameters, made feasible via an assumption on parametrization, with adaptation of the consensus weights, one opts to improve spacecraft synchronization. The coupling terms, responsible for enforcing synchronization amongst spacecraft, are weighted dynamically in proportion to the disagreement between the states of the spacecraft. The time adjustment of edge-dependent gains as well as the special cases of node-dependent and agent-independent constant gains are derived using Lyapunov redesign methods. The proposed adaptive control architecture which allows for adaptation of both parameter uncertainties and consensus penalty terms is demonstrated via extensive numerical studies of a four-spacecraft network with limited connectivity. By considering the sum of deviation-from-the-mean and rotational kinetic energy as appropriate metric for synchronization, the numerical studies also provide insights on the choice of optimal edge-dependent consensus gains.

关键词： Spacecraft Unknown parameter penalty kinetic energy external disturbance

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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

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

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Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

Teleoperation System with Hybrid Pneumatic-Piezoelectric Act...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Weijian Shang Hao Su Gang Li Gregory S. Fischer Automation and Interventional Medicine (AIM) Robotics Laboratory Department of Mechanical Engineering Worcester Polytechnic Institute 100 Institute Road Worcester MA 01609 USA

ISBN: (纸本)9781467363563

This paper presents a surgical master-slave teleoperation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.

关键词： MRI-compatible robot percutaneous therapy image-guided needle placement pneumatic control Fabry-Perot interferometry haptics teleoperation Robot remote operation Pneumatic control Haptic interfaces NEEDLES Fabry-Perot Location tracking Force Touch Haptic Device Component

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