Pub Date : 2004-12-01DOI: 10.1109/RAMECH.2004.1438883
N. A. Tanner, G. Niemeyer
Wave variable based controllers ensure the stability of force-reflecting teleoperators with arbitrary and unknown communication delays. The wave impedance provides a fundamental tuning parameter that allows the designer to trade off performance aspects. We suggest and explore automatically tuning this parameter online to capture the best behavior under varying task configurations. In particular, this strategy adjusts force feedback in order to lower resistance during free space motions and strengthen feedback when in contact. Examining the effects of a variable wave impedance, we develop a generalized wave transformation better suited to online changes and propose a tuning rule to maintain system passivity. Our results are illustrated and confirmed in simulation.
{"title":"Online tuning of wave impedance in telerobotics","authors":"N. A. Tanner, G. Niemeyer","doi":"10.1109/RAMECH.2004.1438883","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438883","url":null,"abstract":"Wave variable based controllers ensure the stability of force-reflecting teleoperators with arbitrary and unknown communication delays. The wave impedance provides a fundamental tuning parameter that allows the designer to trade off performance aspects. We suggest and explore automatically tuning this parameter online to capture the best behavior under varying task configurations. In particular, this strategy adjusts force feedback in order to lower resistance during free space motions and strengthen feedback when in contact. Examining the effects of a variable wave impedance, we develop a generalized wave transformation better suited to online changes and propose a tuning rule to maintain system passivity. Our results are illustrated and confirmed in simulation.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131952475","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438919
N. Aouf, Hani Rajabi, Nadim Rajabi, H. Alanbari, C. Perron
In this paper, a visual servoing module based on look and move concept is presented. A Motoman UPJ industrial robot is used to track an object (laser beam projection), which moves within a 2D plane workspace. An industrial controller drives this UPJ robot using non-accessible control architecture. A serial communication protocol, a suitable way to transfer information from and to the robot controller, is used for the proposed visual tracking setup. This setup shows acceptable tracking performance, which is improved by a multi-iteration implementation strategy based on a continuous tracking.
{"title":"Visual object tracking by a camera mounted on a 6DOF industrial robot","authors":"N. Aouf, Hani Rajabi, Nadim Rajabi, H. Alanbari, C. Perron","doi":"10.1109/RAMECH.2004.1438919","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438919","url":null,"abstract":"In this paper, a visual servoing module based on look and move concept is presented. A Motoman UPJ industrial robot is used to track an object (laser beam projection), which moves within a 2D plane workspace. An industrial controller drives this UPJ robot using non-accessible control architecture. A serial communication protocol, a suitable way to transfer information from and to the robot controller, is used for the proposed visual tracking setup. This setup shows acceptable tracking performance, which is improved by a multi-iteration implementation strategy based on a continuous tracking.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"156 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132293045","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438928
Abolfazl Jalilvand, S. Khanmohammadi
Control of hybrid systems is an area that is currently attended by world control communities. One of the main stages in control of hybrid systems is the recognition of the operating modes and the discrete events in the system. In this paper a method for identifying the operating modes and events is introduced in threshold event driven hybrid systems. The method is constructed based on fuzzy Petri net and the concepts of fuzzy ordering relation. Then the proposed method is used for control of an illustrative hybrid system example. The simulation results show that the proposed approach satisfies the expected demands.
