Pub Date : 2013-10-21DOI: 10.1109/ROSE.2013.6698435
M. Heshmat, M. Abdellatif, Hossam S. Abbas
Visual Simultaneous Localization And Mapping, (VSLAM) algorithms exploit the observation of scene naturally-existing distinct features to infer the camera motion and build a map of a static environment. There is an increasing interest towards building efficient VSLAM algorithms mainly from computational perspectives; however, there may be insufficient clues to solve for SLAM parameters efficiently. In this paper, deliberate camera oscillations are superimposed on the camera main motion (robot motion), mostly in a lateral direction to give sufficient physical clues for the solution. Filtering methods exploit correlation to infer the motion parameters, and since oscillation introduces more local changes, it can enhance the estimation by correlation. Simulation results are presented showing the effects of oscillation parameters on visual SLAM performance in different motion scenarios. The results showed significant improvement of accuracy for oscillating camera over the steady camera case, and in several cases errors are reduced to less than half its value. These simulation results can be the basis to design a real experimental system.
{"title":"Improving visual SLAM accuracy through deliberate camera oscillations","authors":"M. Heshmat, M. Abdellatif, Hossam S. Abbas","doi":"10.1109/ROSE.2013.6698435","DOIUrl":"https://doi.org/10.1109/ROSE.2013.6698435","url":null,"abstract":"Visual Simultaneous Localization And Mapping, (VSLAM) algorithms exploit the observation of scene naturally-existing distinct features to infer the camera motion and build a map of a static environment. There is an increasing interest towards building efficient VSLAM algorithms mainly from computational perspectives; however, there may be insufficient clues to solve for SLAM parameters efficiently. In this paper, deliberate camera oscillations are superimposed on the camera main motion (robot motion), mostly in a lateral direction to give sufficient physical clues for the solution. Filtering methods exploit correlation to infer the motion parameters, and since oscillation introduces more local changes, it can enhance the estimation by correlation. Simulation results are presented showing the effects of oscillation parameters on visual SLAM performance in different motion scenarios. The results showed significant improvement of accuracy for oscillating camera over the steady camera case, and in several cases errors are reduced to less than half its value. These simulation results can be the basis to design a real experimental system.","PeriodicalId":187001,"journal":{"name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114434675","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 : 2013-10-01DOI: 10.1109/ROSE.2013.6698441
M. Herrmann, M. Otesteanu, M. Otto
In this paper we propose a novel algorithm to bring car body panels into the “BestFit”-position of the related object. The algorithm provides the necessary correction in a single step, it is not iterating to reach the panel's “BestFit”-position. Additionally, no model coordinates of the panel or the object are necessary to set up the system. Since only a single correction value has to be transmitted to the robot, an implementation of complicated communication interfaces for continues position updates like Kuka/RSI [1] is unneeded. The proposed algorithm also has a positive influence on the stability of the process, because the algorithm can detect critical deviations in the panel's shape as soon as the panel is being grabbed.
