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检索条件"机构=Systems Engineering Robotics Laboratory"

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Modified Pendulum Model for Mean Step Length Estimation

Modified Pendulum Model for Mean Step Length Estimation

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Rafael C. Gonzalez Diego Alvarez Antonio M. Lopez Juan C. Alvarez Multisensor Systems & Robotics Laboratory Electrical Engineering Department University of Oviedo Gijon Spain

Step length estimation is an important issue in areas such as gait analysis, sport training or pedestrian localization. It has been shown that the mean step length can be computed by means of a triaxial accelerometer placed near the center of gravity of the human body. Estimations based on the inverted pendulum model are prone to underestimate the step length, and must be corrected by calibration. In this paper we present a modified pendulum model in which all the parameters correspond to anthropometric data of the individual. The method has been tested with a set of volunteers, both males and females. Experimental results show that this method provides an unbiased estimation of the actual displacement with a standard deviation lower than 2.1%.

关键词： Foot Phase estimation Hip Accelerometers Gravity Biological system modeling Calibration Legged locomotion Leg Humans

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Estimation of displacement along level straight paths through body center of mass accelerations

Estimation of displacement along level straight paths throug...

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2007 3rd IET International Conference on Intelligent Environments

作者： A.M. Lopez D. Alvarez R.C. Gonzalez J.C. Alvarez Multisensor Systems and Robotics Laboratory Electrical Engineering Department University of Oviedo Gijon Spain

User localization is crucial for the development of context aware applications for intelligent environments. Wearable systems based on accelerometry have been proposed in recent years to palliate the drawbacks posed by infrastructure based approaches. In this paper, we address the estimation of the displacement length of a user when walking straight ahead along flat surfaces by directly processing the raw accelerations from the body center of gravity. We analyze and compare two approaches from the state of the art. The effect of gender and excursion velocity on the performance of the estimators are especially addressed.

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The Mobility System of the Multi-Tasking Rover (MTR)

The Mobility System of the Multi-Tasking Rover (MTR)

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IEEE International Conference on robotics and Automation (ICRA)

作者： Antonios K. Bouloubasis Gerard T. McKee Active Robotics Laboratory School of Systems Engineering University of Reading Reading Berkshire UK Senior Lecturer in Network Robotics School of Systems Engineering University of Reading Reading Berkshire UK

Current and planned robotic rovers for space exploration are focused on science and correspondingly carry a science payload. Future missions will need robotic rovers that can demonstrate a wider range of functionality. This paper proposes an approach to offering this greater functionality by employing science and/or tool packs aboard a highly mobile robotic chassis. The packs are interchangeable and each contains different instruments or tools. The appropriate selection of science and/or tool packs enables the robot to perform a great variety of tasks either alone or in cooperation with other robots. The multi-tasking rover (MTR), thus conceived, provides a novel method for high return on investment. This paper describes the mobility system of the MTR and reports on initial experimental evaluation of the robotic chassis

关键词： Orbital robotics Instruments Mobile robots robotics and automation Moon Space exploration Solar system Planets systems engineering and theory Mars

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Spartacus attending the 2005 AAAI conference

Spartacus attending the 2005 AAAI conference

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作者： Michaud, F. Côté, C. Létourneau, D. Brosseau, Y. Valin, J.-M. Beaudry, E. Raïevsky, C. Ponchon, A. Moisan, P. Lepage, P. Morin, Y. Gagnon, F. Giguère, P. Roux, M.-A. Caron, S. Frenette, P. Kabanza, F. LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrooke Sherbrooke Qué. J1K 2R1 Canada CSIRO ICT Center Sydney Australia

Spartacus is our robot entry in the 2005 AAAI Mobile Robot Challenge, making a robot attend the National Conference on Artificial Intelligence. Designing robots that are capable of interacting with humans in real-life settings can be considered the ultimate challenge when it comes to intelligent autonomous systems. One key issue is the integration of multiple modalities (e.g., mobility, physical structure, navigation, vision, audition, dialogue, reasoning). Such integration increases the diversity and also the complexity of interactions the robot can generate. It also makes it difficult to monitor how such increased capabilities are used in unconstrained conditions, whether it is done while the robot is in operation of afterwards. This paper reports solutions and findings resulting from our hardware, software and decisional integration work on Spartacus. It also outlines perspectives in making intelligent and interaction capabilities evolve for autonomous robots. © Springer Science+Business Media, LLC 2007.

关键词： Robots

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Multisensor Approach to Walking Distance Estimation with Foot Inertial Sensing

Multisensor Approach to Walking Distance Estimation with Foo...

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29th Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBS 2007), vol.14

作者： Juan C. Alvarez Rafael C. Gonzalez Diego Alvarez Antonio M. Lopez Javier Rodriguez-Uria Multisensor Systems & Robotics Laboratory (SiMuR) Electrical Engineering Department University of Oviedo Gijon Spain

Walking distance estimation is an important issue in areas such as gait analysis, sport training or pedestrian localization. A natural location for portable inertial sensors for gait monitoring is to attach them to the user shoes. Step length can be computed by means of a biaxial accelerometer and a gyroscope on the sagital plane. But estimations based on the direct signal integration are prone to error. This paper shows the results achieved by using a multisensor model approach to reduce uncertainty. Unbounded growth of error is reduced by means of sensor fusion techniques. The method has been tested, and early experimental results show that it provides an estimation of the walking distance with a standard deviation smaller than with single IMU similar systems.

