Pub Date : 2007-03-01DOI: 10.2316/Journal.206.2007.2.206-2972
Cheng Chen, Han Wang
This paper presents a mapping method that can accurately map large environment with one single robot by visiting the environment for only once, and the resulting map can provide thorough 3D description for the environment in a predefined global coordinate system. Our first contribution is to represent the map as a collection of submaps arranged in a deformable configuration, and to perform loop-closing by registering this submap configuration to an aerial image. The second contribution is to introduce the active contour technique to the SLAM domain, so that the registration is efficiently solved in an iterative energy minimization process. The constraints from robot mapping are modeled as forces trying to keep the submaps consistent to each other, while the pictorial matching is represented by forces guiding submaps to a configuration consistent with the aerial image. In the experiment, we demonstrate the proposed algorithm’s capability to close a 1,890 meters loop with only one visiting. The result is compared with ground truth, and high accuracy is observed.
{"title":"Large-Scale Loop-Closing by Fusing Range Data and Aerial Image","authors":"Cheng Chen, Han Wang","doi":"10.2316/Journal.206.2007.2.206-2972","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.2.206-2972","url":null,"abstract":"This paper presents a mapping method that can accurately map large environment with one single robot by visiting the environment for only once, and the resulting map can provide thorough 3D description for the environment in a predefined global coordinate system. Our first contribution is to represent the map as a collection of submaps arranged in a deformable configuration, and to perform loop-closing by registering this submap configuration to an aerial image. The second contribution is to introduce the active contour technique to the SLAM domain, so that the registration is efficiently solved in an iterative energy minimization process. The constraints from robot mapping are modeled as forces trying to keep the submaps consistent to each other, while the pictorial matching is represented by forces guiding submaps to a configuration consistent with the aerial image. In the experiment, we demonstrate the proposed algorithm’s capability to close a 1,890 meters loop with only one visiting. The result is compared with ground truth, and high accuracy is observed.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131675417","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 : 2007-03-01DOI: 10.2316/Journal.206.2007.2.206-2735
G. Nokas, E. Dermatas
{"title":"Continuous speech Recognition in noise using a Spectrum-Entropy beam-former","authors":"G. Nokas, E. Dermatas","doi":"10.2316/Journal.206.2007.2.206-2735","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.2.206-2735","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127081161","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 : 2007-03-01DOI: 10.2316/Journal.206.2007.2.206-2921
F. Alonge, F. D’Ippolito, T. Raimondi
This paper deals with an adaptive control law for robotic manipulators based on a filtered signal to generate both the PD action and velocity estimates of the joints, suitable for trajectory tracking tasks, with the particular aim of reducing the harmonic content of the mechanical torques developed at the joints and thus avoiding excitation of unmodelled dynamics and instability. The practical aspects relative to the implementation of the control law are considered as relevant and, consequently, are detailed. In particular, several methods suitable to compute velocity estimates are discussed and compared with the method described in the paper. All of the above methods are illustrated by means of digital simulation and experimental findings carried out on a 2-DOF SCARA-type manipulator. The tests carried out show the validity of the discussed approach.
{"title":"A Control Law for robotic manipulators Based on a Filtered signal to Generate PD Action and velocity estimates","authors":"F. Alonge, F. D’Ippolito, T. Raimondi","doi":"10.2316/Journal.206.2007.2.206-2921","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.2.206-2921","url":null,"abstract":"This paper deals with an adaptive control law for robotic manipulators based on a filtered signal to generate both the PD action and velocity estimates of the joints, suitable for trajectory tracking tasks, with the particular aim of reducing the harmonic content of the mechanical torques developed at the joints and thus avoiding excitation of unmodelled dynamics and instability. The practical aspects relative to the implementation of the control law are considered as relevant and, consequently, are detailed. In particular, several methods suitable to compute velocity estimates are discussed and compared with the method described in the paper. All of the above methods are illustrated by means of digital simulation and experimental findings carried out on a 2-DOF SCARA-type manipulator. The tests carried out show the validity of the discussed approach.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121375245","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 : 2007-03-01DOI: 10.2316/Journal.206.2007.2.206-2937
Ke Fu, J. Mills
In this paper a control design approach termed the Convex Integrated Design (CID) method is used to design a robust controller for a high-speed, high-accuracy planar parallel robot. A controller that simultaneously satisfies four closed-loop performance specifications---the first three define closed-loop performance (i.e. the high-speed and high-accuracy motion of the platform with a limited control effort) and the fourth is a robustness specification that guarantees the previous three closed-loop performance specifications are satisfied in the presence of dynamic model uncertainty (e.g., unknown payload) and external disturbances---is determined using the CID method. Experimental results are presented that verify both the performance of the resultant control design and the CID method, applied to this planar parallel manipulator.
