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检索条件"机构=School of Robotics and Automation Engineering"

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Application of Particle Filtering Technique for Sensor Fusion in Mobile robotics

Application of Particle Filtering Technique for Sensor Fusio...

引用

2011 IEEE International Conference Mechatronics and automation(2011 IEEE机电一体化与自动化国际会议)

作者： Shikha Jain S. Nandy R. Ray S. N. Shome School of Mechatronics CSIR-Ceniral Mechanical Engineering Research Institute Durgapur-713209 INDIA Department of Robotics & Automation CSIR-Central Mechanical Engineering Research Institute Durgapur-

Accurate position estimation is very essential for successful operation of any autonomous .mobile robots. Generally, Extended Kalman Filter (EKF) is used to fuse multiple low cost sensor information for better position estimation of mobile robots. However, due to the first-order approximation while performing linearization of the nonlinear model in the EKF, it will introduce large estimation errors over the time. In order to reduce the significant estimation errors, the Particle Filter (PF) is presently used as a modern sensor fusion methodology applied to mobile robotics due to its generic nature to tackle uncertainty & nonlinearity. This paper illustrates application of Particle Filtering Technique for reliable estimation of the state vector of a mobile robot in association with proprioceptive (Odometry) and exteroceptive (Laser Range Finder) sensors for efficient control. The paper also presents a comparison of the performance of the EKF & PF techniques for the estimation of the states & control of the mobile robot and establishes the superiority of PF over EKF.

关键词： Particle filter Sensor fusion localization

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Analysis of Fullerene as a Building Block for Nano Machines Used in Cancer Cell Dissociation

Analysis of Fullerene as a Building Block for Nano Machines ...

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International Conference on Bioscience, Biochemistry and Bioinformatics（ICBBB 2011）

作者： Masoud Nasiri Sarvi M.T.Ahmadian Mohammad.R.Movahhedy School of Mechanical Engineering Sharif University of Technology Tehran Iran Center of Excellence in Design Robotics and Automation(CEDRA)School of Mechanical EngineeringSharif University of Technology TehranIran School of Mechanical Engineering Sharif University of Technology TehranIran

Accurate prediction of static and dynamic response of nano structures is one of the important interests of scientists in the last ***,application of the nano machines is increased in recognizing and disassembling cancerous cells and injecting them into the bloodstream of cancer *** machines could also be used to build molecular support structures for strengthening bones and muscle tissues by reassembling nearby *** applications make it necessary to analyze the components of nano machines,*** this reason,Molecular Dynamic Method and some experimental methods are implemented in this *** bearing as an important part of nano machine has been analyzed statically and dynamically in several *** this paper,a Fullerene which is one of the most important parts of nano bearings is simulated by a spherical super element whose deformations and natural frequency are *** Fullerene is considered to be the C60 which is properly similar with a 66 surface-node spherical super *** the mechanical properties of the fullerene and boundary conditions of the nano ball bearing under loading are introduced and deformation and natural frequency of a fullerene under extensive load is presented with two different strategies,super element and conventional *** findings of these two methods validate and confirm the *** indicate that applying 1 super element for the simulation of the fullerene leads to same results as implementing 154764 conventional elements.

关键词： Fullerene,Nano ball bearing,Spherical super element,Deformation,Nano machine,Cell

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A self-tuning multi-phase CPG enabling the snake robot to adapt to environments

A self-tuning multi-phase CPG enabling the snake robot to ad...

引用

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Chaoquan Tang Shugen Ma Bin Li Yuechao Wang Graduate School of the Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Automation Chinese Academy of Sciences (CAS) Shenyang China Department of Robotics College of Science and Engineering Ritsumeikan University Shiga Japan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences (CAS) Shenyang China

Making biomimetic robots move like natural animals is an interesting problem, because this topic involves not only the low level algorithm that controls the movement of robots' bodies and limbs but also the high level control strategy that deals with different kinds of situations. Based on a certain biological assumption, a self-tuning multi-phase CPG for snake robots is proposed. This method imitates the control strategy of natural snake's movement in different environments, which enables the snake robot to move more quickly and naturally. Through kinematic and dynamic analysis of snake robots, optimal control parameters are chosen for the decision strategy. Due to the intrinsic property of the multi-phase CPG, this model can change the movement patterns and control parameters autonomously according to external information. As a result, such neural control provides a powerful but simple way to self-tune adaptable behaviors in snake robots.

