Pub Date : 2015-04-22DOI: 10.1109/ICARA.2015.7081159
A. D. Martin, T. Molteno
We demonstrate sequential mass inference of a suspended bag of milk powder from simulated measurements of the vertical force component at the pivot while the bag is being filled. We compare the predictions of various sequential inference methods both with and without a physics model to capture the system dynamics. We find that non-augmented and augmented-state unscented Kalman filters (UKFs) in conjunction with a physics model of a pendulum of varying mass and length provide rapid and accurate predictions of the milk powder mass as a function of time. The UKFs outperform the other method tested - a particle filter. Moreover, inference methods which incorporate a physics model outperform equivalent algorithms which do not.
{"title":"Automated weighing by sequential inference in dynamic environments","authors":"A. D. Martin, T. Molteno","doi":"10.1109/ICARA.2015.7081159","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081159","url":null,"abstract":"We demonstrate sequential mass inference of a suspended bag of milk powder from simulated measurements of the vertical force component at the pivot while the bag is being filled. We compare the predictions of various sequential inference methods both with and without a physics model to capture the system dynamics. We find that non-augmented and augmented-state unscented Kalman filters (UKFs) in conjunction with a physics model of a pendulum of varying mass and length provide rapid and accurate predictions of the milk powder mass as a function of time. The UKFs outperform the other method tested - a particle filter. Moreover, inference methods which incorporate a physics model outperform equivalent algorithms which do not.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130180287","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081176
Muhammad Faraz Shaikh, Z. Salcic, K. Wang
Force Sensitive Resistors (FSRs) are used for kinetic evaluation of human gait by measuring under foot pressures during gait. FSRs from different manufacturers, with variation in morphologies and loading capacities were selected in past research projects. However a functional comparison of different FSRs and options on how to choose them for gait analysis is not established yet. In this work, investigation and comparison of behavioral patterns in measuring normal gait from two major FSR sensors are done. These FSRs had been utilised previously for the purpose of gait sensing. They were placed underneath the heel alternatively to detect heel pressures while wearing footwear with laces and with another footwear possessing straps for harnessing. Both sensors are connected to a miniature low power wireless senor node used for data collection and wireless transmission for off-line analysis of pressure patterns. The results give good indications on capabilities and trade-offs when using the two sensors types.
{"title":"Analysis and selection of the Force Sensitive Resistors for gait characterisation","authors":"Muhammad Faraz Shaikh, Z. Salcic, K. Wang","doi":"10.1109/ICARA.2015.7081176","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081176","url":null,"abstract":"Force Sensitive Resistors (FSRs) are used for kinetic evaluation of human gait by measuring under foot pressures during gait. FSRs from different manufacturers, with variation in morphologies and loading capacities were selected in past research projects. However a functional comparison of different FSRs and options on how to choose them for gait analysis is not established yet. In this work, investigation and comparison of behavioral patterns in measuring normal gait from two major FSR sensors are done. These FSRs had been utilised previously for the purpose of gait sensing. They were placed underneath the heel alternatively to detect heel pressures while wearing footwear with laces and with another footwear possessing straps for harnessing. Both sensors are connected to a miniature low power wireless senor node used for data collection and wireless transmission for off-line analysis of pressure patterns. The results give good indications on capabilities and trade-offs when using the two sensors types.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116837853","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081194
Tri Nguyen, M. Chew, S. Demidenko
This paper describes an eye tracking system for drowsiness detection of a driver. It is based on application of Viola Jones algorithm and Percentage of Eyelid Closure (PERCLOS). The system alerts the driver if the drowsiness index exceeds a pre-specified level.
{"title":"Eye tracking system to detect driver drowsiness","authors":"Tri Nguyen, M. Chew, S. Demidenko","doi":"10.1109/ICARA.2015.7081194","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081194","url":null,"abstract":"This paper describes an eye tracking system for drowsiness detection of a driver. It is based on application of Viola Jones algorithm and Percentage of Eyelid Closure (PERCLOS). The system alerts the driver if the drowsiness index exceeds a pre-specified level.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"129 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124618810","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081157
H. Jull, R. Künnemeyer, S. Talele, P. Schaare, M. Seelye
Sodium concentration in plants inhibit shoot and root growth. Traditional wet-chemical methods of determining elemental concentrations require pre-treatment and leave unwanted by-products. Laser-induced breakdown spectroscopy is a technique that needs very little pre-treatment and produces no secondary waste. Laser-induced breakdown spectroscopy is used in this work to determine sodium concentrations in dried pasture samples. Temperature correction on the gathered spectra was attempted using Boltzmann and Saha-Boltzmann plots. These methods failed to deliver satisfactory results. Different combinations of internal reference standards were used on the Na I 818.326 nm line which resulted in an improved correlation with sodium concentration. Partial least squares regression was used on the gathered spectra to find emission lines that vary with the sodium concentration. Calcium, sodium, potassium and an argon line demonstrated high predictor weights. The Na I 818.326 nm, Na I 819.482 nm, K I 693.876 nm and K I 691.108 nm lines exhibited large dependence on sodium concentration. Building a calibration curve of sodium to potassium emission line intensity versus sodium to potassium concentration in the samples produced a correlation of R2 = 0.918 and an error in prediction of 0.0254.