{"title":"Integrating of event detection and mode recognition in hybrid systems by fuzzy Petri net","authors":"Abolfazl Jalilvand, S. Khanmohammadi","doi":"10.1109/RAMECH.2004.1438928","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438928","url":null,"abstract":"Control of hybrid systems is an area that is currently attended by world control communities. One of the main stages in control of hybrid systems is the recognition of the operating modes and the discrete events in the system. In this paper a method for identifying the operating modes and events is introduced in threshold event driven hybrid systems. The method is constructed based on fuzzy Petri net and the concepts of fuzzy ordering relation. Then the proposed method is used for control of an illustrative hybrid system example. The simulation results show that the proposed approach satisfies the expected demands.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132762552","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 : 2004-12-01DOI: 10.1093/ietisy/e88-d.5.894
M. Bellamine, N. Abe, Kazuaki Tanaka, H. Taki
It is important to look for alternative forms of physical movement of people and equipment in order to assure diagnosis and maintenance tasks, especially in an environment where workers are subject to danger. An evident and classical solution is the use of tele-operation and tele-robotics. If tele-operation helps to solve real and technical problems, it is still unable to assure appropriate remote diagnosis and maintenance. The use of virtual reality techniques with tele-operation can be the solution for effective remote maintenance and diagnosis. We show that inefficiency occurred with the use of tele-operation only in remote maintenance. We introduce our original new system where we use 2D-3D matching and virtual reality techniques with tele-operation to remotely collect machinery vibration data. We explain its structure, implementation and advantages. We finished by experimenting the system, measuring the different operating times and precision and discussing the results.
{"title":"A remote diagnosis system for rotating machinery using virtual reality","authors":"M. Bellamine, N. Abe, Kazuaki Tanaka, H. Taki","doi":"10.1093/ietisy/e88-d.5.894","DOIUrl":"https://doi.org/10.1093/ietisy/e88-d.5.894","url":null,"abstract":"It is important to look for alternative forms of physical movement of people and equipment in order to assure diagnosis and maintenance tasks, especially in an environment where workers are subject to danger. An evident and classical solution is the use of tele-operation and tele-robotics. If tele-operation helps to solve real and technical problems, it is still unable to assure appropriate remote diagnosis and maintenance. The use of virtual reality techniques with tele-operation can be the solution for effective remote maintenance and diagnosis. We show that inefficiency occurred with the use of tele-operation only in remote maintenance. We introduce our original new system where we use 2D-3D matching and virtual reality techniques with tele-operation to remotely collect machinery vibration data. We explain its structure, implementation and advantages. We finished by experimenting the system, measuring the different operating times and precision and discussing the results.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117235147","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438043
Robert Smith, Glenn Smith, Aster Wardhani
Software development for robotics applications is characterised by a high degree of specialisation. The reasons for this may centre on the diversity of robotic hardware, limitations on performance, and the need to perform complex and diverse tasks. The result of using such specialised software is an almost non-existent level or software portability. It is proposed that the use of abstraction can enable the use or component software and bring with it the benefits or reuse. Abstraction of robotic hardware and software is difficult, and it is clear that a single robot abstraction is not practical due to the degree or diversity. It is proposed that some middle ground between specialisation and complete abstraction can be found. A second level component framework using fuzzy logic techniques is presented to illustrate how a significant degree of abstraction can be achieved, facilitating software portability, while accommodating the diversity of robotics.
{"title":"Software reuse in robotics: Enabling portability in the face of diversity","authors":"Robert Smith, Glenn Smith, Aster Wardhani","doi":"10.1109/RAMECH.2004.1438043","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438043","url":null,"abstract":"Software development for robotics applications is characterised by a high degree of specialisation. The reasons for this may centre on the diversity of robotic hardware, limitations on performance, and the need to perform complex and diverse tasks. The result of using such specialised software is an almost non-existent level or software portability. It is proposed that the use of abstraction can enable the use or component software and bring with it the benefits or reuse. Abstraction of robotic hardware and software is difficult, and it is clear that a single robot abstraction is not practical due to the degree or diversity. It is proposed that some middle ground between specialisation and complete abstraction can be found. A second level component framework using fuzzy logic techniques is presented to illustrate how a significant degree of abstraction can be achieved, facilitating software portability, while accommodating the diversity of robotics.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121490810","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438047
Jie Pang, Guizhi Li, Wei Zhang, Xuyan Tu
The Internet faces the following serious problems: (1) the complexity of information, (2) serious network security loophole, (3) can't provide humanization service. For the sake of seeking a new path for the above problems, based on the works of domestic and international experts, we put forward the concept of "softman". It's basic speculation is: regarding AI (artificial intelligence), AL (artificial life) and distributed system as its theoretical foundations, integrating techniques of "intelligent robot", "intelligent network" and "MAS (multi agent system)", we can develop a kind of automatic intelligence network tool: "softman". It can migrate freely in cyberspace and can adopt the "IIPP (intelligent information push-pull)" technique to handle some appointed missions automatically. The concept, essence, theory foundations, characteristics and models of softman are discussed in this paper. Finally a realizable individual softman overall model is given.
