Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201440
S. Stępień, A. Turkot
In this paper is considered modelling of voltage forced electromechanical actuator taking friction and spring stiffness into account. 3D distributed parameters model including eddy current phenomena and magnetic non-linearity is presented. In numerical example a motion of movable armature is presented.
{"title":"Distributed parameters model of electromechanical actuator","authors":"S. Stępień, A. Turkot","doi":"10.1109/ROMOCO.2005.201440","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201440","url":null,"abstract":"In this paper is considered modelling of voltage forced electromechanical actuator taking friction and spring stiffness into account. 3D distributed parameters model including eddy current phenomena and magnetic non-linearity is presented. In numerical example a motion of movable armature is presented.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122318364","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201445
A. Green, J. Sasiadek
End effector tracking of a two-link flexible robot is simulated using a linear quadratic Gaussian (LQG) dynamic regulator with an extended Kalman filter (EKF), a LQG with fuzzy logic adaptive EKF (FLAEKF), LQG with an EKF and a FLAEKF combined with time delays in the feedback loop to model nonminimum phase (NMP) response for a sensor noncollocated at the end effector and in the feed forward loop for corrective control action. A fuzzy logic system (FLS) vibration suppression control strategy is simulated for comparison. Results demonstrate FLS adaptive vibration suppression produces greater tracking accuracy than an EKF, FLAEKF or corrective time delays. In comparison with classical FID control or even with more advanced adaptive control strategies FLS vibration suppression gives better tracking control while execution time remains acceptable.
{"title":"Fuzzy adaptive noise filtering and vibration control for a flexible robot","authors":"A. Green, J. Sasiadek","doi":"10.1109/ROMOCO.2005.201445","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201445","url":null,"abstract":"End effector tracking of a two-link flexible robot is simulated using a linear quadratic Gaussian (LQG) dynamic regulator with an extended Kalman filter (EKF), a LQG with fuzzy logic adaptive EKF (FLAEKF), LQG with an EKF and a FLAEKF combined with time delays in the feedback loop to model nonminimum phase (NMP) response for a sensor noncollocated at the end effector and in the feed forward loop for corrective control action. A fuzzy logic system (FLS) vibration suppression control strategy is simulated for comparison. Results demonstrate FLS adaptive vibration suppression produces greater tracking accuracy than an EKF, FLAEKF or corrective time delays. In comparison with classical FID control or even with more advanced adaptive control strategies FLS vibration suppression gives better tracking control while execution time remains acceptable.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130406976","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201430
P. Dutkiewicz, M. Kietczewski, M. Kowalski, W. Wróblewski
In the paper, experimental verification of vision feedback in position control of surgical tools for minimal invasive surgery (MIS) (Dutkiewicz et al., 2004) is presented. The laparoscope positioning is based on computer recognition of surgical tools on the image from a laparoscopic camera. Experimental results, obtained from special laboratory test bed based on the Staubli robot equipped with laparoscopic camera are presented.
本文提出了视觉反馈在微创手术(MIS)手术工具位置控制中的实验验证(Dutkiewicz et al.， 2004)。腹腔镜定位是基于计算机对腹腔镜摄像机图像上手术工具的识别。介绍了在装有腹腔镜摄像机的Staubli机器人专用实验室试验台上的实验结果。
{"title":"Experimental verification of visual tracking of surgical tools","authors":"P. Dutkiewicz, M. Kietczewski, M. Kowalski, W. Wróblewski","doi":"10.1109/ROMOCO.2005.201430","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201430","url":null,"abstract":"In the paper, experimental verification of vision feedback in position control of surgical tools for minimal invasive surgery (MIS) (Dutkiewicz et al., 2004) is presented. The laparoscope positioning is based on computer recognition of surgical tools on the image from a laparoscopic camera. Experimental results, obtained from special laboratory test bed based on the Staubli robot equipped with laparoscopic camera are presented.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124524851","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201418
F. Dressler, G. Fuchs
Energy-aware operation is one of the visionary goals in the area of autonomous systems research. This is especially the fact as small and mobile nodes become available and application scenarios emerge, which lead to much higher requirements in terms of reliability, long-term operability, adaptation, and self-organization. In this paper, we focus on energy control and battery management in mobile robot systems. We show an approximation technique to derive the remaining energy of the local system. The mechanism is based on a model of all energy-consuming parts of the robot system and the corresponding characteristic curves. The results are used for task allocation and behavior adaptation of each autonomously acting system. The proposed methodology increases the probability of completing globally assigned tasks. Therefore, the algorithm contributes to the performance and reliability of the global system. Additionally, each node in the overall system becomes able to employ its energy resources much more efficiently. We see this energy-aware concept for task allocation as a basis for further extensions used for studies on energy efficient communication in mobile sensor networks.
