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Oceans 2013 - Norway

作者： Andreas J. Hausler Alessandro Saccon Antonio M. Pascoal John Hauser A. Pedro Aguiar Laboratory of Robotics and Systems in Science and Engineering Instituto Superior Tecnico Department of Mechanical Engineering Eindhoven University of Technology Electrical Computer and Energy Engineering Department University of Colorado at Boulder Faculdade de Engenharia University of Porto

ISBN: (纸本)9781479900022

There is widespread interest in the deployment of fleets of marine robots with the potential to roam the oceans freely and collect data at an unprecedented scale. This calls for the development of efficient algorithms for multiple vehicle motion planning that can take directly into account the capabilities of each vehicle as well as the environmental conditions and lend themselves to seamless integration with control and navigation systems. The latter connection is for the most part eschewed in the literature, in spite of the obvious fact that in order for the vehicles to execute the planned motions they must at a later stage navigate with great accuracy and follow the trajectories using control algorithms that take explicitly into account the dynamical constraints of the vehicles involved. Among the methods available for underwater vehicle navigation, terrain-based techniques have recently come to the fore. These techniques avoid the use of overly expensive inertial-like motion sensor units and hold considerable promise for the development of a new breed of affordable long range navigation systems. Motivated by these considerations, we tackle in the present paper the problem of multiple vehicle motion planning by taking explicitly into consideration inter-vehicle collision avoidance, together with a number of criteria that may include simultaneous times of arrival at assigned target points, energy minimization, acoustic communication constraints, and the maximization of terrain information along the vehicle paths (as measured by some appropriate criterion) for terrain-based navigation purposes.

关键词： vehicle motion planning Collision avoidance terrains Autonomous underwater vehicles Data Collection Methods Navigation systems computer algorithms

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Quantitative human and robot motion comparison for enabling assistive device evaluation

Quantitative human and robot motion comparison for enabling ...

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IEEE-RAS International Conference on Humanoid Robots

作者： Dana Kulić Muhammad Choudry Gentiane Venture Kanako Miura Eiichi Yoshida Electrical and Computer Engineering Department University of Waterloo Canada Department of Mechanical Systems Engineering Tokyo University of Agriculture and Technology Tokyo Japan CNRS-AIST JRL (Joint Robotics Laboratory) AIST Tsukuba Japan

A promising new application area for humanoid robots is in the area of assistive device testing. Humanoid robots can facilitate the experimental evaluation of assistive devices by providing repeatable, measurable, human-like motion while removing the difficulties and potential safety hazards associated with human trials. To ensure that the humanoid robot is providing a valid test platform, the robot must move in a similar way as a human while wearing the assistive device. This challenge is made difficult due to the inherent variability in human motion. In this paper, we propose an approach for a quantitative comparison between human and robot motion that identifies both the difference magnitude and the difference location, and explicitly handles both spatial and temporal variability of human motion. The proposed approach is demonstrated on data from robot gait and sagittal plane lifting.

关键词： Hidden Markov models Joints Assistive devices Humanoid robots Robot motion Computational modeling

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Scaled Minimum Unscented Multiple Hypotheses Mixing Filter

Scaled Minimum Unscented Multiple Hypotheses Mixing Filter

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American Control Conference

作者： Henrique M. Menegaz Pedro Henrique R.Q.A. Santana Jo?o Y. Ishihara Geovany A. Borges Laboratory of Robotics and Automation (LARA) at the Department of Electrical Engineering University of Brasilia Brasilia DF Brasil Computer Science and Artificial Intelligence Lab Massachusetts Institute of Technology Cambridge MA 02139 USA

ISBN: (纸本)9781479901777

This work brings two new contributions. First, it introduces the Scaled Minimum Unscented Multiple Hypotheses Mixing Filter, a novel filter for hybrid dynamical systems that 1) uses a new minimum set of sigma points along with the scaled unscented transform in a hybrid framework;2) can estimate the Markovian Transition Probability Matrix in real-time;3) features a pruning step that reduces the filter's computational effort and prevents its estimates from being degraded by very unlikely hypotheses;and 4) has a mixing step with merging depth greater than one. Second, we present a result revealing the conservativeness of one of the scaled unscented transform forms.

关键词： hybrid dynamical systems sigma points along scaled unscented transform

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Real-time navigation for a humanoid robot using particle filter

Real-time navigation for a humanoid robot using particle fil...

