Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739523
Lixing Jiang, A. Koch, S. Scherer, A. Zell
In this paper we present an effective and robust system to classify fruits under varying pose and lighting conditions tailored for an object recognition system on a mobile platform. Therefore, we present results on the effectiveness of our underlying segmentation method using RGB as well as depth cues for the specific technical setup of our robot. A combination of RGB low-level visual feature descriptors and 3D geometric properties is used to retrieve complementary object information for the classification task. The unified approach is validated using two multi-class RGB-D fruit categorization datasets. Experimental results compare different feature sets and classification methods and highlight the effectiveness of the proposed features using a Random Forest classifier.
{"title":"Multi-class fruit classification using RGB-D data for indoor robots","authors":"Lixing Jiang, A. Koch, S. Scherer, A. Zell","doi":"10.1109/ROBIO.2013.6739523","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739523","url":null,"abstract":"In this paper we present an effective and robust system to classify fruits under varying pose and lighting conditions tailored for an object recognition system on a mobile platform. Therefore, we present results on the effectiveness of our underlying segmentation method using RGB as well as depth cues for the specific technical setup of our robot. A combination of RGB low-level visual feature descriptors and 3D geometric properties is used to retrieve complementary object information for the classification task. The unified approach is validated using two multi-class RGB-D fruit categorization datasets. Experimental results compare different feature sets and classification methods and highlight the effectiveness of the proposed features using a Random Forest classifier.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133911579","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739834
Wenyu Li, Qi Li, F. Duan, J. T. Tan, Jing Yuan, Jin Zhang
This paper proposes a joint decision approach of intelligence fusion based on two kinds of intelligence, which is used in the domestic indoor environment for the planar mobile robot reaching the destination avoiding the obstacles. Spatial intelligence and agent intelligence provide control decisions for fusing based on the multi-source information. In this work, ceiling cameras observe the objects' information on the ground for spatial intelligence to stitch and analyze the occupancy grid map. Infrared sensor modules detect the obstacles at the front of the robot as agent intelligence. Fusion intelligence system decides the final control strategy based on the spatial intelligence and agent intelligence in order to reach the destination point in the indoor environment. The experimental results show that the method is feasible and the fusion intelligence behaves better than the single intelligence, which verifies the possibility and excellence of utilizing the intelligence fusion for robot action in the domestic indoor environment.
{"title":"A study of the joint decision between spatial intelligence and agent intelligence based on multi-source information","authors":"Wenyu Li, Qi Li, F. Duan, J. T. Tan, Jing Yuan, Jin Zhang","doi":"10.1109/ROBIO.2013.6739834","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739834","url":null,"abstract":"This paper proposes a joint decision approach of intelligence fusion based on two kinds of intelligence, which is used in the domestic indoor environment for the planar mobile robot reaching the destination avoiding the obstacles. Spatial intelligence and agent intelligence provide control decisions for fusing based on the multi-source information. In this work, ceiling cameras observe the objects' information on the ground for spatial intelligence to stitch and analyze the occupancy grid map. Infrared sensor modules detect the obstacles at the front of the robot as agent intelligence. Fusion intelligence system decides the final control strategy based on the spatial intelligence and agent intelligence in order to reach the destination point in the indoor environment. The experimental results show that the method is feasible and the fusion intelligence behaves better than the single intelligence, which verifies the possibility and excellence of utilizing the intelligence fusion for robot action in the domestic indoor environment.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131721079","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739567
Jyotsna Pandey, N. Reddy, R. Ray, S. N. Shome
A significant challenging task is to quantify the locomotor forces experienced by swimming animal because direct measurement of forces applied to the aquatic medium are not so feasible. It is advantageous to study the mechanics of animal locomotion for both engineers and biologists. An engineer can analyze motion and use in robotics field that approach also inform biologist to measure different parameters (e.g. muscle forces). Frogs are known as good swimmers and also webbed feet of frog help to swim efficiently in water. Living frogs propel in water by coordinated motion of their hindlimbs, achieving good propulsive efficiency and maneuverability. In this paper, a co-simulation technique to study the swimming locomotion of frogs is presented. Morphological data is collected from the living frog and used for developing the dynamic model. In this model, the body of the frog is modeled as ellipsoid and webbed feet are modeled as rigid flat trapezoidal plates to resemble the living frog. The dynamic behaviour of the swimming frog is simulated with multi-body dynamic co-simulation technique utilizing MSC ADAMS and Matlab/SIMULINK softwares. MSC ADAMS software is used to simulate the dynamics of the mechanical model whereas Matlab/SIMULINK is used to calculate the propulsive forces (drag force & added mass force) utilizing the kinematic information obtained from MSC ADAMS and mathematical models based on blade element theory. Different forces acting on the swimming frog are calculated and presented here.