关键词： Robot kinematics Robot sensing systems Neurons Adaptation models Legged locomotion Mathematical model

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Shape and location design of supporting legs for a new Water Strider Robot

Shape and location design of supporting legs for a new Water...

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Licheng Wu Shuhui Wang Marco Ceccarelli Haiwen Yuan Guosheng Yang School of Information Engineering Minzu University of China Beijing 100081 China School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Laboratory of Robotics and Mechatronics University of Cassino Cassino Italy

In this paper, the problems are discussed for shape design and position arrangement for Water Strider Robot's supporting legs are discussed. A supporting leg is approached as Euler-Bernoulli elastic curved beam and a method for designing its optimal shape is proposed by analysing elastic deformation and stress-strain. The objective of the proposed optimal method is to attain the maximum lift force in leg operation. The effectiveness and validity of design results are verified through simulations and lab experiments. A method for properly locating supporting legs on the robot body is proposed by analysing the influence of leg location to lift force and the relationship of supporting legs' with robot's roll-resistant capability. A layout scheme for the Water Dancer II-a prototype with ten supporting legs is presented with its operation successful designed.

关键词： Legged locomotion Force Shape Surface tension Educational institutions Mathematical model

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Geometric interpretation of singular configurations of a class of parallel manipulators

Geometric interpretation of singular configurations of a cla...

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ASME 2011 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC/CIE 2011

作者： Kong, Xianwen Yu, Jingjun Gosselin, Clément Department of Mechanical Engineering School of Engineering and Physical Sciences Heriot-Watt University Edinburgh EH14 4AS United Kingdom Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing 100191 China Département de Génie Mécanique Université Laval Pavillon Adrien-Pouliot 1065 Avenue de la médecine Québec QC G1V 0A6 Canada

ISBN: (纸本)9780791854839

This paper proposes an equivalent serial kinematic chain approach to identify the geometric characteristics of singular configurations of a class of parallel manipulators, which can be reduced to a structure composed of three XS and/or SX legs. Here, S and X denote respectively a spherical joint and a one-degreeof- freedom joint or generalized joint. The equivalent serial kinematic chain associated with a parallel kinematic chain composed of two XS legs is first obtained using the concept of reciprocal screws. The forward kinematic singularity (also static singularity) analysis of the parallel manipulators is then reduced to the singularity (stability) analysis of a single-loop structure. Finally, the geometric characteristics of singular configurations of the class of parallel manipulators are obtained with almost no algebraic derivation. Copyright © 2011 by ASME.

关键词： Screws

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Modeling and control on hysteresis nonlinearity in biomimetic undulating fins

Modeling and control on hysteresis nonlinearity in biomimeti...

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Tianjiang Hu Huayong Zhu Han Zhou K. H. Low Lincheng Shen Biomimetics & Intelligent Robotics Center College of Mechatronic Engineering and Automation National University of Defense Technology Changsha China College of Mechatronic Engineering and Automation National University of Defense Technology Changsha China School of Mechanical and AeroSpace Engineering Nanyang Technological University Singapore

In this paper, biomimetic undulating fins are considered with the focus on their hysteresis nonlinearity. Hysteresis is confirmed with experimental data on the biorobotic fin prototype, and qualitative modeling on this nonlinear action is then achieved by using Preisach equations. The developed iterative learning control is applied to eliminate hysteresis nonlinearity in biorobotic undulating fins. Both the simulation and experimental results show that the proposed control method is effective and feasible to improve the tracking performance of biorobotic fins by considering the hysteresis effect. Furthermore, the control methods should facilitate biomimetic investigation on propulsive modes and waveforms of fish swimming.

关键词： Hysteresis Biological system modeling Robots Mathematical model Marine animals Propulsion Prototypes

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Compliant fixture layout design using topology optimization method

Compliant fixture layout design using topology optimization ...