{"title":"A novel approach for automated car body panel fitting","authors":"M. Herrmann, M. Otesteanu, M. Otto","doi":"10.1109/ROSE.2013.6698441","DOIUrl":"https://doi.org/10.1109/ROSE.2013.6698441","url":null,"abstract":"In this paper we propose a novel algorithm to bring car body panels into the “BestFit”-position of the related object. The algorithm provides the necessary correction in a single step, it is not iterating to reach the panel's “BestFit”-position. Additionally, no model coordinates of the panel or the object are necessary to set up the system. Since only a single correction value has to be transmitted to the robot, an implementation of complicated communication interfaces for continues position updates like Kuka/RSI [1] is unneeded. The proposed algorithm also has a positive influence on the stability of the process, because the algorithm can detect critical deviations in the panel's shape as soon as the panel is being grabbed.","PeriodicalId":187001,"journal":{"name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124836363","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 : 2013-10-01DOI: 10.1109/ROSE.2013.6698425
C. Schlenoff, T. Hong, Connie Liu, R. Eastman, S. Foufou
The purpose of this paper is to review existing sensor and sensor network ontologies to understand whether they can be reused as a basis for a manufacturing perception sensor ontology, or if the existing ontologies hold lessons for the development of a new ontology. We develop an initial set of requirements that should apply to a manufacturing perception sensor ontology. These initial requirements are used in reviewing selected existing sensor ontologies. Additionally, we present our developed sensor ontology thus far that incorporates a refined list of requirements. This paper describes 1) extending and refining the requirements; 2) proposing hierarchical structures for verifying the purposes of the ontology; 3) choosing appropriate tools and languages (e.g., OWL (Web Ontology Language) [1] and SensorML (Sensor Markup Language) [2]) to support such an ontology; and 4) extending the Semantic Sensor Network (SSN) ontology with a set of refined requirements (i.e., our developed ontology). This work will be proposed as a standard within the IEEE (Institute of Electrical and Electronics Engineers) Robotics and Automation Society (RAS) Ontologies for Robotics Automation (ORA) Working Group [3].
{"title":"A literature review of sensor ontologies for manufacturing applications","authors":"C. Schlenoff, T. Hong, Connie Liu, R. Eastman, S. Foufou","doi":"10.1109/ROSE.2013.6698425","DOIUrl":"https://doi.org/10.1109/ROSE.2013.6698425","url":null,"abstract":"The purpose of this paper is to review existing sensor and sensor network ontologies to understand whether they can be reused as a basis for a manufacturing perception sensor ontology, or if the existing ontologies hold lessons for the development of a new ontology. We develop an initial set of requirements that should apply to a manufacturing perception sensor ontology. These initial requirements are used in reviewing selected existing sensor ontologies. Additionally, we present our developed sensor ontology thus far that incorporates a refined list of requirements. This paper describes 1) extending and refining the requirements; 2) proposing hierarchical structures for verifying the purposes of the ontology; 3) choosing appropriate tools and languages (e.g., OWL (Web Ontology Language) [1] and SensorML (Sensor Markup Language) [2]) to support such an ontology; and 4) extending the Semantic Sensor Network (SSN) ontology with a set of refined requirements (i.e., our developed ontology). This work will be proposed as a standard within the IEEE (Institute of Electrical and Electronics Engineers) Robotics and Automation Society (RAS) Ontologies for Robotics Automation (ORA) Working Group [3].","PeriodicalId":187001,"journal":{"name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128689819","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 : 2013-10-01DOI: 10.1109/ROSE.2013.6698409
Yi Shen, G. Reinhart
Recent developments facilitated the integration of industrial robots into hybrid work cells in order to share a common workspace with the human worker. Besides, the worldwide demographic change leads to an increasing need for hybrid assembly solutions that represent a promising solution for encountering the challenges of the future and the rising demand for flexible and reactive production systems. Nevertheless, the physical human safety within human-robot co-operation represents the key requirement. This paper introduces a model-based safety-system for co-operative robots using an onlinemodel of the robot work cell. Based on a test bench, generic functional specifications and important safety aspects are derived, highlighted and discussed, namely data processing, hardware defects and test structures are covered.
