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IEEE International Conference on robotics and Automation (ICRA)

作者： Panagiotis Vartholomeos Constantinos Mavroidis Control Systems Lab Department of Mechanical Engineering National and Technical University of Athens Greece Bio Nano Robotics Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA USA

Magnetic Resonance Imaging (MRI) guided nanorobotic systems that could perform diagnostic, curative and reconstructive treatments in the human body at the cellular and sub-cellular level in a controllable manner have recently been proposed. The concept of a MRI-guided nanorobotic system is based on the use of a MRI scanner to induce the required external driving forces to guide magnetic nanocapsules to a specific target. However, the maximum magnetic gradient specifications of existing clinical MRI systems are not capable of driving superparamagnetic nanocapsules against the blood flow and therefore these MRIs do not allow for navigation. The present paper proposes a way to overcome this critical drawback through the formation of micron size agglomerations where their size can be regulated by external magnetic stimuli. This approach is investigated through modeling of the physics that govern the self-assembly of the nanoparticles. Additionally a computational tool has been developed that incorporates the derived models and performs simulation, visualization and post-processing analysis. Preliminary simulation results demonstrate that external magnetic field causes aggregation of nanoparticles while they flow in the vessel. This is a promising result -in accordance with similar experimental results- and encourages further investigation on the nanoparticle based self-assembly structures for use in nanorobotic drug delivery.

关键词： Self-assembly Nanostructures Drug delivery Magnetic resonance imaging Nanoparticles Computational modeling Biological system modeling Image reconstruction Humans Control systems

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Survey on team tracking techniques applied to sports

Survey on team tracking techniques applied to sports

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International Conference on Autonomous Intelligent systems

作者： Santiago, Catarina B. Sousa, Armando Estriga, Maria Luísa Reis, Luis Paulo Lames, Martin Robotics and Intelligent Systems - INESCPorto FEUP - Faculty of Engineering of University of Porto Porto Portugal Centre of Res. Edu. Innovation and Intervention in Sport FADEUP - Faculty of Sports of the University of Porto Porto Portugal Artificial Intelligence and Computer Science Laboratory FEUP - Faculty of Engineering of University of Porto Porto Portugal Institut für Sportwissenschaften/Sportzentrum Universität Augsburg Augsburg Germany

ISBN: (纸本)9781424471072

Recent years have brought an increasing interest on analyzing efficiently the performance of sports players during training sessions and games. The information collected from such analysis is very valuable to educators and coaches since it allows them to better understand the difficulties of a trainee, a player or even an entire team and formulate adequate training and strategic plans accordingly. In order to perform this analysis in a consistent and systematic way, sophisticated sensory systems and data processing techniques are needed. This paper presents a survey on relevant work, current techniques and trends on the area of team tracking systems applied to sports. We propose a classification of these systems by distinguishing them into two main categories: intrusive and nonintrusive. Nonintrusive systems are further refined into outdoor and indoor sports applications. The specific characteristics of each system are itemized, including the identification of the strong points and limitations. Finally, the paper highlights some open issues and research opportunities on this area. © 2010 IEEE.

关键词： Sports

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Exploring carrier agents in swarm-array computing

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Scalable Computing 2010年第1期11卷 53-62页

作者： Varghese, Blesson Mckee, Gerard Active Robotics Laboratory School of Systems Engineering University of Reading Whiteknights Campus Reading BerkshireRG6 6AY United Kingdom School of Systems Engineering University of Reading Whiteknights Campus Reading BerkshireRG6 6AY United Kingdom

How can a bridge be built between autonomic computing approaches and parallel computing systems? The work reported in this paper is motivated towards bridging this gap by proposing a swarm-array computing approach based on 'Intelligent Agents' to achieve autonomy for distributed parallel computing systems. In the proposed approach, a task to be executed on parallel computing cores is carried onto a computing core by carrier agents that can seamlessly transfer between processing cores in the event of a predicted failure. The cognitive capabilities of the carrier agents on a parallel processing core serves in achieving the self-ware objectives of autonomic computing, hence applying autonomic computing concepts for the benefit of parallel computing systems. The feasibility of the proposed approach is validated by simulation studies using a multi-agent simulator on an FPGA (Field- Programmable Gate Array) and experimental studies using MPI (Message Passing Interface) on a computer cluster. Preliminary results confirm that applying autonomic computing principles to parallel computing systems is beneficial. © 2010 SCPE.

