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IEEE International Conference on robotics, Intelligent systems and Signal Processing

作者： Li Chen Yuechao Wang Shugen Ma Bin Li Graduate School of Chinese Academy of Sciences China Robotics Laboratory Shenyang Institute of Automation Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan

ISBN: (纸本)078037925X

The mechanism of traveling wave locomotion of a snake robot was analyzed in the paper. Its kinematics model was founded and a modified control strategy was conducted in a reconfigurable snake robot. The results shows that in one period the locomotion can be divided into four phases according to the number of joints contacting with the supporting plane, and the resultant force of the friction forces on contacting joints generates locomotion. The modified control method can form smoother body curve and generate the accelerated or decelerated locomotion. Experimental results show that using traveling wave locomotion the robot is able to go forward and backward, and turn around, especially can move in a narrow site and some partial unstructured environments. The maximum linear velocity that can obtain is 0.04 m/s, the slope of the inclined plane that can be climbed is 20/spl deg/ on a carpet, the maximum wideness of gap that can be crossed is 0.14 m, and the minimum diameter of the pipe that can be gone through is 0.06 m.

关键词： Friction Mobile robots Wheels Shape systems engineering and theory Acceleration Robustness Propulsion Tail

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Studying multi-operational production systems with modular hybrid Petri Nets

Studying multi-operational production systems with modular h...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G.J. Tsinarakis K.P. Valavanis N.C. Tsourveloudis Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania Greece Department of CSEE University of south Florida Tampa FL USA

Modular hybrid timed Petri Nets are used to model and analyze behavior of random topology multi-operational production systems. Each such system is decomposed into 3 fundamental modules, followed by derivation of their corresponding modular HPN models. The overall system model is obtained via synthesis of the individual modules, satisfying system constraints (routes, production rates, machine expected up- down- or idle- time and priorities). For any topology multi-operational production system, overall HTPN model nodes are calculated, followed by derivation of model invariants. Results show applicability of the proposed methodology and justify its modeling power and generality.

关键词： Production systems Petri nets Power system modeling Topology Intelligent robots Mathematical model Electronic mail Hybrid intelligent systems Production engineering engineering management

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Real-time path planning with deadlock avoidance of multiple cleaning robots

Real-time path planning with deadlock avoidance of multiple ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Chaomin Luo S.X. Yang D.A. Stacey Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada Department of Computing and Information Science University of Guelph Guelph ONT Canada

In this paper, a cooperative sweeping strategy with deadlock avoidance of complete coverage path planning for multiple cleaning robots in a changing and unstructured environment is proposed, using biologically inspired neural networks. Cleaning tasks require a special kind of trajectory being able to cover every unoccupied area in specified cleaning environments, which is an essential issue for cleaning robots and many other robotic applications. Multiple robots can improve the work capacity, share the cleaning tasks, and reduce the time to complete sweeping tasks. In the proposed model, the dynamics of each neuron in the topologically organized neural network is characterized by a shunting neural equation. Each cleaning robot treats the other robots as moving obstacles. The robot path is autonomously generated from the dynamic activity landscape of the neural network, the previous robot location and the other robot locations. The proposed model algorithm is computationally efficient. The feasibility is validated by simulation studies on three cases of two cooperating cleaning robots. The multiple cleaning robots sweeping will not be trapped in deadlock situations.

关键词： Path planning System recovery Cleaning Orbital robotics Robot sensing systems Intelligent robots Neural networks Computational modeling Chaos Intelligent systems

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Synergies Between Information Technology and (Dis)-Assembly

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IFAC Proceedings Volumes 2003年第23期36卷 27-35页

作者： D. Noe P. Kopacek Laboratory for Handling and Assembly Systems University of Ljubljana Faculty of Mechanical Engineering Aškerčeva 6 SI-1000 Ljubljana Slovenia Institute of Handling Devices and Robotics Vienna University of Technology Faculty of Mechanical Engineering Favoritenstr. 9-11 A-1040 Vienna Austria

Product design and assembly/disassembly process planning and system development have been significantly influenced by information technology. Computer aided design allows to develop products in several variants and evaluating them, virtual prototyping, planning and simulation. Different computer aided systems are used for automated creating of lay-out and presentation of assembly process in virtual environment. We are faced with use of Ethernet in assembly system control and new organisation structures like virtual enterprises, production in networks will occur in the future. For that reason new communications structures, data management systems and protocols have been developed.