植物体内钠的浓度会抑制茎和根的生长。传统的湿化学方法测定元素浓度需要预处理，并留下不需要的副产品。激光诱导击穿光谱是一种需要很少预处理和不产生二次废物的技术。激光诱导击穿光谱法用于测定牧草干燥样品中的钠浓度。利用玻尔兹曼图和saha -玻尔兹曼图对收集到的光谱进行了温度校正。这些方法未能产生令人满意的结果。在Na I 818.326 nm线上采用不同的内标组合，提高了其与钠浓度的相关性。利用偏最小二乘回归对所收集的光谱进行回归，找出随钠浓度变化的发射谱线。钙、钠、钾和氩线显示出较高的预测权重。Na I 818.326 nm、Na I 819.482 nm、ki 693.876 nm和ki 691.108 nm谱线对钠浓度的依赖性较大。建立样品中钠钾辐射线强度与钠钾浓度的校正曲线，相关系数R2 = 0.918，预测误差为0.0254。
{"title":"Laser-induced breakdown spectroscopy analysis of sodium in pelletised pasture samples","authors":"H. Jull, R. Künnemeyer, S. Talele, P. Schaare, M. Seelye","doi":"10.1109/ICARA.2015.7081157","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081157","url":null,"abstract":"Sodium concentration in plants inhibit shoot and root growth. Traditional wet-chemical methods of determining elemental concentrations require pre-treatment and leave unwanted by-products. Laser-induced breakdown spectroscopy is a technique that needs very little pre-treatment and produces no secondary waste. Laser-induced breakdown spectroscopy is used in this work to determine sodium concentrations in dried pasture samples. Temperature correction on the gathered spectra was attempted using Boltzmann and Saha-Boltzmann plots. These methods failed to deliver satisfactory results. Different combinations of internal reference standards were used on the Na I 818.326 nm line which resulted in an improved correlation with sodium concentration. Partial least squares regression was used on the gathered spectra to find emission lines that vary with the sodium concentration. Calcium, sodium, potassium and an argon line demonstrated high predictor weights. The Na I 818.326 nm, Na I 819.482 nm, K I 693.876 nm and K I 691.108 nm lines exhibited large dependence on sodium concentration. Building a calibration curve of sodium to potassium emission line intensity versus sodium to potassium concentration in the samples produced a correlation of R2 = 0.918 and an error in prediction of 0.0254.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"132 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121542814","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081201
Chyi-Yeu Lin, Li-Wen Chuang, Li-Chieh Cheng, Ke-Jeng Lin
This paper aims to develop an autonomous humanoid finger gaming robot that can interact with humans. The finger gaming robot will have 9-inch panel display to show the robot face, two robotic arms of which each contains a hand with five fingers, a mechanical chest, and a wheel-type mobile platform. The mechanical arm and hand can smoothly carry out all actions required in a finger guessing game. The robot can recognize human hand gestures and tell the number of fingers shown. Aided with speech recognition capability, the robot can identify the content of human players' finger guessing. The finger gaming robot can, in the absence of human help, independently detect intelligence, and autonomously carry out a variety of finger guessing game contests with humans, providing a brand new entertainment robot in the catering sector.
{"title":"An interactive finger-gaming robot with real-time emotion feedback","authors":"Chyi-Yeu Lin, Li-Wen Chuang, Li-Chieh Cheng, Ke-Jeng Lin","doi":"10.1109/ICARA.2015.7081201","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081201","url":null,"abstract":"This paper aims to develop an autonomous humanoid finger gaming robot that can interact with humans. The finger gaming robot will have 9-inch panel display to show the robot face, two robotic arms of which each contains a hand with five fingers, a mechanical chest, and a wheel-type mobile platform. The mechanical arm and hand can smoothly carry out all actions required in a finger guessing game. The robot can recognize human hand gestures and tell the number of fingers shown. Aided with speech recognition capability, the robot can identify the content of human players' finger guessing. The finger gaming robot can, in the absence of human help, independently detect intelligence, and autonomously carry out a variety of finger guessing game contests with humans, providing a brand new entertainment robot in the catering sector.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132321018","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081137
A. Schyja, B. Kuhlenkötter
Although bin-picking is a well-researched and popular topic, planning and designing bin-picking systems is still a challenge. One reason for this is the fact that no comprehensive tools for planning such systems in an early engineering stage exist. Hence, there is no possibility to determine optimal system components and their configuration. In particular, there is no chance to provide a complete simulation and verification in advance, which is state of the art in many areas of virtual commissioning. In this paper, we present a versatile solution for planning, configuration and simulation of bin-picking systems within a virtual environment. Thus, a qualitative and quantitative evidence of bin-picking becomes possible. Based on real and virtual use cases results of a research experience are presented.