{"title":"Energy-aware operation and task allocation of autonomous robots","authors":"F. Dressler, G. Fuchs","doi":"10.1109/ROMOCO.2005.201418","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201418","url":null,"abstract":"Energy-aware operation is one of the visionary goals in the area of autonomous systems research. This is especially the fact as small and mobile nodes become available and application scenarios emerge, which lead to much higher requirements in terms of reliability, long-term operability, adaptation, and self-organization. In this paper, we focus on energy control and battery management in mobile robot systems. We show an approximation technique to derive the remaining energy of the local system. The mechanism is based on a model of all energy-consuming parts of the robot system and the corresponding characteristic curves. The results are used for task allocation and behavior adaptation of each autonomously acting system. The proposed methodology increases the probability of completing globally assigned tasks. Therefore, the algorithm contributes to the performance and reliability of the global system. Additionally, each node in the overall system becomes able to employ its energy resources much more efficiently. We see this energy-aware concept for task allocation as a basis for further extensions used for studies on energy efficient communication in mobile sensor networks.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127996710","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201408
M. Michałek, K. Kozlowski
The paper presents a proposition of asymptotic stabilization for a 3D chained system with the use of the vector field orientation (VFO) approach first introduced by Michalek and Kozlowski (2004 and 2005), where have been applied to solve a trajectory tracking task for such systems like unicycle cart, nonholonomic manipulator and also for 3D chained system. Proposed approach allows designing a simple control law with an intuitive geometrical interpretation. Stabilization with a VFO controller presented in this work can be treated as some extension of the tracking controller described by Michalek and Kozlowski (2005). Performance of the proposed solution is illustrated by simulation results.
{"title":"Asymptotic stabilization for the 3-D chained system: the vector field orientation approach","authors":"M. Michałek, K. Kozlowski","doi":"10.1109/ROMOCO.2005.201408","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201408","url":null,"abstract":"The paper presents a proposition of asymptotic stabilization for a 3D chained system with the use of the vector field orientation (VFO) approach first introduced by Michalek and Kozlowski (2004 and 2005), where have been applied to solve a trajectory tracking task for such systems like unicycle cart, nonholonomic manipulator and also for 3D chained system. Proposed approach allows designing a simple control law with an intuitive geometrical interpretation. Stabilization with a VFO controller presented in this work can be treated as some extension of the tracking controller described by Michalek and Kozlowski (2005). Performance of the proposed solution is illustrated by simulation results.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121182319","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201437
A. Chella, R. Sorbello, L. Martorana, M. Palermo, Rosamaria E. Barone
The variation version of the economic metaphor of Italian politics, an architecture that loosely takes inspiration from the political organizations of democratic governments, following the example of Italian government, and which provides a solution for the coordination of a spare colony of robots, is competent to allow the coordination of the behaviors of a team of four robots in order to play soccer in the Robocup competition. The development of an evolution of economic metaphor of Italian politics is now outlined. This new approach proposes a mechanism to make a new coalition caused by the failure of the government strategy and by a general inefficiency of the whole colony during the reaching of the mission targets, such as goals scored, faults committed and other soccer parameters (game evolution, score, time left, past team coalition performances). The main characteristic of the proposed frameworks lies in its dynamic reconfigurability in order to adapt the robot colony behaviors to high dynamic environmental changes choosing from time to time the best coalition capable to apply the most suitable soccer strategy, (from an extreme offensive to a total defensive), for the current game situation. To validate the effectiveness of our approach we have realized a framework based on the MissionLab robot simulation software developed at the Mobile Robot Lab of the Georgia Institute of Technology and we have transferred these framework inside the OPEN-R environment of the team of four Sony Aibo Ers-7 robots.
{"title":"The economic metaphor of Italian politics for dynamic coalition regeneration in the Robocup competition of Aibo robots","authors":"A. Chella, R. Sorbello, L. Martorana, M. Palermo, Rosamaria E. Barone","doi":"10.1109/ROMOCO.2005.201437","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201437","url":null,"abstract":"The variation version of the economic metaphor of Italian politics, an architecture that loosely takes inspiration from the political organizations of democratic governments, following the example of Italian government, and which provides a solution for the coordination of a spare colony of robots, is competent to allow the coordination of the behaviors of a team of four robots in order to play soccer in the Robocup competition. The development of an evolution of economic metaphor of Italian politics is now outlined. This new approach proposes a mechanism to make a new coalition caused by the failure of the government strategy and by a general inefficiency of the whole colony during the reaching of the mission targets, such as goals scored, faults committed and other soccer parameters (game evolution, score, time left, past team coalition performances). The main characteristic of the proposed frameworks lies in its dynamic reconfigurability in order to adapt the robot colony behaviors to high dynamic environmental changes choosing from time to time the best coalition capable to apply the most suitable soccer strategy, (from an extreme offensive to a total defensive), for the current game situation. To validate the effectiveness of our approach we have realized a framework based on the MissionLab robot simulation software developed at the Mobile Robot Lab of the Georgia Institute of Technology and we have transferred these framework inside the OPEN-R environment of the team of four Sony Aibo Ers-7 robots.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"224 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115802961","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201395
T. Zielińska
The paper presents navigation method elaborated for a group of hexapods walking together with remote supervision by the operator. The navigation principles are described referring it to the elaborated programming system. Method of self navigation and autonomous gait generation is introduced relating it to the terrain properties. The control system was elaborated with the assumption that the machines can move together without collisions and following the geographic coordinates send by the operator from the remote central station. The machines are locally self-navigated avoiding obstacles and changing the gaits depends on surface properties.