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IEEE International Conference on robotics and automation (ICRA)

作者： Jie Ma Michael Y. Wang Xiangyang Zhu Robotics Institute School of Mechanical Engineering Shanghai Jiaotong University Shanghai China Department of Mechanical and Automation Engineering Chinese University of Hong Kong New Territories Hong Kong China

The deformation of the workpiece-fixture system has essential influence on the locating accuracy of the workpiece. To minimize the overall deformation of the workpiece-fixture system is an important issue in fixture design. This paper focuses on the fixture layout design with compliant model. A topology optimization approach is presented in order to reduce the complexity introduced by the high computational cost of the finite element equation solving and the exhaustive search in the point set domain. With finite element analysis, algorithms are developed for the optimization problem of locator synthesis in the point set domain. Numerical examples are also presented to verify the effectiveness of the proposed approach.

关键词： Fixtures Finite element methods Optimization Force Mathematical model Equations Layout

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Dynamic Analysis of 5-DOF Parallel Machine Tool with Redundant Actuation

Dynamic Analysis of 5-DOF Parallel Machine Tool with Redunda...

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2011 IEEE International Conference Mechatronics and automation(2011 IEEE机电一体化与自动化国际会议)

作者： Hongguang Wang Li Cheng Yongsheng Zhao State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang Liaoning Province School of Mechanical Engineering Yanshan University Qinhuangdao Hebei Province China

A 5-degree of freedom (DOF) 5-UPS/PRPU parallel machine tool (PMT) with redundant actuation is introduced. The characteristic of the PMT is described. Based on the conventional Lagrange Equation, the dynamic formulation of this PMT with redundant actuation is derived. A novel force distribution method is proposed for redundant actuation. The constraint couple of the PRPU limb to the moving platform is deduced with the D' Alembert's principle. Then, the dynamic calculation of the redundant actuation limb is performed. Thus, the inverse dynamic solution can be derived. With ADAMS software, the three-dimensional entity model of the PMT is built and the dynamic simulations are carried out through some typical motion. The simulation results are consistent with the theoretical calculation, which proves the correctness of the theoretical deduction and the feasibility of the simulation analysis.

关键词： parallel machine tool redundant actuation force optimization dynamics simulation

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Modeling and Simulation of a Jumping Frog Robot

Modeling and Simulation of a Jumping Frog Robot

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2011 IEEE International Conference Mechatronics and automation(2011 IEEE机电一体化与自动化国际会议)

作者： N. S. Reddy Ranjit Ray S.N. Shome School of Mechatronics Central Mechanical Engineering Research Institute(CSlR) Durgapur-713209 Indi Robotics & Automation Group Central Mechanical Engineering Research Institute (CS1R) Durgapur 713209

In nature, several animals and insects use jumping locomotion in rough terrains. Jumping locomotion is useful for ground robots as jumping provide high speed movement with enhanced energy efficiency. It also helps in overcoming obstacles relatively larger than their body sizes. Jumping needs coordination and large instantaneous forces within a very short duration. In this paper, a method of jumping by using a four-bar spring/linkage mechanism integrated with spool winding and ratchet release mechanism has been presented. Inspired by the frogs, we have modeled and simulated a simple and efficient four legged jumping frog robot.

关键词： Bio-inspired robotics Jumping locomotion legged robot

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Hybrid moving object detection system based on key frame extraction

Hybrid moving object detection system based on key frame ext...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Yu Du Xueyao Wang Shi-Ting Wang Shuangshuang Xue Zengchang Qin Intelligent Computing and Machine Learning Laboratory School of ASEE Beihang University Beijing China School of Automation Science and Electronic Engineering (ASEE) Beihang University Beijing China Robotics Institute Carnegie Mellon University USA

In this paper we construct a hybrid moving object detection system. In this system, we first use the frame difference method to extract key frames in a given video sequence, then use the optical flow method and the HSV background subtraction method to extract the moving objects, respectively. We propose two hybrid methods: Improved Optical Flow method and Improved HSV Background Subtraction method. Experimental results have shown that our proposed system has strong robustness and be effective to detect moving objects in various conditions. We also introduce a human-computer interaction tool for selecting the focus area for users. This system will largely benefit for real-world video surveillance applications.

关键词： Computer vision Lighting Image motion analysis Object detection Optical imaging Accuracy Video sequences

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