{"title":"Study on \"virtual robot in network environment - Softman\"","authors":"Jie Pang, Guizhi Li, Wei Zhang, Xuyan Tu","doi":"10.1109/RAMECH.2004.1438047","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438047","url":null,"abstract":"The Internet faces the following serious problems: (1) the complexity of information, (2) serious network security loophole, (3) can't provide humanization service. For the sake of seeking a new path for the above problems, based on the works of domestic and international experts, we put forward the concept of \"softman\". It's basic speculation is: regarding AI (artificial intelligence), AL (artificial life) and distributed system as its theoretical foundations, integrating techniques of \"intelligent robot\", \"intelligent network\" and \"MAS (multi agent system)\", we can develop a kind of automatic intelligence network tool: \"softman\". It can migrate freely in cyberspace and can adopt the \"IIPP (intelligent information push-pull)\" technique to handle some appointed missions automatically. The concept, essence, theory foundations, characteristics and models of softman are discussed in this paper. Finally a realizable individual softman overall model is given.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116304783","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1437999
Catherine Lyons, Bill Ommert, S. Thayer
The problem of human localization presents unique challenges, particularly in areas where GPS satellite signals may be blocked for a significant period of time. A new approach to localization based on a physical model of human motion is presented. Data is taken from inertial measurement units on the limbs, and gait analysis is used to detect and measure different modes of human motion from this data. This approach produces an accurate form of dead reckoning that is less prone to drift than current inertial navigation systems and more adaptable then current pedometry systems.
{"title":"Bipedal motion estimation with the human odometer","authors":"Catherine Lyons, Bill Ommert, S. Thayer","doi":"10.1109/RAMECH.2004.1437999","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1437999","url":null,"abstract":"The problem of human localization presents unique challenges, particularly in areas where GPS satellite signals may be blocked for a significant period of time. A new approach to localization based on a physical model of human motion is presented. Data is taken from inertial measurement units on the limbs, and gait analysis is used to detect and measure different modes of human motion from this data. This approach produces an accurate form of dead reckoning that is less prone to drift than current inertial navigation systems and more adaptable then current pedometry systems.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115112749","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438039
Shuichi Fukunaga, Yutaka Nakamura, Kazuaki Aso, S. Ishii
A snake has large potential to move in various environments by drastically changing its 'gait' pattern, in spite of its simple body. We configured a control scheme for a snakelike robot, using a central pattern generator, and developed a learning algorithm to acquire a good control rule in a changing environment. Although the snake-like robot has a large degree of freedom, a computer simulation showed that a control rule that allows the robot to move to a target direction on an inclined ground or in a changing environment is obtained by our scheme.
{"title":"Reinforcement learning for a snake-like robot controlled by a central pattern generator","authors":"Shuichi Fukunaga, Yutaka Nakamura, Kazuaki Aso, S. Ishii","doi":"10.1109/RAMECH.2004.1438039","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438039","url":null,"abstract":"A snake has large potential to move in various environments by drastically changing its 'gait' pattern, in spite of its simple body. We configured a control scheme for a snakelike robot, using a central pattern generator, and developed a learning algorithm to acquire a good control rule in a changing environment. Although the snake-like robot has a large degree of freedom, a computer simulation showed that a control rule that allows the robot to move to a target direction on an inclined ground or in a changing environment is obtained by our scheme.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116098495","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438014
G. Faria, R. Romero, Edson Prestes e Silva, M. Idiart
Potential field is a reactive method that has been used for trajectory control of mobile robots. In this method the robot behaves like a particle moving under the influence of an artificial potential produced by the target and the obstacles. This method has lower computational cost than others that utilize maps as a world model. However, one problem or this method is that it can generate regions of local minima. In these regions the driving force vanishes due to specific obstacle and goal configurations and the robot gets trapped. The use of harmonic functions for the potential calculation can solve this problem. In the harmonic function method the environment is represented by a grid, in which cells with an obstacle have their potential value set to 1 whereas cells that contain the target have their potential value set to 0. A relaxation algorithm is then employed to calculate the harmonic potential among the obstacles and the target. These two techniques have been applied in robot soccer environment to develop game strategies. Results obtained show that both techniques present better results when compared to the standard strategy or the FIRA Simulator. Further, a comparison of these techniques is presented for showing the advantages and disadvantages existing in each one of them.