{"title":"Multi-body dynamics of a swimming frog: A co-simulation approach","authors":"Jyotsna Pandey, N. Reddy, R. Ray, S. N. Shome","doi":"10.1109/ROBIO.2013.6739567","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739567","url":null,"abstract":"A significant challenging task is to quantify the locomotor forces experienced by swimming animal because direct measurement of forces applied to the aquatic medium are not so feasible. It is advantageous to study the mechanics of animal locomotion for both engineers and biologists. An engineer can analyze motion and use in robotics field that approach also inform biologist to measure different parameters (e.g. muscle forces). Frogs are known as good swimmers and also webbed feet of frog help to swim efficiently in water. Living frogs propel in water by coordinated motion of their hindlimbs, achieving good propulsive efficiency and maneuverability. In this paper, a co-simulation technique to study the swimming locomotion of frogs is presented. Morphological data is collected from the living frog and used for developing the dynamic model. In this model, the body of the frog is modeled as ellipsoid and webbed feet are modeled as rigid flat trapezoidal plates to resemble the living frog. The dynamic behaviour of the swimming frog is simulated with multi-body dynamic co-simulation technique utilizing MSC ADAMS and Matlab/SIMULINK softwares. MSC ADAMS software is used to simulate the dynamics of the mechanical model whereas Matlab/SIMULINK is used to calculate the propulsive forces (drag force & added mass force) utilizing the kinematic information obtained from MSC ADAMS and mathematical models based on blade element theory. Different forces acting on the swimming frog are calculated and presented here.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132794539","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739770
Yifeng Song, Hongguang Wang, Wenbin Gao, Haitao Luo
As an important type of industrial manipulator, spot welding robots are usually needed to work under high speed and heavy load working condition. The working condition can cause a dynamic deformation of the robot, which cannot be fast and accurately calculated currently. The dynamic deformation leads to poor performance of the robot, e.g. the end effector trajectory deflection and vibration. In this paper, we present a method for the robot dynamic deformation calculation, which can be practically applied to spot welding robots. The method is mainly implemented in three steps: 1. Based on the robot working condition, we first calculate the kinestate of each link in base frame, i.e. angular velocity and acceleration, linear velocity and acceleration. And we thus can obtain the inertia forces and torques of each link. 2. We build a finite element analysis (FEA) modeling by confirming the robot configuration, defining material property, setting constraints and meshing. 3. Orderly, we apply each inertia fore, inertia torque, robot gravity and load on the FEA modeling and calculate the responding dynamic deformation. The total deformation can be obtained by sum of all deformations, and we can also get the stress and strain condition in the same way. The proposed method provides a basis for robot dynamic deformation calculation and its effectiveness has been demonstrated by experiments.
{"title":"Dynamic deformation analysis of a spot welding robot under high speed and heavy load working condition","authors":"Yifeng Song, Hongguang Wang, Wenbin Gao, Haitao Luo","doi":"10.1109/ROBIO.2013.6739770","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739770","url":null,"abstract":"As an important type of industrial manipulator, spot welding robots are usually needed to work under high speed and heavy load working condition. The working condition can cause a dynamic deformation of the robot, which cannot be fast and accurately calculated currently. The dynamic deformation leads to poor performance of the robot, e.g. the end effector trajectory deflection and vibration. In this paper, we present a method for the robot dynamic deformation calculation, which can be practically applied to spot welding robots. The method is mainly implemented in three steps: 1. Based on the robot working condition, we first calculate the kinestate of each link in base frame, i.e. angular velocity and acceleration, linear velocity and acceleration. And we thus can obtain the inertia forces and torques of each link. 2. We build a finite element analysis (FEA) modeling by confirming the robot configuration, defining material property, setting constraints and meshing. 3. Orderly, we apply each inertia fore, inertia torque, robot gravity and load on the FEA modeling and calculate the responding dynamic deformation. The total deformation can be obtained by sum of all deformations, and we can also get the stress and strain condition in the same way. The proposed method provides a basis for robot dynamic deformation calculation and its effectiveness has been demonstrated by experiments.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125222622","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739868
Xingdong Li, Wei Guo, Mantian Li, Lining Sun
Depth Cameras are widely used in mobile robotics recently. Combining two frames is the key step to construct a complete 3D map, and the relative pose between two views w.r.t two frames is needed. 3D point pairs are necessary for computing 6DOF pose transformation. In this paper, a method for finding correspondences of two point clouds is proposed, and the advantages of depth camera are taken fully. The idea of this approach comes from the fact that people pay more attentions to some key points when they watch an environment. Point pairs are generated from just points around the feature points, and these pairs are corresponded accurately and the number of pairs is sufficient to compute relative pose. Firstly, the algorithm for matching features from intensity image is proposed. Secondly, 3D point pairs are obtained according to the feature positions. Lastly, two point clouds are registered based on the relative pose computed. The experiments demonstrate the efficiency and the effectiveness of the approach.