关键词： Assembly disassembly information technology process planning virtual reality robotics

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An adaptive velocity estimation approach for improved disk drive control performance

An adaptive velocity estimation approach for improved disk d...

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Annual Conference of Industrial Electronics Society

作者： F. Janabi-Sharifi A. Shademan Robotics and Manufacturing Automation Laboratory Department of Mechanical AeroSpace and Industrial Engineering Ryerson University Toronto Canada Signal and Image Processing Group School of Intelligent Systems IPM Niavaran Tehran Iran

For disk servo system design, it is desired to optimize data storage and transfer subject to the constraints imposed by the servomechanism including velocity estimation and control algorithm, disk space, the actuator, and other limiting factors. Therefore, positioning the head with high accuracy, speed, and reliability is of significant importance. Since velocity estimation is essential for many disk servomechanisms, the quality of head positioning will be governed by the accuracy, speed and reliability of the velocity estimation methods employed. In this paper, adaptive windowing techniques for discrete velocity estimation in disk drives are introduced. The methods are compared with conventional techniques such as finite difference method and Kalman filtering using the introduced measures. It is shown that the proposed techniques generate relatively accurate and reliable estimates with reduced time delays and lower amplitude distortions when compared with the previous methods. Finally, it is demonstrated that the proposed techniques improve the control performance of the disk servo systems.

关键词： Programmable control Adaptive control Disk drives Velocity control Servomechanisms Control systems Constraint optimization Design optimization Memory Actuators

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Adaptive velocity estimation for disk drive head positioning

Adaptive velocity estimation for disk drive head positioning

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

作者： A. Shademan F. Janabi-Sharifi Signal and Image Processing Group School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Robotics and Manufacturing Automation Laboratory Department of Mechanical Aerospace and Industrial Engineering Ryerson University Toronto ONT Canada

With the rapid increase of data areal density in disk drives, the need for more accurate position sensing and velocity estimation techniques for the disk drive head actuator emerges. This paper studies the application of velocity estimation methods for disk drive head positioning servo-mechanism with a focus on adaptive windowing velocity estimation. The adaptive windowing technique requires no prior knowledge of measurement noise and shows a better performance compared to conventional finite difference method and Kalman filtering technique. We have compared the performance of adaptive velocity estimation methods under study over a noisy position trajectory in terms of measures for error statistics and undesired shifting. The undesired shifting measure has been developed to reflect the estimation delay and outliers. The simulation results show the superiority of adaptive windowing velocity estimation to conventional methods.

关键词： Disk drives Delay estimation Actuators Noise measurement Finite difference methods Kalman filters Adaptive filters Filtering Position measurement Velocity measurement

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Automatic face region tracking for highly accurate face recognition in unconstrained environments

Automatic face region tracking for highly accurate face reco...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Y.-O. Kim J. Paik Jingu Heo A. Koschan B. Abidi M. Abidi Korea Electronics and Technology Institute Puchon Gyeonggi South Korea Image Processing Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul South Korea Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville USA

We present a combined real-time face region tracking and highly accurate face recognition technique for an intelligent surveillance system. High-resolution face images are very important to achieving accurate identification of a human face. Conventional surveillance or security systems, however, usually provide poor image quality because they use only fixed cameras to record scenes passively. We have implemented a real-time surveillance system that tracks a moving face using four pan-tilt-zoom (PTZ) cameras. While tracking, the region-of-interest (ROI) can be obtained by using a low-pass filter and background subtraction with the PTZ. Color information in the ROI is updated to extract features for optimal tracking and zooming. FaceIt/sup /spl reg//, which is one of the most popular face recognition software packages, is evaluated and then used to recognize the faces from the video signal. Experimentation with real human faces showed highly acceptable results in the sense of both accuracy and computational efficiency.