{"title":"Considerations on deploying a model-based safety system into human-robot co-operation","authors":"Yi Shen, G. Reinhart","doi":"10.1109/ROSE.2013.6698409","DOIUrl":"https://doi.org/10.1109/ROSE.2013.6698409","url":null,"abstract":"Recent developments facilitated the integration of industrial robots into hybrid work cells in order to share a common workspace with the human worker. Besides, the worldwide demographic change leads to an increasing need for hybrid assembly solutions that represent a promising solution for encountering the challenges of the future and the rising demand for flexible and reactive production systems. Nevertheless, the physical human safety within human-robot co-operation represents the key requirement. This paper introduces a model-based safety-system for co-operative robots using an onlinemodel of the robot work cell. Based on a test bench, generic functional specifications and important safety aspects are derived, highlighted and discussed, namely data processing, hardware defects and test structures are covered.","PeriodicalId":187001,"journal":{"name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121596520","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 : 2013-10-01DOI: 10.1109/ROSE.2013.6698427
Anil Kumar, P. Ben-Tzvi, M. R. Snyder, Wael Saab
This paper presents an instrumentation system developed for off-ship measurement of ship air wakes using an instrumented radio controlled (RC) helicopter. We propose the use of an IMU as a sensor to measure air wake in the form of induced vibrations on the helicopter while it maneuvers through regions of active air wake. The proposed system makes use of Back Propagation neural networks to compensate for the vibrational noise contributed by pilot inputs. The instrumentation system was tested on a modified training vessel in the Chesapeake Bay, which provided a wide range of wind conditions.
{"title":"Instrumentation system for ship air wake measurement","authors":"Anil Kumar, P. Ben-Tzvi, M. R. Snyder, Wael Saab","doi":"10.1109/ROSE.2013.6698427","DOIUrl":"https://doi.org/10.1109/ROSE.2013.6698427","url":null,"abstract":"This paper presents an instrumentation system developed for off-ship measurement of ship air wakes using an instrumented radio controlled (RC) helicopter. We propose the use of an IMU as a sensor to measure air wake in the form of induced vibrations on the helicopter while it maneuvers through regions of active air wake. The proposed system makes use of Back Propagation neural networks to compensate for the vibrational noise contributed by pilot inputs. The instrumentation system was tested on a modified training vessel in the Chesapeake Bay, which provided a wide range of wind conditions.","PeriodicalId":187001,"journal":{"name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127627670","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 : 2013-10-01DOI: 10.1109/ROSE.2013.6698428
Vatana An, Z. Qu
This paper presents a practical approach to coverage planning with multiple circular mobile sensors. Our approach provides a scalable solution with respect to distance, sensor's range, time, and nonholonomic constraints. In addition to achieving complete and near optimal coverage, our approach also autonomously controls each mobile robot to avoid all moving and stationary obstacles. Our solution relies on the Art Gallery Problem's (AGP) concept and Traveling Salesman Problem's (TSP) concept which are NP-hard. Our approach follows six steps. First, given an arbitrary number of statically circular objects, apply the Delaunay Triangulation Method on the objects. Second, apply the Circular Waypoint Coverage Placement algorithm, based on the sensing range, to find the Cartesian coordinate of waypoint required for each face. Third, apply the traveling salesman algorithm to find the desirable tour. Fourth, apply the Novel Previous-Next Waypoints Coverage Constraint (PNWCC) algorithm to reduce the distance and angle among all waypoints in the tour, while maintaining complete coverage. Each and every waypoint may move to a different position or delete as a result of this step. Fifth, apply a cubic Spline algorithm to smooth the tour. Sixth, apply the Trajectory Planning Technique to steer the mobile robots from the given desired initial position and orientation to the desired final position and orientation collision-free and on time.