{"title":"Combining two point clouds generated from depth camera","authors":"Xingdong Li, Wei Guo, Mantian Li, Lining Sun","doi":"10.1109/ROBIO.2013.6739868","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739868","url":null,"abstract":"Depth Cameras are widely used in mobile robotics recently. Combining two frames is the key step to construct a complete 3D map, and the relative pose between two views w.r.t two frames is needed. 3D point pairs are necessary for computing 6DOF pose transformation. In this paper, a method for finding correspondences of two point clouds is proposed, and the advantages of depth camera are taken fully. The idea of this approach comes from the fact that people pay more attentions to some key points when they watch an environment. Point pairs are generated from just points around the feature points, and these pairs are corresponded accurately and the number of pairs is sufficient to compute relative pose. Firstly, the algorithm for matching features from intensity image is proposed. Secondly, 3D point pairs are obtained according to the feature positions. Lastly, two point clouds are registered based on the relative pose computed. The experiments demonstrate the efficiency and the effectiveness of the approach.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130984512","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739824
Shenshun Ying, S. Ji, Zhongfei Wang, Zhun Fan
This paper focuses on output properties of cellular artificial actuator. The actuator is built from small actuator cells with structural elasticity. These cells are connected together in series to form fibers, which are in turn connected in parallel to form the whole actuator. These cells are controlled to determine whether to be in a contracted, or ON, state or a relaxed, or OFF, state. Arranging the ON cells in different fibers of fixed topology gives different output properties. A model of actuator's stochastic behavior is firstly deduced. Then, the output properties of actuator in a fixed topology are exactly calculated. A SMA springs array with three rows and five columns are built to validate the algorithm. Effect of the SMA spring array with different activated cells on tensile is analyzed, and experiment data indicates there exists a serious coupling phenomenon within the SMA springs array. Finally, comparison of application of these two different analysis methods is presented.
{"title":"Output properties of cellular artificial actuator","authors":"Shenshun Ying, S. Ji, Zhongfei Wang, Zhun Fan","doi":"10.1109/ROBIO.2013.6739824","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739824","url":null,"abstract":"This paper focuses on output properties of cellular artificial actuator. The actuator is built from small actuator cells with structural elasticity. These cells are connected together in series to form fibers, which are in turn connected in parallel to form the whole actuator. These cells are controlled to determine whether to be in a contracted, or ON, state or a relaxed, or OFF, state. Arranging the ON cells in different fibers of fixed topology gives different output properties. A model of actuator's stochastic behavior is firstly deduced. Then, the output properties of actuator in a fixed topology are exactly calculated. A SMA springs array with three rows and five columns are built to validate the algorithm. Effect of the SMA spring array with different activated cells on tensile is analyzed, and experiment data indicates there exists a serious coupling phenomenon within the SMA springs array. Finally, comparison of application of these two different analysis methods is presented.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131149584","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739556
Yili Fu, Guojun Niu, Bo Pan, Kun Li, Shuguo Wang
Minimally Invasive Surgery (MIS) is less invasive and creating fewer post-operative complications compared with conventional surgery. This results in shorter recover times and, sometimes, outpatient treatment replaces for previously lengthier procedures. So MIS is the latest trend in surgery. However, MIS is usually associated with a limited view of the surgical view area and is difficult to handle of the surgical tools, in order to overcome these difficulties Remote Center Motion (RCM) is proposed. In this paper, a new RCM mechanism which is triangle is proposed, this mechanism is simple and high stiffness. A complete kinematic analysis and optimization incorporating the requirements for MIS are performed to find the optimal link lengths of the manipulator. The results show that for the serial triangle2-link manipulator used to guide the surgical tool, the optimization link angles are (74°,51°). Prior preoperative adjustment is realized by electromagnetic clutch, However, A new preoperative adjustment method which is realized by gravity compensation is proposed without electromagnetic clutch, the joint is simpler and lighter than conventional joint.