{"title":"Robust Control Design for a Planar Parallel robot","authors":"Ke Fu, J. Mills","doi":"10.2316/Journal.206.2007.2.206-2937","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.2.206-2937","url":null,"abstract":"In this paper a control design approach termed the Convex Integrated Design (CID) method is used to design a robust controller for a high-speed, high-accuracy planar parallel robot. A controller that simultaneously satisfies four closed-loop performance specifications---the first three define closed-loop performance (i.e. the high-speed and high-accuracy motion of the platform with a limited control effort) and the fourth is a robustness specification that guarantees the previous three closed-loop performance specifications are satisfied in the presence of dynamic model uncertainty (e.g., unknown payload) and external disturbances---is determined using the CID method. Experimental results are presented that verify both the performance of the resultant control design and the CID method, applied to this planar parallel manipulator.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129051305","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 : 2007-03-01DOI: 10.2316/Journal.206.2007.2.206-2942
R. Guerra, L. Acho, L. Aguilar
Friction is an important aspect for control design of mechanical systems, including robotics, because it can lead to tracking errors, limit cycles, and undesired stick-slip motion. An adaptive friction compensator design is presented here as an option for control design of mechanisms with friction. Using the "simplest" friction model representation (the new perspective), consisting only of a constant value, which is assumed to be unknown, an adaptive friction compensator is developed. In numerical experiments, the system friction is modelled through a more representative function, previously used in performance evaluation of controlled systems with friction, and then using the well known LuGre friction model. Simulation results show an acceptable performance of our compensator compared with another adaptive friction compensator previously reported. The advantage of our controller is its simplicity.
{"title":"Adaptive friction compensation for Mechanisms: a New Perspective","authors":"R. Guerra, L. Acho, L. Aguilar","doi":"10.2316/Journal.206.2007.2.206-2942","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.2.206-2942","url":null,"abstract":"Friction is an important aspect for control design of mechanical systems, including robotics, because it can lead to tracking errors, limit cycles, and undesired stick-slip motion. An adaptive friction compensator design is presented here as an option for control design of mechanisms with friction. Using the \"simplest\" friction model representation (the new perspective), consisting only of a constant value, which is assumed to be unknown, an adaptive friction compensator is developed. In numerical experiments, the system friction is modelled through a more representative function, previously used in performance evaluation of controlled systems with friction, and then using the well known LuGre friction model. Simulation results show an acceptable performance of our compensator compared with another adaptive friction compensator previously reported. The advantage of our controller is its simplicity.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127815624","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}
This paper presents an enhanced fuzzy sliding mode controller (EF-SMC) for improving the tracking performance of robotic manipulators, in which the fuzzy logic system is adopted as the adaptation mechanism to tune the gain of the sliding mode controller. The EFSMC can drive the state variables of robotic manipulators to hit a user-defined sliding surface quickly and slide along it. The sliding and global stability conditions are formulated and analyzed in terms of Lyapunov full quadratic form. To satisfy the real-time requirement of the robot system, the region-wise linear technology is introduced to reduce the fuzzy rules of the EFSMC. The simulation results have shown that the proposed controller can achieve a higher performance with minimum reaching time and smooth control actions. In addition, it shows that the controller is effective and robust to the parametric variation and external disturbance.
