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Two-dimensional PSD based automatic docking of self-reconfiguration modular exploration robot system

仪器仪表学报 2007年第7期28卷 1198-1204页

作者： Zhang Liping Ma Shugen Li Bin Zhang Zheng Cao Binggang School of Construction Machinery Chang＇an University Xi＇an 710064 China Robotics Laboratory Shenyang Institute of Automation Shenyang 110016 China COE Research Institute Ritsumeikan University Shiga-ken 525-8577 Japan School of Mechanical Engineering Xi＇an Jiaotong University Xi＇an 710049 China

Based on the design of a docking mechanism,this paper thoroughly investigates the space automatic doc- king of self-reconfiguration modular exploration robot system(RMERS).The method that leads robot to achieve space docking by using two-dimensional PSD is put forward innovatively for the median size robot *** the same time,in order to enlarge the detecting extension and the precision of PSD and reduce its dependence on light- ing signal,the PSD was remade by increasing the optical device over its light-sensitive *** emission board and LED light scheduling were designed according to docking arithmetic,and the operating principle of docking process was analyzed based on *** simulation experiments were carried out and their results are presented.

关键词：位置检测器机器人对接机构自动对接重新配置二维相位灵敏调解器

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Registration of a known CAD model into the workspace frame of a robot 9

Registration of a known CAD model into the workspace frame o...

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2007 9th European Control Conference, ECC 2007

作者： Aristos, Dimitris Tzafestas, Spyros Intelligent Robotics and Automation Laboratory School of Electrical and Computer Engineering National Technical University of Athens Zographou Athens15773 Greece

ISBN: (纸本)9783952417386

In many robotic applications it is required to manipulate a specific rigid object whose CAD model is known a priori, but its position and orientation in space are unknown. This category of tasks includes piercing, painting or iron welding on some specific points of the rigid object. For this kind of tasks to become feasible the CAD data of the rigid object should be registered into the robot's workspace frame, so that the robot arm becomes aware of the position and orientation of the rigid body with reference to its own base coordinate frame. In order to achieve this goal several techniques from the fields of image processing, pattern analysis and robot kinematics should be combined. This paper provides a convenient combination of such methods that can be used successfully for the real-time registration of the rigid object CAD data to the robot's base frame. © 2007 EUCA.

关键词： Calibration

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Study on multi-agent task allocation based on the contract net

Study on multi-agent task allocation based on the contract n...

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2007 IEEE International Conference on Control and automation, ICCA

作者： Tiejun, Li Yuqing, Peng Jianguo, Wu Research Institute of Robotics and Automation Hebei University of Technology Tianjin China School of Mechanical Engineering Tianjin University Tianjin China

ISBN: (纸本)1424408180

A task allocation problem from the complex industry process, such as a multiple packing product line and a workpieces supplying automatic product system, is extracted. The resolving of this problem using multi-agent techniques was given and simulated. A goal by the constraints of integrated reliability, energy consuming and the influence to the environment of the system is proposed in this paper. The negotiation process based on contract net protocol was built up for the cooperation and the coordination, and the arithmetic of task allocation process was given at the last of this paper based on this protocol. A generalized dissipated matrix was proposed to replace the coefficient matrix of standard Hungary arithmetic. The factors which influence the task allocation, and the ways to calculate those factors were given in detail, and the arithmetic of task allocation was given at the end. © 2007 IEEE.

关键词： Multi agent systems

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Autonomous SoC for fuzzy robot path tracking

Autonomous SoC for fuzzy robot path tracking

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European Control Conference (ECC)

作者： Kyriakos M. Deliparaschos George P. Moustris Spyros G. Tzafestas School of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory Athens GR

In this paper a System-on-a-Chip (SoC) for the path following task of autonomous non-holonomic mobile robots is presented. The SoC consists of a digital fuzzy logic processor and a flow control program that runs under the Xilinx Microblaze™ soft processor core. The fuzzy processor implements a fuzzy path tracking algorithm introduced by the authors. The system was tied to an actual P3-DX8 robot and field experiments have been performed in order to assess the overall performance. Quantization problems and limitations imposed by the system configuration are also discussed.