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2nd International Conference on engineering and Technology Innovation 2012, ICETI 2012

作者： Baltes, Jacky Cheng, Chi Tai Lau, Meng Cheng Espínola, Andrés Autonomous Agents Lab Department of Computer Science University of Manitoba Winnipeg MB R3T 2N2 Canada Department of Electrical Engineering Tamkang University Tamsui Dist. New Taipei City 25137 Taiwan Mobile Robotics and Automated Systems Laboratory Universidad La Salle Benjamin Franklin 47 Mexico DF Mexico

ISBN: (纸本)9783037856123

This paper presents a practical real-time visual navigation system, including a vision system, a particle filter (PF) based localization system, and a path planning system, for humanoid robots in an indoor environment. A neural network (NN) converter system is used to solve the image distortion problem. The monocular vision system detects objects of interest in the scene, calculating their position in the image, and converting the position in the image to real world coordinates. The PF localization system estimates the current position by the robot's motion model and corrects the estimated position by using feedback from the data gathered by the vision system. The path planning system determines the next motion based on the result of the localization system. This paper uses a tree-like path planning method which not only guides the robot to the destination but also avoids obstacles at the same time. The navigation method allows a user to assign several different target destinations to the robot simultaneously. The proposed method is implemented on a humanoid robot "ROBOTIS DARwIn-OP", an open platform humanoid robot. The effectiveness of the system is demonstrated in an empirical evaluation. © (2013) Trans Tech Publications, Switzerland.

关键词： Bandpass filters

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Global output feedback stabilization for a class of nonlinear planar systems with output-dependent growth rates

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IFAC Proceedings Volumes 2013年第20期46卷 683-688页

作者： Xiangyu Wang Chunjiang Qian Shihua Li School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China Department of Electrical and Computer Engineering The University of Texas at San Antonio San Antonio TX 78249 USA

In this paper, we consider the global output feedback stabilization problem for a class of nonlinear planar systems under a more general growth condition. The nonlinearities in such a system are bounded by both lower-order and higher-order terms with an output-dependent growth rate. This problem is solved by integrating the feedback domination technique and a novel dual observer approach, where two individual observers are constructed in parallel with one estimating the linear part of the unmeasurable state and the other estimating the higher-order part. Moreover, the presented observers and the output feedback controller all have nonlinear gains. Simulations illustrate the effectiveness of the proposed stabilization scheme.

关键词： Output feedback stabilization Nonlinear planar systems Output-dependent growth rates Dual observer Nonlinear gains

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Prior knowledge based fast imaging for scanning ion conductance microscopy

Prior knowledge based fast imaging for scanning ion conducta...

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

作者： Peng Li Changlin Zhang Lianqing Liu Yuechao Wang Ning Xi Uchechukwu C. Wejinya Guangyong Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Mechanical and Biomedical Engineering City University of Hong Kong Hong Kong China Department of Mechanical Engineering University of Arkansas Fayetteville AR USA Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh USA

Scanning ion conductance microscopy (SICM) has becomes prevalent especially in probing biological samples taking advantage of its non-contact, force free, high resolution imaging ability. There are at least two imaging modes of SICM-continuous mode and hopping mode. In both imaging modes, the low imaging speed is the common disadvantage that hinders the efficiency of SICM based observation. In this paper, we propose a prior knowledge based fast imaging method to mitigate this problem. The key idea is to achieve a high resolution image on targeted features by scanning the sample twice, the first scan to obtain prior knowledge on targeted features with low resolution and the second scan to obtain images on targeted features with high resolution. In the first scan, the scanning speed can be very fast because the prior knowledge can be obtained from a low resolution image that requires few scanning points. In the second scan, only the interested areas (targeted features) are scanned. Because the scanning area on targeted features is much smaller than the whole scanning region, it takes much less time to obtain high resolution images on targeted features, As a result, the total time to acquire a high resolution is much less than the conventional one scan method. To verify the effectiveness of our proposed method, we performed high-resolution imaging on polydimethylsiloxane grating and microelectrode samples using a home-made SICM. The experimental results demonstrate the increased efficiency of SICM based observation using the twice scan method.

