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检索条件"机构=Systems Engineering Robotics Laboratory"

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A Moving Object Tracked by A Mobile Robot with Real-Time Obstacles Avoidance Capacity

A Moving Object Tracked by A Mobile Robot with Real-Time Obs...

引用

International Conference on Pattern Recognition

作者： Chung-Hao Chen Chang Cheng D. Page A. Koschan M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper describes a robotic application that tracks a moving object by utilizing a mobile robot with multiple sensors. The robotic platform uses a visual camera to sense the movement of the desired object and a range sensor to help the robot detect and then avoid obstacles in real time while continuing to track and follow the desired object. In terms of real-time obstacle avoidance capacity, this paper also presents a modified potential field algorithm called dynamic goal potential field algorithm (DGPF) for this robotic application specifically. Experimental results show that the robotic and intelligent system can fulfill the requirements of tracking an object and avoiding obstacles simultaneously when the object is moving

关键词： Mobile robots Robot sensing systems Intelligent robots Sensor phenomena and characterization Robot vision systems Cameras Object detection Tracking Heuristic algorithms Intelligent systems

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Development and testing of the Dawn ion propulsion system

Development and testing of the Dawn ion propulsion system

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AIAA/ASME/SAE/ASEE 42nd Joint Propulsion Conference

作者： Brophy, John R. Etters, Michael A. Gates, Jason Garner, Charles E. Klatte, Marlin John Lo, C. Marcucci, Michael G. Mikes, Steve Pixler, Greg Nakazono, Barry Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 Propulsion and Materials Engineering Section AIAA Robotics and Mechanisms Group Electronic Design Group Advanced Propulsion Technology Group Propulsion and Flight Systems Group ASIC Design Group

ISBN: (纸本)1563478188

All of the Dawn ion propulsion system (IPS) components have been fabricated and all have passed acceptance testing. The entire xenon feed system, both digital control and interface units (DCIUs), two of the three thruster gimbal assemblies (TGAs), and both power processor units (PPUs) have been integrated with the spacecraft. Both PPUs recently completed a long-duration run-in tests in vacuum at JPL, and both flight PPUs have successfully demonstrated the ability to operate a flight thruster over its full input power range. All three ion thrusters are in storage at JPL waiting for their delivery and integration which are scheduled for later this year. The third TGA has been delivered to the flight system contractor (Orbital Sciences Corporation) and will also be integrated later this year. All planned subsystem integration tests between the DCIU and the other IPS components were successfully completed prior to the delivery of the components to Orbital.

关键词： Ion propulsion

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Introduction of mission unit on information collection by on-rubble mobile platforms of development of rescue robot systems (DDT) project in Japan

Introduction of mission unit on information collection by on...

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2006 SICE-ICASE International Joint Conference

作者： Matsuno, Fumitoshi Hirose, Shigeo Akiyama, Iwaki Inoh, Takao Guarnieri, Michele Shiroma, Naoji Kamegawa, Tetsushi Qhno, Kazunori Sato, Noritaka Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Tokyo Japan Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology Tokyo Japan Department of Electrical and Electronic Engineering Shonan Institute of Technology Japan Kawasaki Laboratory International Rescue System Institute Kawasaki Japan Department of Intelligent Systems Engineering Ibaraki University Hitachi Japan Department of System Engineering Okayama University Qkayama Japan Department of Bioengineering and Robotics Tohoku University Sendai Japan

ISBN: (纸本)8995003855

Intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji Earthquake. In development of robots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster ate. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "Special Project for Earthquake Disaster Mitigation in Urban Areas" (5 yeras project) launched by Ministry of Education, Culture, Sports, Science and Technology, Japan. It aims at significant mitigation the earthquake disaster damage on the scale of the Great Hanshin Earthquake, in densely populated areas in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit on the information collection by on-rubble mobile platforms. © 2006 ICASE.

关键词： Project management

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Test-bed for Navigation and Control of a Thruster based AUV

Test-bed for Navigation and Control of a Thruster based AUV

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OCEANS - Europe

作者： R. Prasanth Kumar S. Sarath Babu Y. Srilekha C.S. Kumar D. Sen A. Dasgupta Department of Mechanical Engineering Robotics and Intelligent Systems Lab Robotics and Intelligent Systems Laboratory Department of Mechanical Engineering Indian Institute of Technology Kharagpur West Bengal India Department of Ocean Engineering and Naval Architecture Indian Institute of Technology Kharagpur WB INDIA

A thruster controlled AUV is being developed for the Indian AUV project. All motions and control is carried out by a set of five thrusters for controlling positions in two attitudes and three linear directions. As a prototype and verification system for the above AUV, a test-bed to develop and validate the control schemes was found necessary and has been developed at IIT Kharagpur. This paper describes the design criteria of the test-bed and the methods used to develop control scheme for such class of underwater vehicles, which are wholly thruster controlled and can be implemented in this test-bed. The design and capabilities of such a test-bed has been considered for taking into account similar thruster actuated AUVs which may be used in conditions like low speed motion as well as high maneuverability, station keeping etc. Such vehicles are different from the hydroplane controlled vehicles which are more effective above a certain operational velocity. The test-bed proposed here is targeted to generate valuable experimental data for full thruster controlled underwater vehicles operating over a range of operational velocities including station keeping to cruising modes.