{"title":"Comparing harmonic functions and potential fields in the trajectory control of mobile robots","authors":"G. Faria, R. Romero, Edson Prestes e Silva, M. Idiart","doi":"10.1109/RAMECH.2004.1438014","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438014","url":null,"abstract":"Potential field is a reactive method that has been used for trajectory control of mobile robots. In this method the robot behaves like a particle moving under the influence of an artificial potential produced by the target and the obstacles. This method has lower computational cost than others that utilize maps as a world model. However, one problem or this method is that it can generate regions of local minima. In these regions the driving force vanishes due to specific obstacle and goal configurations and the robot gets trapped. The use of harmonic functions for the potential calculation can solve this problem. In the harmonic function method the environment is represented by a grid, in which cells with an obstacle have their potential value set to 1 whereas cells that contain the target have their potential value set to 0. A relaxation algorithm is then employed to calculate the harmonic potential among the obstacles and the target. These two techniques have been applied in robot soccer environment to develop game strategies. Results obtained show that both techniques present better results when compared to the standard strategy or the FIRA Simulator. Further, a comparison of these techniques is presented for showing the advantages and disadvantages existing in each one of them.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121434085","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438912
Adel Akbari Majd, M. Yazdanpanah, G.K. Khosrowshahi
There are two major methods for motion control of non-holonomic mobile robots when the knowledge about the model is not complete: adaptive control and robust control. The combination of two methods allows tuning of the robust controller and assures a satisfactory performance in practical situations. In this paper, a mixed H/sub 2//H/sub /spl infin// PID controller incorporated with an adaptive term is developed for tracking control of a mobile robot The controller's parameters are optimally tuned to minimize the energy of control signals via a genetic algorithm. The proposed control technique is numerically simulated on a mobile robot and the results are compared with two other methods: an adaptive method and a robust H/sub /spl infin// method. The simulation results show that the proposed technique results in the smallest control energy. Also, it may tolerate uncertainties up to 99% in comparison to the corresponding values of 85% and 94% for the previously proposed methods, respectively.
{"title":"Tracking control of a mobile robot using a genetically tuned mixed H/sub 2//H/sub /spl infin// adaptive technique","authors":"Adel Akbari Majd, M. Yazdanpanah, G.K. Khosrowshahi","doi":"10.1109/RAMECH.2004.1438912","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438912","url":null,"abstract":"There are two major methods for motion control of non-holonomic mobile robots when the knowledge about the model is not complete: adaptive control and robust control. The combination of two methods allows tuning of the robust controller and assures a satisfactory performance in practical situations. In this paper, a mixed H/sub 2//H/sub /spl infin// PID controller incorporated with an adaptive term is developed for tracking control of a mobile robot The controller's parameters are optimally tuned to minimize the energy of control signals via a genetic algorithm. The proposed control technique is numerically simulated on a mobile robot and the results are compared with two other methods: an adaptive method and a robust H/sub /spl infin// method. The simulation results show that the proposed technique results in the smallest control energy. Also, it may tolerate uncertainties up to 99% in comparison to the corresponding values of 85% and 94% for the previously proposed methods, respectively.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121511655","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：