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2012 9th IEEE International Conference on mechatronics and Automation, ICMA 2012

作者： Wang, Z.L. Cai, B.G. Yi, F.Z. Liu, Y. Zhao, J. School of Electronic Information and Engineering Beijing Jiao Tong University Beijing 100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467312776

The ego-motion estimation is a basic task in many operations of a mobile robot. An accurate and robust result of motion estimation can greatly improve the operation. In this paper, we assume the mobile robot with visual observer is moved on flat ground and a constrained camera-robot configuration is used to simplify the camera motion model. Based on the assumption and simplified camera-robot configuration, the 3D camera motion can be separately estimated by planar region alignment between two frames. Firstly, a detected 2D motion between two frames is used to align corresponding planar regions, such an alignment or registration removes the effects of camera rotation, and the resulting residual parallax displacement field between the two region-aligned images is an epipolar field centered at the FOE (Focus-of-Expansion). Then the camera translation can be recovered from the epipolar field. The camera rotation is recovered from the computed 3D translation and the detected 2D motion. The camera motion model is derived and expressed by two parts, the multistage process for ego-motion estimation is introduced. Some experiments with real images demonstrate the robustness of the motion estimation. And the factors which may affect the results are discussed. © 2012 IEEE.

关键词： Motion estimation

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Layout space modeling for automation design of pipeline system

Layout space modeling for automation design of pipeline syst...

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2012 9th IEEE International Conference on mechatronics and Automation, ICMA 2012

作者： Feng, Haibo Fu, Yili Li, Liyi School of Electrical Engineering and Automation Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Automation design is of great significance to promote design quality and reduce design cycle for pipeline system design. But high complexity and strong design interference are two main problems in automation design process of pipeline system. Thus, this study proposes a novel layout space model to reduce high complexity and design interference in automation design of pipeline system. The proposed model uses grid methods to provide candidate layout space. The candidate layout space adopts random sampling to meet requirements of reducing complexity and design interference. Test experiment is provided to show that the proposed model is effective. © 2012 IEEE.

关键词： Automation

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Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

Kinematics analysis and trajectory planning of a multiarm me...

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6th International Conference on Complex Medical engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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SEMG control of an upper limb rehabilitation robot based on boosting of neural networks

SEMG control of an upper limb rehabilitation robot based on ...

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2012 9th IEEE International Conference on mechatronics and Automation, ICMA 2012

作者： Li, Qingling Song, Yu School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing China State Key Laboratory of Robotics and System of HIT Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9781467312776

This paper presents a surface electromyography (sEMG) control strategy for robot-assisted upper limb rehabilitation after stroke which can make the rehabilitation robot follow the patient's intention. A new method for feature extraction is proposed aiming at non-stationary feature of sEMG firstly. And then, an ensemble classification method based on BP base classifier is brought forward to discriminate upper limb motions. Experimental results verify that the feature extraction method is superior to traditional ones with respect to recognition rate and convergence speed of classifier, and the ensemble classifier have stronger generalization ability and higher recognition accuracy than single neural network classifier. © 2012 IEEE.

关键词： Feature extraction

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Square-root cubature FastSLAM algorithm for mobile robot simultaneous localization and mapping

Square-root cubature FastSLAM algorithm for mobile robot sim...

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2012 9th IEEE International Conference on mechatronics and Automation, ICMA 2012

作者： Song, Yu Li, Qingling Kang, Yifei Yan, Deli School of Electronic and Information Engineering Beijing Jiaotong University Beijing China State Key Laboratory of Robotics and System of HIT Harbin Institute of Technology Harbin China School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing China

ISBN: (纸本)9781467312776

In this paper, we derive a new SRCFastSLAM algorithm to SLAM problem, which is the square-root edition of our previously proposed Cubature FastSLAM. The main contribution lies that: 1) in SRCFastSLAM, the particles for SLAM implementation are assembled by means and covariance square-root factors (rather than covariances) of the robot state and the feature landmarks;2) Due to the covariance square-root factors are directly propagated in our SLAM process, the time-expensive Cholesky decompositions on covariance matrixes are avoided, also the symmetry and positive (semi) definiteness of the covariance matrixes are preserved. The performance of the proposed algorithm is investigated and compared with FastSLAM2.0 and UFastSLAM using a serial simulation. Results show that the proposed SRCFastSLAM outperforms FastSLAM2.0 and UFastSLAM in precision and reduces the computational cost of the CFastSLAM obviously. © 2012 IEEE.