关键词： Navigation Control systems Communication system control System testing Motion control Underwater vehicles Intelligent robots Prototypes Velocity control Computational modeling

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Design and Control of a Four Steered Wheeled Mobile Robot

Design and Control of a Four Steered Wheeled Mobile Robot

引用

Annual Conference of Industrial Electronics Society

作者： Michel Lauria Isabelle Nadeau Pierre Lepage Yan Morin Patrick Giguere Frederic Gagnon Dominic Letourneau Francois Michaud Department ofElectrical Engineering and Computer Engineering LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Universite de Sherbrooke Sherbrooke QUE Canada

This paper presents the kinematical analysis of AZIMUT-2, a four steered wheeled mobile robot. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome a hyper-motorization issue inherent to the wheel's geometrical properties. Finally, we describe AZIMUT-2's two operational and seven locomotion modes, along with a control algorithm based on the kinematical model of the robot

关键词： Mobile robots Wheels Leg Robot kinematics Prototypes Intelligent robots Design engineering Rubber Strips Control systems

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A High-Level Controller for Robot-Assisted Rehabilitation

A High-Level Controller for Robot-Assisted Rehabilitation

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

作者： Duygun Erol Nilanjan Sarkar Bibhrajit Halder Department of Electrical Engineering and Computer Science Vanderbilt University USA Department of Mechanical Engineering Robotics and Autonomous Systems Laboratory Vanderbilt University USA

The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive simulations are performed using the supervisory controller for a rehabilitation task. The results demonstrate the feasibility of the proposed supervisory controller

关键词： Robot control Rehabilitation robotics Automatic control Robot kinematics Control systems Force control Medical treatment Supervisory control Automata Medical control systems

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Kinematical Analysis of a Four Steered Wheeled Mobile Robot

Kinematical Analysis of a Four Steered Wheeled Mobile Robot

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Michel Lauria Isabelle Nadeau Pierre Lepage Yan Morin Patrick Giguere Frederic Gagnon Dominic Letourneau Francois Michaud LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department ofElectrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

This paper presents the kinematical analysis of AZIMUT-2. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome an hyper-motorization issue inherent to this wheel geometrical properties. Finally, we describe AZIMUT-2's two operational modes and its seven locomotion modes, along with a control algorithm based on the kinematical model of the robot

关键词： Mobile robots Wheels Leg Intelligent robots Prototypes Mobile computing Laboratories Intelligent systems systems engineering and theory Solid modeling

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A Behavior-Based Architecture for Realistic Autonomous Ship Control

A Behavior-Based Architecture for Realistic Autonomous Ship ...

引用

IEEE Symposium on Computational Intelligence and Games, CIG

作者： Adam Olenderski Monica Nicolescu Sushil J. Louis Robotics Research Laboratory Department of Computer Science and Engineering University of Nevada Reno USA Evolutionary Computing Systems Laboratory Department of Computer Science and Engineering University of Nevada Reno USA

Game environments provide a good domain for serious simulations such as those used in training navy conning officers. Currently, a typical training scenario requires multiple personnel to play each of the boats and thus is expensive. We propose an approach to addressing this issue by developing intelligent, autonomous controllers for each boat. Significant challenges toward achieving these goals are the realism of behavior exhibited by the automated boats and their realtime response to change. In this paper we describe a control architecture that enables the real-time response of boats and the repertoire of realistic behaviors we developed for this application. We demonstrate the capabilities of our system with experimental results

关键词： Marine vehicles Boats Automatic control Personnel Robot kinematics Navigation Computer architecture Computer science Robustness Costs

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Low cost two-axis solar tracker with high precision positioning

Low cost two-axis solar tracker with high precision position...

引用

2006 1st International Symposium on Environment Identities and Mediterranean Area, ISEIM

作者： Yazidi, A. Betin, F. Notton, G. Capolino, G.A. Center of Robotics Power Electrical Engineering and Control Systems University of Picardie 15 av. François Mitterrand 02880 Cuffies France Laboratory of Sciences for the Environment University of Corse Centre de Recherche de Vignola Route des Sanguinaires Ajaccio Corse France

ISBN: (纸本)1424402328

In this paper, the design of a low cost two-axis solar tracker is introduced. The aim is to obtain a high precision positioning of the cell. The control-board is able to support different control strategy such as classical techniques as PID algorithm or more advanced strategy such as fuzzy logic control (FLC). Using the error signal, the tracking capacities of the proposed approaches can be tested experimentally on the experimental prototype built in our laboratory. ©2006 IEEE.

关键词： Position control

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Interactive multi-modal robot programming

Interactive multi-modal robot programming

引用

9th International Symposium on Experimental robotics, ISER 2004

作者： Iba, Soshi Paredis, Christiaan J. J. Khosla, Pradeep K. The Robotics Institute Carnegie Mellon University PittsburghPA United States Electrical and Computer Engineering Carnegie Mellon University PittsburghPA United States Systems Realization Laboratory G.W. Woodruff School of Mechanical Engineering Georgia Institute of Technology AtlantaGA United States

ISBN: (纸本)3540288163

The goal of the Interactive Multi-Modal Robot Programming system is a comprehensive human-machine interface that allows non-experts to compose robot programs conveniently. Two key characteristics of this novel programming approach are that the user can provide feedback interactively at any time through an intuitive interface and that the system infers the user’s intent to support interaction. The framework takes a three-step approach to the problem: multi-modal recognition, intention interpretation, and prioritized task execution. The system is demonstrated by interactively controlling and programming a mobile vacuum cleaning robot. The demonstrations are used to exemplify the interactive programming and plan recognition aspects of the research. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Robot programming

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