关键词： Image resolution Microscopy computers Gratings Microelectrodes

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Finding Objects with Segmentation Strategy based Multi Robot Exploration in Unknown Environment

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Procedia - Social and Behavioral Sciences 2013年 97卷 580-586页

作者： Reza Arezoumand Syamsiah Mashohor Mohammad Hamiruce Marhaban Intelligent System and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia 43400 Serdang Selangor Malaysia Department of Computer & Communication Systems Faculty of Engineering Universiti Putra Malaysia 43400 Serdang Selangor Malaysia Department of Electrical and Electronic Engineering University Putra Malaysia 43400 Serdang Selangor Malaysia

In this paper we address exploration algorithm in flat experimental environment with colored objects for multi robots system. The aim of exploration in unknown environment is finding target points like mine detection in outdoor environment without any positioning device. Two algorithms were investigated in this paper one is frontier based random search algorithm and the second is efficient algorithm based on segmentation strategy. To improve efficiency, each robot had to go to different regions to avoid cumulating robots in one region. Constructed maps for all four regions could be shared and navigation could be done more effectively. For constructing map robot can use on built range finder sensor or using vision based systems. Also the algorithm using segmentation strategy is using frontier base algorithm for exploring divided area. Both algorithm implemented and analyzed in Player/Stage simulation. The result was compared and showed the efficiency of the designed algorithm based segmentation strategy. In simulation this algorithm is tested with different number of robots to achieve better view of efficiency for proposed algorithm in different type of environment like harsh environment as possibility of losing some robots.

关键词： Multi-robot exploration Flocking Exploration ratio Trajectory prediction

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Efficient imaging and real-time display of Scanning Ion Conductance Microscopy based on block compressive sensing

Efficient imaging and real-time display of Scanning Ion Cond...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Gongxin Li Peng Li Yuechao Wang Wenxue Wang Ning Xi Lianqing Liu University of Chinese Academy of Sciences China Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Electrical and Computer Engineering Michigan State University Michigan USA

Scanning Ion Conductance Microscopy (SICM) is one kind of Scanning Probe Microscopies (SPMs), and it can be used in mapping topographical features of sample at high - resolution with free contact by measuring the ion current of ultra-micropipette. SICM is widely used in imaging soft samples for many distinct merits, such as high resolution imaging, simple preparation of probe and no harm to sample surface. However, it is undeniable that the scanning speed of SICM is much slower than other SPMs, especially for large scale and high resolution imaging. Fortunately, compressive sensing (CS), which breaks through the Shannon's sampling theorem for dramatically reducing sample rate, could improve scanning speed tremendously, but it still costs much time in image reconstruction. Therefore block compressive sensing was applied to SICM imaging for reducing the reconstruction time of sparse signals, and it has an anther further and unique application that it can achieve the function of image real-time display. In this paper, a new method of dividing blocks and a new matrix arithmetic operation was proposed to build the block compressive sensing model, and several experiments was taken to verified the superiority of block compressive sensing in reducing imaging time and image real-time display used SICM.

关键词： Compressed sensing Image reconstruction Sparse matrices Real-time systems Microscopy

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A positive tensions PID controller for a planar cable robot: An experimental study

A positive tensions PID controller for a planar cable robot:...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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On the achievable capacity of dual-polarized antenna systems in 3D indoor scenarios

On the achievable capacity of dual-polarized antenna systems...

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IEEE International Conference on Communications in China (ICCC)

作者： Fengxiang Wang Xiang Cheng Liuqing Yang Bo Yu Bingli Jiao School of Electronics Engineering & Computer Science Peking University Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Colorado State University Fort Collins CO USA

Unlike triple-polarized antennas, dual-polarized antennas can be easily implemented into thickness limited devices and thus have received much attention recently. Dual-polarized antennas have the potential to double the channel capacity in comparison with an omnidirectional single-input single-output (SISO) system. However, in real three-dimensional (3D) scenarios, dual-polarized antennas cannot capture the arriving power from the third polarization direction, which is orthogonal to the two-dimensional (2D) polarization plane. This will lead to power loss, which may significantly affect the resultant channel capacity. By proposing a novel two-sphere single-bounced geometry-based stochastic model (GBSM) and rigorously analyzing the change of polarization after single-bounced scattering, this paper studies the impact of the power loss on the channel capacity and specifies the conditions under which the channel capacity of dual-polarized systems is even worse than that of omnidirectional SISO systems. Not only that this is the first endeavor on this subject, but also this work is of practical importance in guiding appropriate deployment of dual-polarized antennas in real 3D indoor scenarios.

关键词： Three-dimensional displays Antennas Channel capacity Vectors Signal to noise ratio Correlation Azimuth

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