{"title":"Realistic simulation of industrial bin-picking systems","authors":"A. Schyja, B. Kuhlenkötter","doi":"10.1109/ICARA.2015.7081137","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081137","url":null,"abstract":"Although bin-picking is a well-researched and popular topic, planning and designing bin-picking systems is still a challenge. One reason for this is the fact that no comprehensive tools for planning such systems in an early engineering stage exist. Hence, there is no possibility to determine optimal system components and their configuration. In particular, there is no chance to provide a complete simulation and verification in advance, which is state of the art in many areas of virtual commissioning. In this paper, we present a versatile solution for planning, configuration and simulation of bin-picking systems within a virtual environment. Thus, a qualitative and quantitative evidence of bin-picking becomes possible. Based on real and virtual use cases results of a research experience are presented.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130256673","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081173
David Rivas, Felix Manjarres, Jose Mena, J. Carrillo-Medina, Victor Bautista, Mayra Erazo-Rodas, Milton Perez, Omar Galarza-Barrionuevo, Mónica Huerta
Robotic arms have been proposed since the 50's and they have evolved to play a key role in a number of applications, such as food, auto motion, and entertainment industry. Two of the paramount parameters in the design of arm robots are their weight and their strength efficiency. Our aim was to improve these two key parameters by using ABS plastic in the design and construction of a robotic arm structure with six degrees of freedom. ABS plastic is a highly stiff and hard material even at low temperatures, and it represents a low-cost solution compared to conventional materials such as aluminum and steel, hence it is widely used in many engineering applications. We studied the pieces of robotic arm CrustCrawler Pro-Series for supporting the mathematical and structural modeling for its redesigning, and inverse engineering and morphogenesis were used for studying and improving its structures. The resulting robotic arm was redesigned with focus on the mass reduction criteria in terms of as much substitution as possible by ABS plastic, and it was capable of holding a weight larger than its own, given that the suppressed weight can be used for improved fastening and holding. Other advantages can be obtained from the achieved mass reduction in other structure components, yielding improved efficiency.
{"title":"Inverse engineering design and construction of an ABS plastic, six DOF robotic arm structure","authors":"David Rivas, Felix Manjarres, Jose Mena, J. Carrillo-Medina, Victor Bautista, Mayra Erazo-Rodas, Milton Perez, Omar Galarza-Barrionuevo, Mónica Huerta","doi":"10.1109/ICARA.2015.7081173","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081173","url":null,"abstract":"Robotic arms have been proposed since the 50's and they have evolved to play a key role in a number of applications, such as food, auto motion, and entertainment industry. Two of the paramount parameters in the design of arm robots are their weight and their strength efficiency. Our aim was to improve these two key parameters by using ABS plastic in the design and construction of a robotic arm structure with six degrees of freedom. ABS plastic is a highly stiff and hard material even at low temperatures, and it represents a low-cost solution compared to conventional materials such as aluminum and steel, hence it is widely used in many engineering applications. We studied the pieces of robotic arm CrustCrawler Pro-Series for supporting the mathematical and structural modeling for its redesigning, and inverse engineering and morphogenesis were used for studying and improving its structures. The resulting robotic arm was redesigned with focus on the mass reduction criteria in terms of as much substitution as possible by ABS plastic, and it was capable of holding a weight larger than its own, given that the suppressed weight can be used for improved fastening and holding. Other advantages can be obtained from the achieved mass reduction in other structure components, yielding improved efficiency.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134375756","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081214
L. Murugesan, Rashina Hoda, Z. Salcic
Energy consumption is a vital component in day-today life. Visualising energy consumption, recommending energy conserving strategies and, controlling the appliances are some of the widely considered means to motivate and/or to help end-users at household to conserve energy. However, the conventional energy visualisation applications have certain drawbacks, such as lack of energy consumption location, lack of controlling appliances based on energy-saving recommendations, etc. To overcome those, this research would accomplish a simulation model by designing the following: (i) visualisation engine, to visualise household electricity consumption, (ii) recommendation engine, to provide energy-saving recommendations to the end-users, (iii) control engine, to control the household appliances based on the recommendations, and (iv) integrate visualisation, recommendation and control engines. This research uses a combination of user-centred design and iterative development methods. Successful implementation of these objectives would provide a significant contribution to this inter-disciplinary research area and would serve to achieve higher energy savings.
