Pub Date : 2016-11-22DOI: 10.5220/0001627105040509
A. Nagendran, R. Richardson, W. Crowther
Catching requires the ability to predict the position and intercept a moving object at relatively high speeds. Because catching is a contact task, it requires an understanding of the interaction between the forces applied and position of the object being captured. The application of force to a mass results in a change in acceleration. The rate of change of acceleration is called jerk. Jerk causes wear on the manipulator over time and can also damage the object being captured. This paper uses a curve that asymptotes to zero gradient at +/infinity to develop an impedance controller, to decelerate an object to a halt after it has been coupled with the end effector. It is found that this impedance control method minimizes the jerk that occurs during capture, and eliminates the jerk spikes that are existent when using spring dampers, springs or constant force to decelerate an object.
{"title":"Bell shaped impedance control to minimize jerk while capturing delicate moving objects","authors":"A. Nagendran, R. Richardson, W. Crowther","doi":"10.5220/0001627105040509","DOIUrl":"https://doi.org/10.5220/0001627105040509","url":null,"abstract":"Catching requires the ability to predict the position and intercept a moving object at relatively high speeds. Because catching is a contact task, it requires an understanding of the interaction between the forces applied and position of the object being captured. The application of force to a mass results in a change in acceleration. The rate of change of acceleration is called jerk. Jerk causes wear on the manipulator over time and can also damage the object being captured. This paper uses a curve that asymptotes to zero gradient at +/infinity to develop an impedance controller, to decelerate an object to a halt after it has been coupled with the end effector. It is found that this impedance control method minimizes the jerk that occurs during capture, and eliminates the jerk spikes that are existent when using spring dampers, springs or constant force to decelerate an object.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124125301","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 : 2016-11-22DOI: 10.5220/0001650002260233
Antti Tikanmäki, J. Röning
This paper presents a general architecture for creating complex distributed software systems, the Property Service architecture. The system may contain resources like robots, sensors, and different kinds of system services, such as controller units, data storages or collective model of the environment. This architecture contains several solutions and distributed system design methods to develop advanced and complex systems. It provides also a possibility to add new resources to the system easily and during the operation. Each service has very simple generalized interface. This meets the requirements of distributed robotic applications, such as remote operation, multi-robot cooperation and the robot’s internal operation. The simplicity of the interface also provides a possibility to scale down the service even on the low-cost microcontrollers used in small-sized robots. The main features of the architecture are dynamic properties of the resources, automatic reconfiguration and the high level of reusability of the implemented methods and algorithms. Index Terms – distributed robots and systems, multi-robot systems, sensor networks, Property Service architecture
{"title":"Property service architecture for distributed robotic and sensor systems","authors":"Antti Tikanmäki, J. Röning","doi":"10.5220/0001650002260233","DOIUrl":"https://doi.org/10.5220/0001650002260233","url":null,"abstract":"This paper presents a general architecture for creating complex distributed software systems, the Property Service architecture. The system may contain resources like robots, sensors, and different kinds of system services, such as controller units, data storages or collective model of the environment. This architecture contains several solutions and distributed system design methods to develop advanced and complex systems. It provides also a possibility to add new resources to the system easily and during the operation. Each service has very simple generalized interface. This meets the requirements of distributed robotic applications, such as remote operation, multi-robot cooperation and the robot’s internal operation. The simplicity of the interface also provides a possibility to scale down the service even on the low-cost microcontrollers used in small-sized robots. The main features of the architecture are dynamic properties of the resources, automatic reconfiguration and the high level of reusability of the implemented methods and algorithms. Index Terms – distributed robots and systems, multi-robot systems, sensor networks, Property Service architecture","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128746281","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 : 2016-11-22DOI: 10.5220/0001497400930100
Walter Nisticò, Matthias Hebbel
Particle filters based on the Sampling Importance Resampling (SIR) algorithm have been extensively and successfully used in the field of mobile robot localization, especially in the recent extensions (Mixture Monte Carlo) which sample a percentage of particles directly from the sensor model. However, in the context of vision based localization for mobile robots, the Markov assumption on which these methods rely is frequently violated, due to “ghost percepts” and undetected collisions, and this can be troublesome especially when working with small particle sets, due to limited computational resources and real-time constraints. In this paper we present an extension of Monte Carlo localization which relaxes the Markov assumption by tracking and smoothing the changes of the particles’ importance weights over time, and limits the speed at which the samples are redistributed after a single resampling step. We present the results of experiments conducted on vision based localization in an indoor environment for a legged-robot, in comparison with state of the art