{"title":"Enhanced Fuzzy sliding Mode controller for robotic manipulators","authors":"Yongqian Zhao, Yunqing Zhang, Jingzhou Yang, Li-Ping Chen","doi":"10.2316/Journal.206.2007.2.206-2979","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.2.206-2979","url":null,"abstract":"This paper presents an enhanced fuzzy sliding mode controller (EF-SMC) for improving the tracking performance of robotic manipulators, in which the fuzzy logic system is adopted as the adaptation mechanism to tune the gain of the sliding mode controller. The EFSMC can drive the state variables of robotic manipulators to hit a user-defined sliding surface quickly and slide along it. The sliding and global stability conditions are formulated and analyzed in terms of Lyapunov full quadratic form. To satisfy the real-time requirement of the robot system, the region-wise linear technology is introduced to reduce the fuzzy rules of the EFSMC. The simulation results have shown that the proposed controller can achieve a higher performance with minimum reaching time and smooth control actions. In addition, it shows that the controller is effective and robust to the parametric variation and external disturbance.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"489 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133175072","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 : 2006-04-01DOI: 10.2316/Journal.206.2006.2.206-2794
Jing Ren, K. McIsaac, Rajnikant V. Patel
In this paper, we propose a hybrid navigation scheme for reconfigurable multi-agent teams. To accomplish a complex task such as search and rescue, agents need to frequently adjust their roles over time according to changes in the task space and in the environment. Furthermore, when exploring an unknown environment, the loss of a team member is likely and the addition of new team members to replace that loss is often necessary. Nevertheless, the loss and addition of members in the agent team should not affect the completion of the task. Our hybrid navigation scheme, consisting of a built-in reconfiguration mechanism and mode-switching navigation functions, reflects these needs by allowing an agent team to reconfigure itself to effectively complete a wide range of tasks. Our design has been implemented in C++ and has been tested by simulation in several typical tasks. We also investigate the effects of imperfect communication on the robustness of the navigation scheme.
{"title":"A Novel Hybrid Navigation Scheme for Reconfigurable Multi-Agent Teams","authors":"Jing Ren, K. McIsaac, Rajnikant V. Patel","doi":"10.2316/Journal.206.2006.2.206-2794","DOIUrl":"https://doi.org/10.2316/Journal.206.2006.2.206-2794","url":null,"abstract":"In this paper, we propose a hybrid navigation scheme for reconfigurable multi-agent teams. To accomplish a complex task such as search and rescue, agents need to frequently adjust their roles over time according to changes in the task space and in the environment. Furthermore, when exploring an unknown environment, the loss of a team member is likely and the addition of new team members to replace that loss is often necessary. Nevertheless, the loss and addition of members in the agent team should not affect the completion of the task. Our hybrid navigation scheme, consisting of a built-in reconfiguration mechanism and mode-switching navigation functions, reflects these needs by allowing an agent team to reconfigure itself to effectively complete a wide range of tasks. Our design has been implemented in C++ and has been tested by simulation in several typical tasks. We also investigate the effects of imperfect communication on the robustness of the navigation scheme.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115647810","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 : 2006-04-01DOI: 10.2316/Journal.206.2006.2.206-2797
Xiaoyu Yang, M. Moallem, Rajnikant V. Patel
In this paper, the "goal-unreachable" problems found in fuzzy logic-based algorithms for mobile robot navigation systems are studied. Two algorithms based on sensory information are developed to address problems with Goal-Unreachable with Large Obstacles (GUWLO) and Goal-Unreachable with Nearby Obstacles (GUWNO). The GUWLO problem occurs when the absolute value of the target angle is large and the directions to the left (or right) are completely blocked. This is alleviated by interpolating a temporary target angle considering the surface feature of the obstacle in front of the robot. The GUWNO problem arises because of the repulsive influence from obstacles close to the goal position. It is overcome by including an eliminator e in the fuzzy navigation system, taking into account the relative distance between the robot and its goal position. The resulting navigation system is implemented on a real mobile robot, Koala, and tested in various environments. Experimental results are presented that demonstrate the effectiveness of the resulting fuzzy navigation system and its improved performance over conventional fuzzy logic navigation algorithms.