{"title":"A practical approach to coverage control for multiple mobile robots with a circular sensing range","authors":"Vatana An, Z. Qu","doi":"10.1109/ROSE.2013.6698428","DOIUrl":"https://doi.org/10.1109/ROSE.2013.6698428","url":null,"abstract":"This paper presents a practical approach to coverage planning with multiple circular mobile sensors. Our approach provides a scalable solution with respect to distance, sensor's range, time, and nonholonomic constraints. In addition to achieving complete and near optimal coverage, our approach also autonomously controls each mobile robot to avoid all moving and stationary obstacles. Our solution relies on the Art Gallery Problem's (AGP) concept and Traveling Salesman Problem's (TSP) concept which are NP-hard. Our approach follows six steps. First, given an arbitrary number of statically circular objects, apply the Delaunay Triangulation Method on the objects. Second, apply the Circular Waypoint Coverage Placement algorithm, based on the sensing range, to find the Cartesian coordinate of waypoint required for each face. Third, apply the traveling salesman algorithm to find the desirable tour. Fourth, apply the Novel Previous-Next Waypoints Coverage Constraint (PNWCC) algorithm to reduce the distance and angle among all waypoints in the tour, while maintaining complete coverage. Each and every waypoint may move to a different position or delete as a result of this step. Fifth, apply a cubic Spline algorithm to smooth the tour. Sixth, apply the Trajectory Planning Technique to steer the mobile robots from the given desired initial position and orientation to the desired final position and orientation collision-free and on time.","PeriodicalId":187001,"journal":{"name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131025287","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 : 2013-10-01DOI: 10.1109/ROSE.2013.6698433
Cheng-Lung Lee, M. Krishnan, M. Paulik, Utayba Mohammad
A new robot local path planning algorithm is proposed that attempts to improve drive path contouring when in autonomous mode, by integrating a vehicle dynamics model into decision making. The technique is formulated in a space made up of path trajectories, where each trajectory corresponds to selected values for four parameters - initial and final forward and turn velocities for the robot. A criterion function that balances speed vs. safety is formulated to pick the best target forward and turn velocities for any given robot state. An advantage of the method is that driving decision commands are directly compatible with typical differential-drive motor controller inputs. The method is implemented on a differential drive robot with torque-limited motors, that is driven in a roadway type environment with occasional partial obstruction. Experimental results are presented.
{"title":"A new trajectory-based path planning approach for differential drive vehicles","authors":"Cheng-Lung Lee, M. Krishnan, M. Paulik, Utayba Mohammad","doi":"10.1109/ROSE.2013.6698433","DOIUrl":"https://doi.org/10.1109/ROSE.2013.6698433","url":null,"abstract":"A new robot local path planning algorithm is proposed that attempts to improve drive path contouring when in autonomous mode, by integrating a vehicle dynamics model into decision making. The technique is formulated in a space made up of path trajectories, where each trajectory corresponds to selected values for four parameters - initial and final forward and turn velocities for the robot. A criterion function that balances speed vs. safety is formulated to pick the best target forward and turn velocities for any given robot state. An advantage of the method is that driving decision commands are directly compatible with typical differential-drive motor controller inputs. The method is implemented on a differential drive robot with torque-limited motors, that is driven in a roadway type environment with occasional partial obstruction. Experimental results are presented.","PeriodicalId":187001,"journal":{"name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"223 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116041718","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 : 2013-10-01DOI: 10.1109/ROSE.2013.6698411
Zhou Ma, P. Ben-Tzvi
This paper presents a two-fingered haptic interface named RML-glove. With this system, the operator can feel the shape and size of virtual 3D objects, and control a robot through force feedback. The tendon driven system makes this haptic glove a lighter and portable system that fits on a bare hand, and adds a haptic sense of force feedback to the fingers without constraining their natural movement. In order to explore the effect of cable friction and frictional losses in this system, experiments were conducted to investigate the impact of different variables including pulleys' active arc, tendon velocity, as well as cable tension and lubrication.
{"title":"Tendon transmission efficiency of a two-finger haptic glove","authors":"Zhou Ma, P. Ben-Tzvi","doi":"10.1109/ROSE.2013.6698411","DOIUrl":"https://doi.org/10.1109/ROSE.2013.6698411","url":null,"abstract":"This paper presents a two-fingered haptic interface named RML-glove. With this system, the operator can feel the shape and size of virtual 3D objects, and control a robot through force feedback. The tendon driven system makes this haptic glove a lighter and portable system that fits on a bare hand, and adds a haptic sense of force feedback to the fingers without constraining their natural movement. In order to explore the effect of cable friction and frictional losses in this system, experiments were conducted to investigate the impact of different variables including pulleys' active arc, tendon velocity, as well as cable tension and lubrication.","PeriodicalId":187001,"journal":{"name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130890914","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 : 2013-10-01DOI: 10.1109/ROSE.2013.6698446
Xinliang Lu, J. Shan, Zhou Jing, Xingsong Wang
An adaptive sliding mode control technique is presented for an electro-hydraulic servo system with single-rod actuators in the presence of uncertain nonlinearities and unknown dynamics in this paper. The influence of different wording area of the single-rod actuator to dynamics of the system is regarded in contrast to double-rod. Some other uncertainties were considered in the technique, and the robust sliding mode controller was designed. The theoretical proof indicates that it can guarantee globally asymptotic stable. The experimental platform was set up, and a pneumatic cylinder was employed to generate variable load. The experimental result shows the control algorithm can not only obtain tracking accuracy of the system and robust to the external disturbances and unknown nonlinearities but also can decrease error in contrast to conventional PID control technique.