{"title":"Temporal Smoothing Particle Filter for Vision based Autonomous Mobile Robot Localization","authors":"Walter Nisticò, Matthias Hebbel","doi":"10.5220/0001497400930100","DOIUrl":"https://doi.org/10.5220/0001497400930100","url":null,"abstract":"Particle filters based on the Sampling Importance Resampling (SIR) algorithm have been extensively and successfully used in the field of mobile robot localization, especially in the recent extensions (Mixture Monte Carlo) which sample a percentage of particles directly from the sensor model. However, in the context of vision based localization for mobile robots, the Markov assumption on which these methods rely is frequently violated, due to “ghost percepts” and undetected collisions, and this can be troublesome especially when working with small particle sets, due to limited computational resources and real-time constraints. In this paper we present an extension of Monte Carlo localization which relaxes the Markov assumption by tracking and smoothing the changes of the particles’ importance weights over time, and limits the speed at which the samples are redistributed after a single resampling step. We present the results of experiments conducted on vision based localization in an indoor environment for a legged-robot, in comparison with state of the art","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"158 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122178210","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 : 2016-11-18DOI: 10.5220/0001626001430148
Thumatty R. Vishnu Arun Kumar, R. Richardson
In urban search and rescue (USAR) applications, robots play a pivotal role. As USAR is time sensitive, swarm of robots is preferred over single robot for victim search. Tethered robots are widely used in USAR applications because tether provides robust data communication and power supply. The problem with using tethers in a collapsed, unstructured environment is tether entanglement. Entanglement detection becomes vital in this scenario. This paper presents a novel, low-cost approach to detect entanglement in the tether connecting two mobile robots. The proposed approach requires neither localization nor an environment map. Experimental results show that the proposed approach is effective in identifying tether entanglement.
{"title":"Entanglement detection of a swarm of tethered robots in search and rescue applications","authors":"Thumatty R. Vishnu Arun Kumar, R. Richardson","doi":"10.5220/0001626001430148","DOIUrl":"https://doi.org/10.5220/0001626001430148","url":null,"abstract":"In urban search and rescue (USAR) applications, robots play a pivotal role. As USAR is time sensitive, swarm of robots is preferred over single robot for victim search. Tethered robots are widely used in USAR applications because tether provides robust data communication and power supply. The problem with using tethers in a collapsed, unstructured environment is tether entanglement. Entanglement detection becomes vital in this scenario. This paper presents a novel, low-cost approach to detect entanglement in the tether connecting two mobile robots. The proposed approach requires neither localization nor an environment map. Experimental results show that the proposed approach is effective in identifying tether entanglement.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130071242","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}
In the future, it’s not difficult to image that we will often come across many autonomous mobile robots traversing densely populated place we live in. In such situation, because the autonomous mobile robots need to carry out their tasks in a place with unknown obstacles, the obstacle avoidance is one of the important functions of the robots. With a view to implementation of autonomous mobile robot working in doors, we employ an omnidirectional platform as shown in Fig. 1 (left). For experimental verification, an omnidirectional mobile robot shown in Fig. 1 (right) is developed. The robot has an omnidirectional camera for environmental recognition, and can move to all directions by four omni wheels. While there are many studies about obstacle avoidance method focusing attention on possibility of avoidance, this paper presents the method focusing on not only possibility but also safer trajectory of avoidance. Even if there are the same situations that the robot needs to avoid a static obstacle, timing of beginning avoidance behaviour should vary according to the robot speed. If the obstacles are moving also, the timing should vary according to the velocities of the obstacles. To cite a case, in a situation that a robot and an obstacle go by each other as shown in Fig. 2, the robot should avoid along the curved line like (iii) according to the speeds of the obstacle and own speed. In order to get to the goal with efficient and safe avoidance behaviour in the unknown environment for the robots, predicting the future obstacles’ positions by their current motions is needed. This paper introduces a real-time obstacle avoidance method introducing the velocity of obstacle relative to the robot. By means of considering predicted positions of the robot and the obstacle calculated from the time and the relative velocity, the robot can begin the avoidance behaviour at an appropriate time according to the velocity of the obstacle and the robot. Some researches focus attention on the velocity of obstacle (Ko & Lee, 1996) to avoid moving obstacles efficiently. In this research, virtual distance function is defined based on distance from the obstacle and speed of obstacle, however, only projection of the obstacle velocity on the unit vector from the obstacle to the robot is considered. In other words, the velocity of the robot is not considered.