关键词： Intelligent agents

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Reducing stick-slip motion in one-dimensional nano manipulation by real-time feedback control

Reducing stick-slip motion in one-dimensional nano manipulat...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Zhang, Jing Miao, Lei Wu, Re-Bing Xi, Ning Li, Chun-Wen Wang, Yue-Chao Tarn, Tzyh-Jong Department of Automation Tsinghua University Beijing 100084 China Center for Quantum Information Science and Technology Tsinghua National Laboratory for Information Science and Technology Beijing 100084 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Beijing 110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Department of Electrical and Systems Engineering Washington University St. Louis MO 63130 United States

ISBN: (纸本)9781424470334

When a micro cantilever with a nanoscale tip is manipulated on a substrate with atomic roughness, e.g., pushing an atomic-scale sample or etching the surface of the substrate to draw desired patterns, the periodical lateral frictional forces with stochastic fluctuations will induce stick-slip motion of the cantilever tip, which may greatly influence the precision of the nano manipulation. To reduce such a stick-slip motion, we propose a feedback control strategy based on the position estimation of the cantilever tip to compensate the periodical frictional force. Numerical simulations show that the motion of the cantilever tip under feedback control can track the desired trajectory asymptotically. Our proposal can aL be extended to the case when the cantilever tip moves over a Gaussian-shape defection on the substrate and when the stochastic fluctuations in the lateral force are with non-zero correlation time. ©2010 IEEE.

关键词： Feedback control

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Feature based slam using side-scan salient objects

Feature based slam using side-scan salient objects

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OCEANS

作者： Josep Aulinas Xavier Lladó Joaquim Salvi Yvan R. Petillot Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Spain Oceans Systems Laboratory School of Engineering and Physical Sciences Heriot-Watt University Edinburgh UK

Different underwater vehicles have been developed in order to explore underwater regions, specially those of difficult access for humans. Autonomous Underwater Vehicles (AUVs) are equipped with on-board sensors, which provide valuable information about the vehicle state and the environment. This information is used to build an approximate map of the area and estimate the position of the vehicle within this map. This is the so called Simultaneous Localization and Mapping (SLAM) problem. In this paper we propose a feature based submapping SLAM approach which uses side-scan salient objects as landmarks for the map building process. The detection of salient features in this environment is a complex task, since sonar images are noisy. We present in this paper an algorithm based on a set of image preprocessing steps and the use of a boosted cascade of Haar-like features to perform the automatic detection in side-scan images. Our experimental results show that the method produces consistent maps, while the vehicle is precisely localized.

关键词： Simultaneous localization and mapping Vehicles Feature extraction Sonar detection Object detection Sonar navigation

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On asymptotic consensus value in directed random networks

On asymptotic consensus value in directed random networks

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IEEE Conference on Decision and Control

作者： Victor M. Preciado Alireza Tahbaz-Salehi Ali Jadbabaie Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA USA Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA USA General Robotics Automation Sensing and Perception (GRASP) Laboratory Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA USA

ISBN: (纸本)9781424477456

We study the asymptotic properties of distributed consensus algorithms over switching directed random networks. More specifically, we focus on consensus algorithms over independent and identically distributed, directed random graphs, where each agent can communicate with any other agent with some exogenously specified probability. While different aspects of consensus algorithms over random switching networks have been widely studied, a complete characterization of the distribution of the asymptotic value for general asymmetric random consensus algorithms remains an open problem. In this paper, we derive closed-form expressions for the mean and an upper bound for the variance of the asymptotic consensus value, when the underlying network evolves according to an i.i.d. directed random graph process.

关键词： Eigenvalues and eigenfunctions Switches Markov processes Silicon Upper bound Closed-form solution Convergence

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UNDERACTUATED HAND DYNAMIC MODELING, ITS REAL-TIME SIMULATION, AND CONTROL

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International Journal of Humanoid robotics 2010年第4期7卷 609-634页

作者： HAI HUANG YONG-JIE PANG JIANG LI SHAO-WEI FAN XIN-QING WANG HONG LIU Key Laboratory of Science and Technology for National Defense of Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 China State Key Laboratory Robot and Systems Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

The forward and inverse dynamic models of the underactuated 2-DOF finger have been established in this article based on virtual spring approach. This approach not only avoids the solution of differential-algebraic equations but also leads to a completely decoupled dynamic model that is ideal for directly inverse dynamic analysis, real-time dynamic simulation and control. To verify this approach, an underactuated 3-joint finger has been brought forward. Simulation results from Matlab/Simulink are consistent with those obtained from ADAMS grasp simulations. For the hand real-time dynamic control, the velocity observer has been established based on the dynamic model, the adaptive curve fitting with the observer has obtained precise velocity signals, made up the uncertain parameters such as torsion spring, inertial, damps, etc. and achieved ideal results. By applying dynamics model and observer, the force-based impedance control can realize more accurate and stable force control during grasp.