{"title":"Toward visualising and controlling household electrical appliances","authors":"L. Murugesan, Rashina Hoda, Z. Salcic","doi":"10.1109/ICARA.2015.7081214","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081214","url":null,"abstract":"Energy consumption is a vital component in day-today life. Visualising energy consumption, recommending energy conserving strategies and, controlling the appliances are some of the widely considered means to motivate and/or to help end-users at household to conserve energy. However, the conventional energy visualisation applications have certain drawbacks, such as lack of energy consumption location, lack of controlling appliances based on energy-saving recommendations, etc. To overcome those, this research would accomplish a simulation model by designing the following: (i) visualisation engine, to visualise household electricity consumption, (ii) recommendation engine, to provide energy-saving recommendations to the end-users, (iii) control engine, to control the household appliances based on the recommendations, and (iv) integrate visualisation, recommendation and control engines. This research uses a combination of user-centred design and iterative development methods. Successful implementation of these objectives would provide a significant contribution to this inter-disciplinary research area and would serve to achieve higher energy savings.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130753379","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081131
S. Paulin, T. Botterill, Jessica Lin, Xiaoqi Chen, R. Green
We compare eight commonly used path planning algorithms on a robot arm for pruning grape vines. Pruning grape vines involves planning a path that reaches into cluttered regions and through narrow passages. These problems are known to be difficult for sampling based planners. We show that the choice of milestone expansion method has more of an effect on path planner performance than search directionality or laziness. We found the Rapidly Expanding Random Trees algorithm and its variations had the best overall performance.
{"title":"A comparison of sampling-based path planners for a grape vine pruning robot arm","authors":"S. Paulin, T. Botterill, Jessica Lin, Xiaoqi Chen, R. Green","doi":"10.1109/ICARA.2015.7081131","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081131","url":null,"abstract":"We compare eight commonly used path planning algorithms on a robot arm for pruning grape vines. Pruning grape vines involves planning a path that reaches into cluttered regions and through narrow passages. These problems are known to be difficult for sampling based planners. We show that the choice of milestone expansion method has more of an effect on path planner performance than search directionality or laziness. We found the Rapidly Expanding Random Trees algorithm and its variations had the best overall performance.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128905350","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081140
K. Worrall, D. Thomson, E. McGookin
This paper presents the application of Inverse Simulation to the control of a mobile robot. The implementation of this technique for motion control has been found to provide highly accurate trajectory tracking. Since the input to the Inverse Simulation is a time history of the desired response, then greater control over the position and orientation of the mobile robot can be achieved. There are many situations where the desired path of a mobile robot is known e.g. planetary rover navigation, factory or warehouse floor, bomb disposal. Typically the robot is either controlled remotely or runs an online controller to navigate the desired path. For a given path, a navigation system generates the desired drive parameters (i.e. heading and velocity) and the associated controllers drive the corresponding actuators. Traditionally the controllers are required to be tuned using knowledge of the limitations of the mobile robot. Inverse Simulation provides a means of generating the required control signals with no need for controller tuning. The use of Inverse Simulation is suitable in cases where the cost of the mobile robot or actuators is high, desired drive requirements need to be met or for situations where tight tolerances on the trajectory are to be achieved. In this paper the benefits of applying Inverse Simulation to the control of a mobile robot are discussed and appropriate results presented.
{"title":"Application of Inverse Simulation to a wheeled mobile robot","authors":"K. Worrall, D. Thomson, E. McGookin","doi":"10.1109/ICARA.2015.7081140","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081140","url":null,"abstract":"This paper presents the application of Inverse Simulation to the control of a mobile robot. The implementation of this technique for motion control has been found to provide highly accurate trajectory tracking. Since the input to the Inverse Simulation is a time history of the desired response, then greater control over the position and orientation of the mobile robot can be achieved. There are many situations where the desired path of a mobile robot is known e.g. planetary rover navigation, factory or warehouse floor, bomb disposal. Typically the robot is either controlled remotely or runs an online controller to navigate the desired path. For a given path, a navigation system generates the desired drive parameters (i.e. heading and velocity) and the associated controllers drive the corresponding actuators. Traditionally the controllers are required to be tuned using knowledge of the limitations of the mobile robot. Inverse Simulation provides a means of generating the required control signals with no need for controller tuning. The use of Inverse Simulation is suitable in cases where the cost of the mobile robot or actuators is high, desired drive requirements need to be met or for situations where tight tolerances on the trajectory are to be achieved. In this paper the benefits of applying Inverse Simulation to the control of a mobile robot are discussed and appropriate results presented.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115466782","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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