{"title":"Obstacle Avoidance for Autonomous Mobile Robots based on Position Prediction using Fuzzy Inference","authors":"Takafumi Suzuki, Masaki Takahashi","doi":"10.5772/24494","DOIUrl":"https://doi.org/10.5772/24494","url":null,"abstract":"In the future, it’s not difficult to image that we will often come across many autonomous mobile robots traversing densely populated place we live in. In such situation, because the autonomous mobile robots need to carry out their tasks in a place with unknown obstacles, the obstacle avoidance is one of the important functions of the robots. With a view to implementation of autonomous mobile robot working in doors, we employ an omnidirectional platform as shown in Fig. 1 (left). For experimental verification, an omnidirectional mobile robot shown in Fig. 1 (right) is developed. The robot has an omnidirectional camera for environmental recognition, and can move to all directions by four omni wheels. While there are many studies about obstacle avoidance method focusing attention on possibility of avoidance, this paper presents the method focusing on not only possibility but also safer trajectory of avoidance. Even if there are the same situations that the robot needs to avoid a static obstacle, timing of beginning avoidance behaviour should vary according to the robot speed. If the obstacles are moving also, the timing should vary according to the velocities of the obstacles. To cite a case, in a situation that a robot and an obstacle go by each other as shown in Fig. 2, the robot should avoid along the curved line like (iii) according to the speeds of the obstacle and own speed. In order to get to the goal with efficient and safe avoidance behaviour in the unknown environment for the robots, predicting the future obstacles’ positions by their current motions is needed. This paper introduces a real-time obstacle avoidance method introducing the velocity of obstacle relative to the robot. By means of considering predicted positions of the robot and the obstacle calculated from the time and the relative velocity, the robot can begin the avoidance behaviour at an appropriate time according to the velocity of the obstacle and the robot. Some researches focus attention on the velocity of obstacle (Ko & Lee, 1996) to avoid moving obstacles efficiently. In this research, virtual distance function is defined based on distance from the obstacle and speed of obstacle, however, only projection of the obstacle velocity on the unit vector from the obstacle to the robot is considered. In other words, the velocity of the robot is not considered.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"421 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126706242","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 : 2009-12-01DOI: 10.5220/0002217004490452
Masaki Takahashi, Takafumi Suzuki
Abstract: This paper proposes a hierarchical moving control method for autonomous omni-directional mobile robot to achieve both safe and effective movement in a dynamic environment with moving objects such as humans. In the method, the movement of the robot can be realized based on prediction of the movement of obstacles by taking account of time scale differences. In this paper, the design method of the proposed method based on the virtual potential approach is proposed. In the method, modules that generate the potential field are structured hierarchically based on the prediction time to each problem. To verify the effectiveness of the proposed method, the numerical simulations and the experiments using a real robot are carried out. From the results, it is confirmed that the robot with the proposed method can realize safe and efficient movement in dynamic environment.
{"title":"Multi Scale Moving Control Method for Autonomous Omni-directional Mobile Robot","authors":"Masaki Takahashi, Takafumi Suzuki","doi":"10.5220/0002217004490452","DOIUrl":"https://doi.org/10.5220/0002217004490452","url":null,"abstract":"Abstract: This paper proposes a hierarchical moving control method for autonomous omni-directional mobile robot to achieve both safe and effective movement in a dynamic environment with moving objects such as humans. In the method, the movement of the robot can be realized based on prediction of the movement of obstacles by taking account of time scale differences. In this paper, the design method of the proposed method based on the virtual potential approach is proposed. In the method, modules that generate the potential field are structured hierarchically based on the prediction time to each problem. To verify the effectiveness of the proposed method, the numerical simulations and the experiments using a real robot are carried out. From the results, it is confirmed that the robot with the proposed method can realize safe and efficient movement in dynamic environment.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127163619","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}
Hyeongtae Park, Kilyoung Seong, Suraj Dangol, Gi-Nam Wang, S. C. Park
Proposed in the paper is an approach to generate the PLC code from the Discrete Event System Specification (DEVS) model. DEVS have been widely accepted to model the real system for the discrete event system simulation. The objective of this paper is to generate PLC control code from the DEVS model. To achieve it, this paper proposes two steps. First step is to convert the real system into the virtual model using the ‘three-phase-modeling procedure’. In the second step, the obtained model is formalized with DEVS formalism. The final model consists of different components, among them the State manager and the Flow controller model plays vital role to generate PLC code. In this paper, proposed steps are described with a work cell example.