{"title":"A team of walking robots; control and navigation problems","authors":"T. Zielińska","doi":"10.1109/ROMOCO.2005.201395","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201395","url":null,"abstract":"The paper presents navigation method elaborated for a group of hexapods walking together with remote supervision by the operator. The navigation principles are described referring it to the elaborated programming system. Method of self navigation and autonomous gait generation is introduced relating it to the terrain properties. The control system was elaborated with the assumption that the machines can move together without collisions and following the geographic coordinates send by the operator from the remote central station. The machines are locally self-navigated avoiding obstacles and changing the gaits depends on surface properties.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114369612","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201400
A. Wróblewska
Resolution of force feedback system in MIS (minimally invasive surgery) is at the stage of examinations and there has been no application in practice so far. The article presents existing prototypes of solutions differing with the method of the arrangement of sensors and the kind of applied measuring method. Also a method for the Polish surgery robot Robin Heart was proposed. The solution to this problem will deliver surgeons the chance of the estimation of the handled organ rigidity and will ensure the constant check-up when executing the operation by surgeons.
{"title":"Methods of the force measurement for robotic surgical tools","authors":"A. Wróblewska","doi":"10.1109/ROMOCO.2005.201400","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201400","url":null,"abstract":"Resolution of force feedback system in MIS (minimally invasive surgery) is at the stage of examinations and there has been no application in practice so far. The article presents existing prototypes of solutions differing with the method of the arrangement of sensors and the kind of applied measuring method. Also a method for the Polish surgery robot Robin Heart was proposed. The solution to this problem will deliver surgeons the chance of the estimation of the handled organ rigidity and will ensure the constant check-up when executing the operation by surgeons.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114674168","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201439
A. Iqbal, N. He, Liang Li
With the ever-increasing diversity of data related to highspeed milling, a need is bound to be felt to integrate them at a single platform, so as to be effective for industrial use. In this paper, an approach, to convert the heap of diverse and varied HSM data to a comprehensive knowledge-base has been presented. The system comprising of this knowledge-base along with fuzzy reasoning mechanism, for the purpose of optimizing parameters in HSM of hardened steels has been named as EXHARMIL. Expert system shell of fuzzy CLIPS and the strategy of 'stepwise determination of parameters' has been used for the development of this system. The system provides the optimal values for speed, feed, depths of cut, tool-substrate, its coating, tool geometry and prediction of tool-life, surface-integrity and more, according to workpiece material, intended objective, and other inputs provided to it.
{"title":"A fuzzy expert system for optimization of high-speed milling process","authors":"A. Iqbal, N. He, Liang Li","doi":"10.1109/ROMOCO.2005.201439","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201439","url":null,"abstract":"With the ever-increasing diversity of data related to highspeed milling, a need is bound to be felt to integrate them at a single platform, so as to be effective for industrial use. In this paper, an approach, to convert the heap of diverse and varied HSM data to a comprehensive knowledge-base has been presented. The system comprising of this knowledge-base along with fuzzy reasoning mechanism, for the purpose of optimizing parameters in HSM of hardened steels has been named as EXHARMIL. Expert system shell of fuzzy CLIPS and the strategy of 'stepwise determination of parameters' has been used for the development of this system. The system provides the optimal values for speed, feed, depths of cut, tool-substrate, its coating, tool geometry and prediction of tool-life, surface-integrity and more, according to workpiece material, intended objective, and other inputs provided to it.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125735068","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-06-23DOI: 10.1109/ROMOCO.2005.201425
D. Pazderski, K. Kozlowski
This paper presents a new time-varying kinematic algorithm ensuring practical stabilization for the regulation and trajectory tracking (for both admissible and non-admissible trajectories) problem applied to control of two-wheel mobile robot. This proposition is based on work done by W. Dixon et al. (2003) and P. Morin and C. Samson (2003). The significant part of the paper concentrates on choosing suitable accuracy of tracking in order to limit frequency of control signal and to improve quality of transient stage. Theoretical results are verified for regulation problem by extensive experimental work using real mobile robot and vision localization system with respect to the different values of input saturation.
{"title":"Practical stabilization of two-wheel mobile robot with velocity limitations using time-varying control law","authors":"D. Pazderski, K. Kozlowski","doi":"10.1109/ROMOCO.2005.201425","DOIUrl":"https://doi.org/10.1109/ROMOCO.2005.201425","url":null,"abstract":"This paper presents a new time-varying kinematic algorithm ensuring practical stabilization for the regulation and trajectory tracking (for both admissible and non-admissible trajectories) problem applied to control of two-wheel mobile robot. This proposition is based on work done by W. Dixon et al. (2003) and P. Morin and C. Samson (2003). The significant part of the paper concentrates on choosing suitable accuracy of tracking in order to limit frequency of control signal and to improve quality of transient stage. Theoretical results are verified for regulation problem by extensive experimental work using real mobile robot and vision localization system with respect to the different values of input saturation.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129976457","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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