关键词： robotics

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MPPT for PV system adapted to rapidly varying atmospheric condition

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Energy Education Science and Technology Part A: Energy Science and Research 2012年第SPEC .ISS.1期30卷 1123-1130页

作者： Xie, Shaorong Duan, Li Luo, Jun Li, Hengyu School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China State Key Laboratory of Robotics Shenyang 110016 China

The maximum power point tracking (MPPT) technique is applied in photovoltaic (PV) power generation system to improve the utilization of photovoltaic cells. In this paper, the output characteristics of solar cells are analyzed influenced by solar irradiation and temperature. The general principle and methods of maximum power point tracking are also described. In order to adapt to the rapidly varying atmospheric condition, the combination of constant voltage tracking (CVT) and variable step size incremental conductance (INC) is proposed to get the maximum output of photovoltaic cells. The results show that this method meets the requirements of rapidity and stability and optimizes the output of photovoltaic system. © Sila Science. All rights reserved.

关键词： Solar cells

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On the role of motion element on the thrust contribution for fishlike swimming

On the role of motion element on the thrust contribution for...

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2012 9th IEEE International Conference on mechatronics and Automation, ICMA 2012

作者： Xia, Dan Chen, Weishan Liu, Junkao School of Mechanical Engineering Southeast University Jiangning Jiangning Nanjing 211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology No.92 West Da-Zhi Street Harbin 150001 China

ISBN: (纸本)9781467312776

The swimming performance is numerical simulated for three dimensional fishlike robot. To study the thrust contribution, this work considers the robot divided into seven motion elements along the fish axis from head to tail, executing the heave and pitch motion respectively. The results show that each motion element is found to yield thrust and the thrust takes on sinusoidal periodic variation. During a motion cycle, the value increases with the motion elements close to the tail, while a phase delay of thrust generation is found. Due to the thrust contribution by each motion element accompany with the phase difference existence, the total thrust may be adjusted to a reasonable value. © 2012 IEEE.

关键词： Robots Kinematics Force Drag Hydrodynamics Mathematical model Marine animals

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Motion control of an underactuated spherical robot: A hierarchical sliding-mode approach with disturbance estimation

Motion control of an underactuated spherical robot: A hierar...

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2012 9th IEEE International Conference on mechatronics and Automation, ICMA 2012

作者： Liu, Baoyin Yue, Ming Liu, Rong School of Automotive Engineering Dalian University of Technology Dalian Liaoning Province 116024 China School of Electronic and Information Engineering Dalian University of Technology Dalian Liaoning Province 116024 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781467312776

The inner suspension of a spherical robot undergoes an underactuated state which will be difficult for the underactuated system control, when the robot is rolling ahead. To resolve this underactuated control problem, an adaptive hierarchical sliding mode control scheme is proposed. The spherical robot system is separated as shell subsystem and inner suspension subsystem according to the movement. Then a pair of first layer sliding surfaces is defined for each subsystem, by which the equivalent control law is derived to ensure states of each subsystem approaching to their own sliding mode surface. Based on the first layer sliding surface, a second layer surface is defined correspondingly, through which a total control law is given to make sure that all states can converge to their desired value via Lyapunov stability theorem. Meanwhile, considering the unavoidable and uncertain disturbance in the unstructured exploration environment, an adaptive hierarchical sliding mode control scheme is adopted to estimate the uncertain disturbances in real-time. Finally, the simulation results demonstrate the controller's adaptability and validity. © 2012 IEEE.

关键词： Spheres

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Calibration and Mosaicing of Forward-Scan Sonar DIDSON Images

Calibration and Mosaicing of Forward-Scan Sonar DIDSON Image...

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International Conference on Intelligent Computation Technology and Automation, ICICTA

作者： Shaorong Xie Yuanyu Xu Jinbo Chen Wenjun Jin Jun Luo State Key Laboratory of Robotics Shanghai University Shanghai China School of Mechatronics Engineering and Automation Shanghai University Shanghai China

DIDSON (Dual-frequency identification sonar), a new generation of acoustic video cameras, is applied to research and detect the underwater environment in this paper. In order to solve the shortcomings of the DIDSON in underwater environment, we propose a real-time forward-scan sonar image mosaicing method and system. Through a series of processing to the DIDSON images, such as image registration, image matching and image fusion, a few DIDSON images with small viewing angle and low resolution have be mosaicing to be a large-scale and high resolution sonar image. This improves DIDSON's target detection and expand observing angle to detect bigger underwater targets.

关键词： Sonar Image resolution Acoustics Image registration Cameras Smoothing methods Image edge detection

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Planar region alignment based ego-motion estimation for mobile robot

Planar region alignment based ego-motion estimation for mobi...

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IEEE International Conference on mechatronics and Automation

作者： Z. L. Wang B. G. Cai F. Z. Yi Y. Liu J. Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic Information and Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9781467312752

关键词： Cameras Robot vision systems Motion estimation Robustness Mobile robots Transmission line matrix methods Computer vision

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