{"title":"An Approach to Obtain a PLC Program from a DEVS Model","authors":"Hyeongtae Park, Kilyoung Seong, Suraj Dangol, Gi-Nam Wang, S. C. Park","doi":"10.5772/7897","DOIUrl":"https://doi.org/10.5772/7897","url":null,"abstract":"Proposed in the paper is an approach to generate the PLC code from the Discrete Event System Specification (DEVS) model. DEVS have been widely accepted to model the real system for the discrete event system simulation. The objective of this paper is to generate PLC control code from the DEVS model. To achieve it, this paper proposes two steps. First step is to convert the real system into the virtual model using the ‘three-phase-modeling procedure’. In the second step, the obtained model is formalized with DEVS formalism. The final model consists of different components, among them the State manager and the Flow controller model plays vital role to generate PLC code. In this paper, proposed steps are described with a work cell example.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127038798","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 : 2009-12-01DOI: 10.1007/978-3-642-00271-7_6
A. Omer, Y. Ogura, H. Kondo, Hun-ok Lim, A. Takanishi
{"title":"Dynamic-based Simulation for Humanoid Robot Walking using Walking Support System","authors":"A. Omer, Y. Ogura, H. Kondo, Hun-ok Lim, A. Takanishi","doi":"10.1007/978-3-642-00271-7_6","DOIUrl":"https://doi.org/10.1007/978-3-642-00271-7_6","url":null,"abstract":"","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127847537","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 : 2009-07-02DOI: 10.5220/0002219303180324
A. Mechraoui, Z. Khan, J. Thiriet, S. Gentil
This paper describes a wireless network based control of a Khepera mobile robot moving in a distributed infrastructure. Due to critical dependence on wireless communication, a procedure for reconfiguration of the network is proposed as a possibility to maintain communication between control station and the mobile robot in a successful manner. The network handoff is made under a criterion that takes into account key application dependent performance parameters. The controlled system and the communication network are simulated respectively with Matlab/Simulink and TrueTime.
{"title":"Co-design for Wireless Networked Control of an Intelligent Mobile Robot","authors":"A. Mechraoui, Z. Khan, J. Thiriet, S. Gentil","doi":"10.5220/0002219303180324","DOIUrl":"https://doi.org/10.5220/0002219303180324","url":null,"abstract":"This paper describes a wireless network based control of a Khepera mobile robot moving in a distributed infrastructure. Due to critical dependence on wireless communication, a procedure for reconfiguration of the network is proposed as a possibility to maintain communication between control station and the mobile robot in a successful manner. The network handoff is made under a criterion that takes into account key application dependent performance parameters. The controlled system and the communication network are simulated respectively with Matlab/Simulink and TrueTime.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"27 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125544895","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 : 2009-07-02DOI: 10.5220/0002166703740377
S. Ullah, S. Otmane, M. Mallem, P. Richard
Cooperative virtual environments, where users simultaneously manipulate objects, is one of the subfields of Collaborative virtual environments (CVEs). In this paper we simulate the use of two string based parallel robots in cooperative teleoperation task, Two users setting on separate machines connected through local network operate each robot. In addition, the article presents the use of sensory feedback (i.e shadow, arrows and oral communication) and investigates their effects on cooperation, presence and users performance. Ten volunteers subject had to cooperatively perform a peg-in-hole task. Results revealed that shadow has a significant effect on task execution while arrows and oral communication not only increase users performance but also enhance the sense of presence and awareness. Our investigations will help in the development of teleoperation systems for cooperative assembly, surgical training and rehabilitation systems.
{"title":"Cooperative Teleoperation Task in Virtual Environment - Influence of Visual Aids and Oral Communication","authors":"S. Ullah, S. Otmane, M. Mallem, P. Richard","doi":"10.5220/0002166703740377","DOIUrl":"https://doi.org/10.5220/0002166703740377","url":null,"abstract":"Cooperative virtual environments, where users simultaneously manipulate objects, is one of the subfields of Collaborative virtual environments (CVEs). In this paper we simulate the use of two string based parallel robots in cooperative teleoperation task, Two users setting on separate machines connected through local network operate each robot. In addition, the article presents the use of sensory feedback (i.e shadow, arrows and oral communication) and investigates their effects on cooperation, presence and users performance. Ten volunteers subject had to cooperatively perform a peg-in-hole task. Results revealed that shadow has a significant effect on task execution while arrows and oral communication not only increase users performance but also enhance the sense of presence and awareness. Our investigations will help in the development of teleoperation systems for cooperative assembly, surgical training and rehabilitation systems.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"577 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134271981","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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