关键词： System-on-chip Robot kinematics Field programmable gate arrays Fuzzy logic IP networks MATLAB

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Locomotion realization of an autonomous climbing robot for elliptic half-shell cleaning

Locomotion realization of an autonomous climbing robot for e...

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2007 2nd IEEE Conference on Industrial Electronics and Applications, ICIEA 2007

作者： Zhang, Houxiang Wang, Wei Liu, Rong Zhang, Jianwei Zong, Guanghua TAMS Department of Informatics University of Hamburg Vogt-Kölln-Straße 30 Hamburg 22527 Germany Robotics Institute School of Mechanical Engineering and Automation BeiHang University 37 Xueyuan Rd. Haidian District Beijing 100083 China

ISBN: (纸本)1424407370

Currently the number of buildings with complicated shapes is increasing worldwide. This paper presents an auto-climbing robot for cleaning the elliptic half-shell of National Grand Theatre in China. Its body consists of a climbing mechanism, a moving mechanism, two cleaning brushes and supporting mechanisms. The emphasis for discussion is on the locomotion realization which includes climbing and cleaning movements. The robot independently climbs and descends in the vertical direction and cleans in the horizontal direction. It takes the circling tracks as supports for climbing up and down between strips and moving horizontally along one strip around the ellipsoid. The kinematics models of the climbing and cleaning processes are given applying of the Lagrange equation. In the end, the successful on-site tests confirm the principles described above and the robot's ability. © 2007 IEEE.

关键词： Robots

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High Bandwidth Optical Networking for Underwater Untethered TeleRobotic Operation

High Bandwidth Optical Networking for Underwater Untethered ...

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OCEANS

作者： Greg Baiden Yassiah Bissiri Robotics and Automation School of Engineering Laurentian University Canada Research Associate Penguin Automated Systems Inc. Canada

ISBN: (纸本)9780933957374

Mining, construction, aquaculture and many other possible uses of the planet's underwater resources will be necessary in the future. Much of our current mineral wealth on the land mass of the planet is becoming depleted. We must turn to the oceans to provide the resources we will require in the future. Presently, we are mining 29% of the planet's surface area deeper and deeper while the 71% which is underwater is basically untouched. As mining underwater is inevitable we must ensure that environmentally we are more responsible than miners have been perceived to be. We have much to learn about our underwater environment. In some cases nature has managed to do what we have not been able to do in our current mining operations. Tube worms have the ability to chemically convert the waste products of volcanics safely into the natural environment. Miners have dreamed about these types of biological solutions to processing waste products. To explore and consider mining in the deep ocean a few basic facts must be considered. Prolonged work in the underwater environment by people will only be done robotically and the need for human intervention is going to be required. This leads to the need to create new mining systems that support multiple machine situations where untethered units can be operated both autonomously and tele-autonomously. Underwater mining in deep ocean environments will require multiple robots of different types to be deployed. This approach while in a different environment is similar to leading edge work already underway in underground mining by the major mining companies. Mining machines thousands of metres below the surface are controlled tele-robotically from surface control rooms. The combination of sophisticated high bandwidth communication, specialized control systems and on-board standard electronics have allowed teleautonomous machines to be utilized into the mining of ore at great depths underground. These tele- robotic techniques have proven succe

关键词： Bandwidth Optical fiber networks Telerobotics Robots Minerals Sea surface Ocean temperature Communication system control Planets Humans

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Locomotion generation of friction board with an inclined slider

Locomotion generation of friction board with an inclined sli...

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46th IEEE Conference on Decision and Control

作者： Suzuki, Yoshihiro Li, Hongyi Furuta, Katsuhisa Department of Computers and Systems Engineering Graduate School of Science and Engineering Tokyo Denki University Japan Canon Inc. Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 114 Nanta St. China 21St Century COE Project Office Tokyo Denki University Hatoyama Hiki Saitama 350-0394 Japan

ISBN: (纸本)9781424414970

There are various ways to generate the locomotion and moving systems. In this research, we design a new moving system without wheels, named friction board system, that realizes locomotion with internal actuated mass mounted on an inclined slider of a board. Directional locomotion can be generated by the motion of the internal mass on the slider and friction between the board and the horizontal ground. By inclining the slider, the friction board system can control the friction force and realize more effective locomotion. First, dynamic equations of the friction board system are derived. Then a feedback controller for locomotion is devised using LQ method. Finally the locomotion generation law of the friction board system is verified experimentally.