{"title":"A Sensor-Based Navigation Algorithm for a Mobile robot using Fuzzy Logic","authors":"Xiaoyu Yang, M. Moallem, Rajnikant V. Patel","doi":"10.2316/Journal.206.2006.2.206-2797","DOIUrl":"https://doi.org/10.2316/Journal.206.2006.2.206-2797","url":null,"abstract":"In this paper, the \"goal-unreachable\" problems found in fuzzy logic-based algorithms for mobile robot navigation systems are studied. Two algorithms based on sensory information are developed to address problems with Goal-Unreachable with Large Obstacles (GUWLO) and Goal-Unreachable with Nearby Obstacles (GUWNO). The GUWLO problem occurs when the absolute value of the target angle is large and the directions to the left (or right) are completely blocked. This is alleviated by interpolating a temporary target angle considering the surface feature of the obstacle in front of the robot. The GUWNO problem arises because of the repulsive influence from obstacles close to the goal position. It is overcome by including an eliminator e in the fuzzy navigation system, taking into account the relative distance between the robot and its goal position. The resulting navigation system is implemented on a real mobile robot, Koala, and tested in various environments. Experimental results are presented that demonstrate the effectiveness of the resulting fuzzy navigation system and its improved performance over conventional fuzzy logic navigation algorithms.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116281970","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 : 2006-04-01DOI: 10.2316/Journal.206.2006.2.206-2792
Chris Micacchi, R. Cohen
In this paper we explore the topic of designing an architecture and processing algorithms for a multi-agent system where agents need to address unexpected events in the environment while operating under soft real-time constraints. We examine the subtopics of (1) determining the appropriate level of autonomy for the agents in the community, (2) managing the communication required to support the allocation of new tasks (including ones to address possible obstacles), and (3) being sensitive to soft real-time constraints. More specifically, we allow for certain agents to operate autonomously and also provide for a coordinator agent, to avoid some overhead in negotiation among agents. Using examples, we illustrate the usefulness of the framework for various robotics applications. In particular, we discuss the potential of the framework for simulated robotics environments such as the RoboCup Search and Rescue, which are well suited to supporting a combination of agents that are fully autonomous and agents that are controlled by a supervisor. We briefly discuss an implementation to demonstrate the effectiveness of our model and emphasize the need to reduce communication and expedite processing when operating under real-time constraints for robotics applications.
{"title":"A Multi-Agent Architecture for robotic Systems in Real-Time Environments","authors":"Chris Micacchi, R. Cohen","doi":"10.2316/Journal.206.2006.2.206-2792","DOIUrl":"https://doi.org/10.2316/Journal.206.2006.2.206-2792","url":null,"abstract":"In this paper we explore the topic of designing an architecture and processing algorithms for a multi-agent system where agents need to address unexpected events in the environment while operating under soft real-time constraints. We examine the subtopics of (1) determining the appropriate level of autonomy for the agents in the community, (2) managing the communication required to support the allocation of new tasks (including ones to address possible obstacles), and (3) being sensitive to soft real-time constraints. More specifically, we allow for certain agents to operate autonomously and also provide for a coordinator agent, to avoid some overhead in negotiation among agents. Using examples, we illustrate the usefulness of the framework for various robotics applications. In particular, we discuss the potential of the framework for simulated robotics environments such as the RoboCup Search and Rescue, which are well suited to supporting a combination of agents that are fully autonomous and agents that are controlled by a supervisor. We briefly discuss an implementation to demonstrate the effectiveness of our model and emphasize the need to reduce communication and expedite processing when operating under real-time constraints for robotics applications.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"10 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115336908","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 : 2006-04-01DOI: 10.2316/Journal.206.2006.2.206-2798
J. Anderson, J. Baltes
Introducing robotics to undergraduates is a challenging problem from an educational standpoint. The overlap to numerous areas of applied computer science, and the number of difficult subproblems that must be dealt with in any nontrivial robotics application (e.g., vision, path planning, real-time computing), easily overwhelm students at the undergraduate level. We have been employing robotic soccer as a vehicle to motivate undergraduate students in robotics, in order to provide students with an interesting domain that embodies significant research challenges in artificial intelligence. In order to manage the complexity of the domain, we employ software agents in several key components in our approach, and as a methodology for student implementations. This paper describes our strategies for introducing the elements of soccer playing to undergraduate robotics students, and the agent-based approach we employ.
{"title":"An Agent-Based Approach to introductory Robotics using robotic Soccer","authors":"J. Anderson, J. Baltes","doi":"10.2316/Journal.206.2006.2.206-2798","DOIUrl":"https://doi.org/10.2316/Journal.206.2006.2.206-2798","url":null,"abstract":"Introducing robotics to undergraduates is a challenging problem from an educational standpoint. The overlap to numerous areas of applied computer science, and the number of difficult subproblems that must be dealt with in any nontrivial robotics application (e.g., vision, path planning, real-time computing), easily overwhelm students at the undergraduate level. We have been employing robotic soccer as a vehicle to motivate undergraduate students in robotics, in order to provide students with an interesting domain that embodies significant research challenges in artificial intelligence. In order to manage the complexity of the domain, we employ software agents in several key components in our approach, and as a methodology for student implementations. This paper describes our strategies for introducing the elements of soccer playing to undergraduate robotics students, and the agent-based approach we employ.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128378978","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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