关键词： Face recognition Surveillance Real time systems Humans Cameras Intelligent systems Security Image quality Layout Low pass filters

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Stiffness analysis for 6-DOF mouth training parallel robot WY-5

Stiffness analysis for 6-DOF mouth training parallel robot W...

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

作者： G. Carbone H. Takanobu M. Ceccarelli A. Takanishi K. Ohtsuki M. Ohnishi A. Okino Humanoid Robotics Institute Waseda University Shinjuku-ku Tokyo Japan Laboratory of Robotics and Mechatronics DiMSAT - University of Cassino Cassino (Fr) Italy Department of Mechanical Systems Engineering Kogakuin University Shinjuku-ku Tokyo Japan Yamanashi University Tamaho-cho Nakakoma-gun Yamanashi Japan Okino Industries Ltd. Komae-shi Tokyo Japan

In this paper a mouth opening and closing training robot, named WY-5 (Waseda Yamanashi version 5), is analyzed in terms of stiffness characteristics. The basic models and formulation are proposed in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WY-5 architecture. A numerical simulation is also presented to discuss main features of the system.

关键词： Mouth Parallel robots Joints Humanoid robots Service robots Industrial training Numerical simulation Pain Medical treatment Algorithm design and analysis

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Robot motion decision-making system in unknown environments

Robot motion decision-making system in unknown environments

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Boonphoapichart S. Komada T. Hori W.A. Gruver Department of Electric and Electronic Eng. Mie University Tsu Mie Japan Department of Electronics & Information Eng. Aichi University of Technology Gamagori Aichi Japan Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

A fuzzy decision-making system for multi-criteria robot motion planning and control is described for a constant speed omni-directional mobile robot with active stereo cameras capable of panoramic viewing. The robot can be commanded to move to a target point through an unknown environment while satisfying multiple criteria. Advantages of the proposed method are confirmed by simulation. A multi-agent approach is also described for path planning with multiple robots.

关键词： Robot motion Decision making Fuzzy control Fuzzy systems Motion planning Motion control Control systems Mobile robots Robot vision systems Cameras

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An overview of RoboCup-2002 Fukuoka/Busan

An overview of RoboCup-2002 Fukuoka/Busan

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作者： Asada, Minoru Obst, Oliver Polani, Daniel Browning, Brett Bonarini, Andrea Fujita, Masahiro Christaller, Thomas Takahashi, Tomoichi Tadokoro, Satoshi Sklar, Elizabeth Kaminka, Gal A. Dept. of Adaptive Machine Systems Osaka University Osaka Japan University of Koblenz-Landau Artificial Intelligence Group Koblenz Germany University of Hertfordshire Hertfordshire United Kingdom Robotics Institute Carnegie Mellon University Pittsburgh PA United States Department of Electronics Politecnico di Milano Milano Italy GMD-Japan Research Laboratory Kitakyushu Japan Department of Computer Engineering Kobe University Kobe Japan Computer Science Department Ber Ilan University Ramat Gan Israel Computer Science Department Carnegie Mellon University Pittsburgh PA United States

This article reports on the Sixth Robot World Cup Competition and Conference (RoboCup-2002) Fukuoka/Busan, which took place from 19 to 25 June in Fukuoka, Japan. It was the largest RoboCup since 1997 and held the first humanoid league competition in the world. Further, the first ROBOTREX (robot trade and exhibitions) was held with about 50 companies, universities, and institutes represented. A total of 117,000 spectators witnessed this marvelous event, To the best of our knowledge, this was the largest robotic event in history.

关键词： Artificial intelligence

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