关键词： Dynamic modeling dynamic control virtual spring approach underactuated hand

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Incorporation of novel MEMS tactile sensors into tissue engineered skin

Incorporation of novel MEMS tactile sensors into tissue engi...

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The 4th International Conference on Bioinformatics and Biomedical engineering(第四届IEEE生物信息与生物医学工程国际会议 iCBBE 2010)

作者： M.C.L.Ward H.B.Muhammad N.C.Hunt L.M.Grover R.M.Shelton L.Beccai C.M.Oddo C.T.Recchiuto MEMS Group School of Mechanical Engineering School of Chemical Engineering School of Dentistry University of Birmingham Birmingham United Kingdom Advanced Robotics Technology and Systems Laboratory Polo Sant'Anna Valdera-Scuola Superiore Sant'Ann

Tactile sensation is important for the performance of daily tasksand prevention of injury. Full thickness wounds of greater than4cm diameter will not spontaneously heal. Tissue engineeringcan be used to replace the lost skin, but this skin will often fail tobe reinnervated. This results in loss of tactile sensations. Herewe have developed a novel, silicon basedMicroElectroMechanical systems (MEMS) sensor array that iscapable of detecting tactile experiences of the tissue engineeredskin. Tissue engineered skin with tactile experiences can also beuseful in the replacement of animal testing in the pharmaceuticalindustry.

关键词： Micromechanical devices Tactile sensors Skin Sensor arrays Injuries Wounds Tissue engineering Silicon Microelectromechanical systems Sensor systems

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Observer-Based Dynamic Control of an Underactuated Hand

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Advanced robotics 2010年第1期24卷 123-137页

作者： Huang Hai haihus@*** Jiang Li Pang Yong-jie Shi Shi-cai Tang Qi-rong Yang Da-peng Liu Hong Key Laboratory of Science and Technology for National Defense of Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 P. R. China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 P. R. China University of Stuttgart Pfaffenwaldring 9 70569 Stuttgart Germany Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

The purpose of this paper was to construct a velocity observer based on the dynamic model and realize accurate dynamic curve and force control. Curve fitting with the observer obtained precise velocity signals. Compared with PID and factored moment methods, it decreased the fitting errors a lot and achieved ideal results. Compensated with the inverse dynamic equation, the force-based impedance control with the observer could not only realize accurate force tracking, but achieve finger dynamic control by the combination of curve fitting and force tracking. Furthermore, a static grasp model was established for appropriate force distribution. The finger could grasp slippery, fragile, comparatively heavy and large objects like an egg with only base joint torque and position sensors, which illustrated that the hand could accomplish difficult tasks by using the static grasp model and dynamic control. [ABSTRACT FROM AUTHOR]

关键词： curve fitting DYNAMIC CONTROL force control UNDERACTUATED VELOCITY OBSERVER

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Inferring motion uncertainty from shape-Matching

Inferring motion uncertainty from shape-Matching

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IEEE International Conference on robotics and Automation (ICRA)

作者： Zuolei Sun Joop van de Ven Fabio Ramos Xuchu Mao Hugh Durrant-Whyte Department of Instrumentation Engineering School of Electronic Information and Electrical Engineering Navigation & Control Laboratory Shanghai Jiaotong University Shanghai China Australian Centre for Field Robotics ARC Centre of Excellence for Autonomous Systems University of Sydney NSW Australia

ISBN: (纸本)9781424450381;9781424450404

This paper proposes a novel method for computing robot motion uncertainty from ranging sensor data. The method utilises the recently proposed CRF-Matching procedure which matches laser scans based on shape descriptors. Motion estimates are computed in a probabilistic framework by performing inference on a probabilistic graphical model. We propose an efficient sampling procedure for obtaining probable association hypothesis of the probabilistic graphical model. The hypothesis are used to generate estimates on the uncertainty of translational and rotational movements of the robot. Experiments demonstrate the benefits of the approach on simulated data sets and on laser scans from an urban environment. The approach is also combined with the well-established delayed-state information filter for a large-scale outdoor simultaneous localisation and mapping task.

关键词： Uncertainty Laser modes Graphical models Robot motion Shape Motion estimation Sampling methods Delay Information filters Large-scale systems

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