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检索条件"机构=Systems Engineering Robotics Laboratory"

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Modeling and Simulating a Mathematical Tool for Multi-robot Pattern Transformation

Modeling and Simulating a Mathematical Tool for Multi-robot ...

引用

International Conference on Computer Modeling and Simulation, ICCMS

作者： Blesson Varghese Gerard T. McKee Active Robotics Laboratory School of Systems Engineering University of Reading Reading Berkshire UK School of Systems Engineering University of Reading Reading Berkshire UK

The work reported in this paper is motivated by the need to investigate general methods for pattern transformation. A formal definition for pattern transformation is provided and four special cases namely, elementary and geometric transformation based on repositioning all and some agents in the pattern are introduced. The need for a mathematical tool and simulations for visualizing the behavior of a transformation method is highlighted. A mathematical method based on the Moebius transformation is proposed. The transformation method involves discretization of events for planning paths of individual robots in a pattern. Simulations on a particle physics simulator are used to validate the feasibility of the proposed method.

关键词： Mathematical model Robots Pattern formation Computational modeling Computer simulation systems engineering and theory Shape Laboratories Visualization Path planning

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Swarm pattern transformation methodologies

Swarm pattern transformation methodologies

引用

IEEE Swarm Intelligence Symposium, SIS

作者： Blesson Varghese Gerard T. McKee Active Robotics Laboratory School of Systems Engineering University of Reading UK Head of Computer Science Department School of Systems Engineering University of Reading UK

The work reported in this paper is motivated by the need for developing swarm pattern transformation methodologies. Two methods, namely a macroscopic method and a mathematical method are investigated for pattern transformation. The first method is based on macroscopic parameters while the second method is based on both microscopic and macroscopic parameters. A formal definition to pattern transformation considering four special cases of transformation is presented. Simulations on a physics simulation engine are used to confirm the feasibility of the proposed transformation methods. A brief comparison between the two methods is also presented.

关键词： Robots Microscopy systems engineering and theory Physics Engines Pattern formation Humans Laboratories Computer science Ant colony optimization

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Vision aided navigation for unmanned helicopters

Vision aided navigation for unmanned helicopters

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Mediterranean Conference on Control and Automation (MED)

作者： Diomidis Katzourakis Nikos I. Vitzilaios Nikos C. Tsourveloudis Intelligent Systems & Robotics Laboratory Technical University of Crete Chania Greece Biomechanical Engineering Technical University Delft Netherlands

The development of a vision system to aid the autonomous navigation of an unmanned helicopter, primarily based on inertial sensors and GPS data, is presented. An unmanned helicopter has been equipped with appropriate sensors and a vision system fitted on a custom pan-tilt mechanism. Robust software, based on the Open Computer Vision Library (OpenCV), has been developed for handling images and video from a camera. Our implementation involves real time object recognition, histogram matching for real time video streaming, pattern matching and object tracking. Software implemented in C++ interacts with Matlab in order to aid the autonomous navigation of the helicopter.

关键词： Aircraft navigation Helicopters Machine vision Sensor systems Pattern matching Global Positioning System Robustness Computer vision Software libraries Cameras

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Accelerometer-based control of an industrial robotic arm

Accelerometer-based control of an industrial robotic arm

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Pedro Neto J. Norberto Pires A. Paulo Moreira Industrial Robotics Laboratory-Mechanical Engineering Department POLO II University of Coimbra Coimbra Portugal Institute of Systems and Robotics (ISR)-Department of Electrical and Computer Engineering University of Porta Porto Portugal

Most of industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. In this paper is proposed an accelerometer-based system to control an industrial robot using two low-cost and small 3-axis wireless accelerometers. These accelerometers are attached to the human arms, capturing its behavior (gestures and postures). An Artificial Neural Network (ANN) trained with a back-propagation algorithm was used to recognize arm gestures and postures, which then will be used as input in the control of the robot. The aim is that the robot starts the movement almost at the same time as the user starts to perform a gesture or posture (low response time). The results show that the system allows the control of an industrial robot in an intuitive way. However, the achieved recognition rate of gestures and postures (92%) should be improved in future, keeping the compromise with the system response time (160 milliseconds). Finally, the results of some tests performed with an industrial robot are presented and discussed.