{"title":"Adaptive sliding mode position control of electro-hydraulic servo system with single-rod actuators","authors":"Xinliang Lu, J. Shan, Zhou Jing, Xingsong Wang","doi":"10.1109/ROSE.2013.6698446","DOIUrl":"https://doi.org/10.1109/ROSE.2013.6698446","url":null,"abstract":"An adaptive sliding mode control technique is presented for an electro-hydraulic servo system with single-rod actuators in the presence of uncertain nonlinearities and unknown dynamics in this paper. The influence of different wording area of the single-rod actuator to dynamics of the system is regarded in contrast to double-rod. Some other uncertainties were considered in the technique, and the robust sliding mode controller was designed. The theoretical proof indicates that it can guarantee globally asymptotic stable. The experimental platform was set up, and a pneumatic cylinder was employed to generate variable load. The experimental result shows the control algorithm can not only obtain tracking accuracy of the system and robust to the external disturbances and unknown nonlinearities but also can decrease error in contrast to conventional PID control technique.","PeriodicalId":187001,"journal":{"name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128136402","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 : 2013-10-01DOI: 10.1109/ROSE.2013.6698423
Saul Orzua, A. Baltazar, C. Treesatayapun
In the manufacturing industry, the detection of discontinuities on or below the surface of a test object is important for quality control. Also, in many instances when the object's surface cannot be in physical contact with the sensor (i.e. high temperature or surface conditions) a scan using non contact technique is required. In this work, the use of electromagnetic acoustic transducer (EMAT) to detect discontinuities without contact is proposed. To optimize the EMAT performance a constant lift-off distance between the sensor and the surface is needed. Here, we propose to use the signal gathered by the EMAT sensor as the position feedback of the end-effector of a linear system with one degree of freedom. A novel adaptive scheme for accurate positioning of an EMAT sensor based on RMS value of signal's amplitude and IF-THEN rules is proposed. This incorporates human knowledge about the manipulator and signal behavior into the artificial controller. An experimental system to validate the proposed controller was developed.
{"title":"Adaptive control for lift-off effect of EMAT based on IF-THEN rules and ultrasound RMS value","authors":"Saul Orzua, A. Baltazar, C. Treesatayapun","doi":"10.1109/ROSE.2013.6698423","DOIUrl":"https://doi.org/10.1109/ROSE.2013.6698423","url":null,"abstract":"In the manufacturing industry, the detection of discontinuities on or below the surface of a test object is important for quality control. Also, in many instances when the object's surface cannot be in physical contact with the sensor (i.e. high temperature or surface conditions) a scan using non contact technique is required. In this work, the use of electromagnetic acoustic transducer (EMAT) to detect discontinuities without contact is proposed. To optimize the EMAT performance a constant lift-off distance between the sensor and the surface is needed. Here, we propose to use the signal gathered by the EMAT sensor as the position feedback of the end-effector of a linear system with one degree of freedom. A novel adaptive scheme for accurate positioning of an EMAT sensor based on RMS value of signal's amplitude and IF-THEN rules is proposed. This incorporates human knowledge about the manipulator and signal behavior into the artificial controller. An experimental system to validate the proposed controller was developed.","PeriodicalId":187001,"journal":{"name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"378 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131768416","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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