关键词： Legged locomotion Foot Gyroscopes Sensor phenomena and characterization Accelerometers Wearable sensors Uncertainty Acceleration Footwear Hardware

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A Cable-driven Parallel Mechanism for Capturing Object Appearance from Multiple Viewpoints

A Cable-driven Parallel Mechanism for Capturing Object Appea...

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： J.-D. Deschenes P. Lambert S. Perreault N. Martel-Brisson N. Zoso A. Zaccarin P. Hebert S. Bouchard C. M. Gosselin Computer Vision and Systems Laboratory Laval University Canada Robotics Laboratory at the Department of Mechanical Engineering Laval University Canada

This paper presents the full proof of concept of a system for capturing the light field of an object. It is based on a single high resolution camera that is moved all around the object on a cable-driven end-effector. The main advantages of this system are its scalability and low interference with scene lighting. The camera is accurately positioned along hemispheric trajectories by observing target features. From the set of gathered images, the visual hull is extracted and can be used as an approximate geometry for mapping a surface light field. The paper describes the acquisition system as well as the modeling process. The ability of the system to produce models is validated with four different objects whose sizes range from 20 cm to 3 m.

关键词： Cameras Robot vision systems Cable TV Laboratories Trajectory Geometry Cables Computer vision Mechanical engineering Scalability

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Multi-Robot Localization and Mapping Strategy: Utilizing Behavior Based Dynamic Tree Structure and Observer-explorer Routine

Multi-Robot Localization and Mapping Strategy: Utilizing Beh...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Kevin K. Leung Garratt Gallagher Robotics Autonomous Systems and Controls Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA Department of Electrical and Computer Engineering Robotics Autonomus Systems and Control Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA

In this paper, we propose a simultaneous localization and map-building (SLAM) strategy to explore unknown environment. Multiple robots are deployed in unknown area and required to localize each other accurately while exploring. Instead of relying on active obstacle detector, we propose a method of exploration which uses only tactile sensors and inter-robot distance measurements. To avoid dead-reckoning and odometry errors, an observer-explorer based routine is adopted. A dynamic spanning tree structure is implemented for multi-robot coordination. Parent (observer) nodes monitor the distances of their children (explorer) nodes. In order to promote completeness of the map, the reconfigurable spanning tree structure favors unexplored area implicitly. An online behavior-based finite state machine drives the configuration of the structure. Our exploration scheme allows the differentiation between robots and obstacles or boundaries. When an obstacle or boundary is detected, it is recorded on a map that is shared with all other robots. The proposed strategy is simulated and results are presented.

关键词： Tree data structures Robot kinematics Robot sensing systems Simultaneous localization and mapping robotics and automation Distance measurement Automata Service robots Global Positioning System Costs

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A low cost modular robot vehicle design for research and education

A low cost modular robot vehicle design for research and edu...

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Mediterranean Conference on Control and Automation (MED)

作者： S. Piperidis L. Doitsidis C. Anastasopoulos N. C. Tsourveloudis Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania Greece

In this paper the development of a low cost robotic vehicle for research and education is presented. The vehicle was designed considering minimum cost and maximum capabilities. As a base for testing devices and different type of sensors, a commercially available vehicle was used and modified. Two different version of the prototype vehicle were developed accompanied by the proper software that allows the end user to operate the vehicles as an educational or research platform. The functionality of the vehicles was verified after extensive experimentation.

关键词： Costs Educational robots Vehicles Mobile robots Robot sensing systems Intelligent robots Hardware Microcontrollers Prototypes Educational products

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Evolutionary Path Planning and Navigation of Autonomous Underwater Vehicles

Evolutionary Path Planning and Navigation of Autonomous Unde...

引用

2007 Mediterranean Conference on Control & Automation (MED'07), vol.4

作者： V. Kanakakis N. Tsourveloudis Department of Production Engineering and Management Intelligent Systems and Robotics Laboratory Technical University of Crete Chania Greece

This paper presents a complete methodology for mission planning and navigation of Autonomous Underwater Vehicles (AUVs) in ocean environment. Path planning near the ocean floor is accomplished via genetic algorithms and B-Splines based on known data of the ocean floor. In addition, collision free navigation is achieved in unknown environments. Prior to vehicle's launch, a genetic algorithm based on ocean floor data and on mission restrictions calculates the optimal path. Once the path is calculated, the vehicle is navigated through the predefined path by a set of fuzzy controllers. A second evolutionary algorithm optimizes the membership functions of these controllers so as the vehicle has the minimum error through its course. Extensive simulations were performed in order to evaluate the methodology and the derived optimized controller.

关键词： Path planning Navigation Underwater vehicles Oceans Genetic algorithms Spline Fuzzy control Fuzzy sets Evolutionary computation Error correction

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Fuzzy Arithmetic-based Stability Analysis and Design of Fuzzy Controller

Fuzzy Arithmetic-based Stability Analysis and Design of Fuzz...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： S. Bogdan Z. Kovacic I. Fazinic I. Draganjac Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

Initially introduced as a model-free control design method, in today practice fuzzy control is dominantly used as yet another nonlinear control technique based either on a linear or nonlinear model of a process. This paper addresses the stability assessment of a fuzzy logic control system based only on the partial knowledge of a controlled process. Lyapunov stability conditions are derived and analyzed by using fuzzy numbers and fuzzy arithmetic. The experimental results obtained for a non-stable second-order system confirmed that this approach could be successfully implemented. Some questions, addressed in the paper, remained open for further investigation.

关键词： Fuzzy control Stability analysis Control systems Fuzzy systems Lyapunov method Sliding mode control Fuzzy logic Fuzzy sets Nonlinear control systems Arithmetic

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