关键词： Industrial control Service robots Electrical equipment industry Defense industry Educational robots Robot control Control systems Accelerometers Artificial neural networks Delay

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Cooperative mapping of multiple PTZ cameras in automated surveillance systems

Cooperative mapping of multiple PTZ cameras in automated sur...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Chung-Chen Chen Yi Yao Anis Drira Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering & Computer Science University of Tennessee Knoxville TN USA

Due to the capacity of pan-tilt-zoom (PTZ) cameras to simultaneously cover a panoramic area and maintain high resolution imagery, researches in automated surveillance systems with multiple PTZ cameras have become increasingly important. Most existing algorithms require the prior knowledge of intrinsic parameters of the PTZ camera to infer the relative positioning and orientation among multiple PTZ cameras. To overcome this limitation, we propose a novel mapping algorithm that derives the relative positioning and orientation between two PTZ cameras based on a unified polynomial model. This reduces the dependence on the knowledge of intrinsic parameters of PTZ camera and relative positions. Experimental results demonstrate that our proposed algorithm presents substantially reduced computational complexity and improved flexibility at the cost of slightly decreased pixel accuracy, as compared with the work of Chen and Wang. This slightly decreased pixel accuracy can be compensated by consistent labeling approaches without added cost for the application of automated surveillance systems along with changing configurations and a larger number of PTZ cameras.

关键词： Surveillance Costs Robot vision systems Smart cameras Computational complexity Intelligent robots Image resolution Polynomials Labeling Simultaneous localization and mapping

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Multiple Aspect Grasp performance index for cooperative object manipulation tasks

Multiple Aspect Grasp performance index for cooperative obje...

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

作者： Farzad Cheraghpour S. Ali A. Moosavian Ali Nahvi Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

In this paper, a new multiple aspect grasp (MAG) performance index is presented for evaluating grasp quality for object manipulation tasks. The position of contact points, the configuration of cooperative manipulators, and the kinetics aspects of manipulators and the manipulated object are taken into account by the proposed MAG index. The MAG index is used to evaluate the candidate grasp points, selecting the effective branch of inverse kinematics solution, and cooperation of two manipulators. Simulation results reveal capabilities of MAG index in grasp planning for both individual and cooperative object manipulation tasks.

关键词： Performance analysis Kinetic theory Manipulator dynamics Kinematics Intelligent robots Ellipsoids Fixtures Mechatronics robotics and automation Laboratories

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Kinematics and dynamics of a hybrid serial-parallel mobile robot

Kinematics and dynamics of a hybrid serial-parallel mobile r...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S. Ali A. Moosavian Alireza Pourreza Khalil Alipour Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

In this study, kinematics design, dynamics modeling and verification of a compounded serial-parallel wheeled mobile robot is elaborated. The proposed novel kinematic structure is best suited to fulfill stable motion of the robotic system when handling heavy objects by manipulators mounted on mobile platforms. The proposed system is made of a differentially-driven wheeled platform, a planar parallel manipulator, which is called here as Star-Triangle (ST) mechanism, and a serial Puma-type manipulator arm. The suggested structure adopts the advantages of both serial and parallel robots, to move the base point of the serial robot with respect to the mobile platform to fulfill the system stability after grasping heavy objects. In order to investigate the comprehensive kinematics model of the robot, after introducing its novel structure it is divided into three modules, i.e. a mobile platform, a parallel ST mechanism, and a serial robot. Next, a closed-form dynamics model is derived for the whole hybrid system based on a combined Newton-Euler and Lagrange formulation. The proposed method presents the mutual dynamic interaction wrenches between the integrated platform and the serial manipulator which can be exploited for the tip-over stability analysis of the mobile robotic system. Then, to verify the obtained mathematical model, several benchmark actuating inputs are applied to the model and the system responses are analyzed.

关键词： Kinematics Mobile robots Manipulator dynamics Parallel robots Vehicle dynamics Lagrangian functions Orbital robotics Stability Wheels robotics and automation

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Postural stability of wheeled mobile manipulators with flexible suspension considering tire friction model

Postural stability of wheeled mobile manipulators with flexi...