关键词： Systems analysis

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An Enhanced Adaptive Set-Membership Filter for Nonlinear Ellipsoidal Estimation

An Enhanced Adaptive Set-Membership Filter for Nonlinear Ell...

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American Control Conference (ACC)

作者： Bo Zhou Jianda Han Guangjun Liu Graduate School of the Chinese Academy of Sciences and Robotics Laboratory Shenyang Institute and Automation Chinese Academy and Sciences Shenyang China Robotics Laboratory Shenyang Institute and Automation Chinese Academy and Sciences Shenyang China Department of Aerospace Engineering Ryerson University Toronto Canada

The extended set-membership filter (ESMF) for nonlinear ellipsoidal estimation suffers from numerical instability, computation complexity, as well as the difficulty in filter parameter selection. In this paper, a UD factorization-based adaptive set-membership filter (AESMF) is developed and applied to nonlinear joint estimation of both time-varying states and parameters. As the result of using the proposed UD factorization, combined with a new sequential and selective measurement update strategy, the numerical stability and real-time applicability of conventional ESMF are substantially improved. Furthermore, an adaptive selection scheme of the filter parameters is derived to reduce the computation complexity and achieve sub-optimal estimation. Simulation results have shown the efficiency and robustness of the proposed method.

关键词： Adaptive filters State estimation robotics and automation Nonlinear filters Iterative algorithms Nonlinear systems Numerical stability Noise robustness Cities and towns Programmable control

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Continuous-Time ADP for Linear Systems with Partially Unknown Dynamics

Continuous-Time ADP for Linear Systems with Partially Unknow...

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IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, (ADPRL)

作者： Draguna Vrabie Murad Abu-Khalaf Frank L. Lewis Youyi Wang Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA School of Electrical and Electronic Engineering Nanyang Technological University Singapore

Approximate dynamic programming has been formulated and applied mainly to discrete-time systems. Expressing the ADP concept for continuous-time systems raises difficult issues related to sampling time and system model knowledge requirements. In this paper is presented a novel online adaptive critic (AC) scheme, based on approximate dynamic programming (ADP), to solve the infinite horizon optimal control problem for continuous-time dynamical systems; thus bringing together concepts from the fields of computational intelligence and control theory. Only partial knowledge about the system model is used, as knowledge about the plant internal dynamics is not needed. The method is thus useful to determine the optimal controller for plants with partially unknown dynamics. It is shown that the proposed iterative ADP algorithm is in fact a quasi-Newton method to solve the underlying algebraic Riccati equation (ARE) of the optimal control problem. An initial gain that determines a stabilizing control policy is not required. In control theory terms, in this paper is developed a direct adaptive control algorithm for obtaining the optimal control solution without knowing the system A matrix

关键词： Linear systems Optimal control Dynamic programming Adaptive control Control theory Iterative algorithms Riccati equations Sampling methods Programmable control Infinite horizon

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Control of a Remotely Operated Quadrotor Aerial Vehicle and Camera Unit Using a Fly-The-Camera Perspective

Control of a Remotely Operated Quadrotor Aerial Vehicle and ...

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 5511-5970

作者： DongBin Lee Vilas Chitrakaran Timothy Burg Darren Dawson Bin Xian Department of Electrical and Computer Engineering Clemson University Clemson SC USA OC Robotics Limited Bristol UK School of Electrical Engineering and Automation Tianjin University TJU Tianjin China

ISBN: (纸本)9781424414970;1424414970

This paper presents a mission-centric approach to controlling the optical axis of a video camera mounted on a camera manipulator and fixed to a quadrotor remotely operated vehicle. A four-DOF quadrotor, UAV model will be combined with a two-DOF camera kinematic model to create a single system to provide a full six DOF actuation of the camera view. This work proposed exploits that all signals are described in camera frame. The closed-loop controller is designed based on a Lyapunov-type analysis so that the tracking result is shown to produce Globally Uniformly Ultimately Bounded (GUUB). Computer simulation results are provided to demonstrate the suggested controller.

关键词： Cameras vehicle Video cameras Standing Orders approach control closed-loop controller six degrees of freedom signals

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