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

作者： Khalil Alipour S. Ali A. Moosavian Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

The mobility requirements on a rough terrain make a suspended wheeled mobile robot (SWMR) with multiple dexterous manipulators an appropriate choice. In this study, dynamics modeling and stability appraisal of SWMRs will be discussed. First, based on Newton-Euler's formulation for a chain of rigid bodies, the closed-form dynamics model of such complicated systems in three dimensional maneuvers is developed. To this end, a twenty two degree-of-freedom SWMR is considered as a benchmark system. The studied system includes both sprung and unsprung elements. Also, the developed model involves both ride and handling analysis. Considering pneumatic tires, Dugoff tire friction model is adopted to describe the longitudinal and lateral forces produced at the contact patch of the wheels. Then, using the obtained dynamics, the effect of frictional effects on postural stability of such systems will accurately be investigated. It is shown that dynamic balance of the system decreases as the friction between the base and the ground increases. Finally, the new dynamic tip-over Moment-Height Stability (MHS) measure will be exploited to vigorously investigate the dynamic balance of a SWMR even after toppling down.

关键词： Stability Tires Friction Mobile robots Vehicle dynamics Vehicles Manipulator dynamics Acceleration Force measurement Velocity measurement

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Control of suspended wheeled mobile robots with multiple arms during object manipulation tasks

Control of suspended wheeled mobile robots with multiple arm...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mahdy Eslamy S. Ali A. Moosavian Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

In this paper, a suspended mobile platform with two 3 DOF manipulators, is used to manipulate an object in a combined circular-straight path. The multiple impedance control (MIC) is used as a model-based algorithm which has been shown to have desirable performance in case of impact with an obstacle and system flexibility. The MIC enforces same impedance law both on the robotic system, and the manipulated object level. However, to apply model-based control laws, it is needed to extract system dynamics model. For such complicated robotic systems with suspension system, it is necessary to have a concise set of dynamic equations of motion with few mathematical calculations. Therefore, the concept of direct path method is extended to derive explicit dynamics modeling for such challenging systems. Then, non-holonomic constraint of the wheeled system is derived, and the obtained dynamics model is reformatted to become a more concise one using natural orthogonal complement method. Next, the MIC law is applied to cooperative manipulation of an object by two manipulators mounted on a suspended wheeled robotic system. The obtained results reveal a smooth system performance, i.e. negligible small tracking errors in the presence of impacts with obstacles and significant disturbances.

关键词： Mobile robots Arm Vehicle dynamics Impedance Microwave integrated circuits robotics and automation Equations Manipulator dynamics Automatic control Control systems

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Safe autonomous stair climbing for a tracked mobile robot using a kinematics based controller

Safe autonomous stair climbing for a tracked mobile robot us...

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

作者： Arash Kalantari Ehsan Mihankhah S. Ali. A. Moosavian Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

Planning and implementation of a safe autonomous stair climbing algorithm for a tracked mobile robot is presented in this paper. Two major factors are defined to make the climb as safe as possible. Based on these factors a desired trajectory is planned. Data of two laser range finders are used to locate the robot over the stairs. The error signal is generated by comparing the located and desired postures. To compensate this error, a kinematics based controller is utilized. A combination of a nominal feedforward command with a feedback action on error at each time step is used in this tracking control scheme. The proposed algorithm is implemented on ResQuake. This is a tele-operative rescue mobile robot with great capabilities in climbing obstacles in destructed areas, and its performance was demonstrated in Rescue robot league of RoboCup 2005 in Osaka (Japan), achieving the 2 nd Best Design Award, and RoboCup 2008 in China (Suzhou) achieving the 2 nd Best in Class Mobility Award. Implementation of algorithm on different staircases resulted in successful climb in all experiments. Results obtained on a sample staircase are demonstrated at the end of this paper.

关键词： Mobile robots Kinematics Orbital robotics Error correction Robot sensing systems Laser feedback Laser modes Open loop systems Intelligent robots Mechatronics

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