{"title":"Design and optimization of remote center motion mechanism of Minimally Invasive Surgical robotics","authors":"Yili Fu, Guojun Niu, Bo Pan, Kun Li, Shuguo Wang","doi":"10.1109/ROBIO.2013.6739556","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739556","url":null,"abstract":"Minimally Invasive Surgery (MIS) is less invasive and creating fewer post-operative complications compared with conventional surgery. This results in shorter recover times and, sometimes, outpatient treatment replaces for previously lengthier procedures. So MIS is the latest trend in surgery. However, MIS is usually associated with a limited view of the surgical view area and is difficult to handle of the surgical tools, in order to overcome these difficulties Remote Center Motion (RCM) is proposed. In this paper, a new RCM mechanism which is triangle is proposed, this mechanism is simple and high stiffness. A complete kinematic analysis and optimization incorporating the requirements for MIS are performed to find the optimal link lengths of the manipulator. The results show that for the serial triangle2-link manipulator used to guide the surgical tool, the optimization link angles are (74°,51°). Prior preoperative adjustment is realized by electromagnetic clutch, However, A new preoperative adjustment method which is realized by gravity compensation is proposed without electromagnetic clutch, the joint is simpler and lighter than conventional joint.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130846072","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739507
B. Dzodzo, Long Han, Xu Chen, Huihuan Qian, Yangsheng Xu
In this paper ceiling affixed ARToolKitPlus 2D code artificial landmarks are evaluated for purposes of robot localization and navigation. Ceiling affixed codes rarely come in contact with people, equipment or robots, and for this reason they are more likely to stay detectable over a longer period of time. Multi threshold averaging, light gradient compensation and neighbourhood search techniques further enhanced AR-ToolKitPlus performance. Multi threshold averaging collects positioning results at each gray scale threshold level. After all of the threshold levels are analyzed, the related results are averaged into a final result. Light gradient compensation eliminates effects of uneven lighting in the neighbourhood of a 2D code. Neighbourhood search for a 2D code requires fewer computational resources than a global search. Further repeatability improvements are achieved by means of averaging localizations. Localization performance is evaluated at varying distances of the 2D code from the camera. Experimental results show substantial improvements in repeatability and reliability over the baseline ARToolKitPlus performance. Improved performance will allow for realtime 2D code based localization for indoor robot navigation.
{"title":"Realtime 2D code based localization for indoor robot navigation","authors":"B. Dzodzo, Long Han, Xu Chen, Huihuan Qian, Yangsheng Xu","doi":"10.1109/ROBIO.2013.6739507","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739507","url":null,"abstract":"In this paper ceiling affixed ARToolKitPlus 2D code artificial landmarks are evaluated for purposes of robot localization and navigation. Ceiling affixed codes rarely come in contact with people, equipment or robots, and for this reason they are more likely to stay detectable over a longer period of time. Multi threshold averaging, light gradient compensation and neighbourhood search techniques further enhanced AR-ToolKitPlus performance. Multi threshold averaging collects positioning results at each gray scale threshold level. After all of the threshold levels are analyzed, the related results are averaged into a final result. Light gradient compensation eliminates effects of uneven lighting in the neighbourhood of a 2D code. Neighbourhood search for a 2D code requires fewer computational resources than a global search. Further repeatability improvements are achieved by means of averaging localizations. Localization performance is evaluated at varying distances of the 2D code from the camera. Experimental results show substantial improvements in repeatability and reliability over the baseline ARToolKitPlus performance. Improved performance will allow for realtime 2D code based localization for indoor robot navigation.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131091737","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739864
Cao Li, Zongwu Xie, Hong Liu
Surface Sample Acquisition and Caching Device (SSACD) is an underway equipment which is designed for the upcoming Chinese Lunar Exploration Stage III: lunar sample return. Considering the characteristics of lunar environment and soil, the scoop of SSACD is a bionic design which would have lower digging resistance and higher efficiency. The unlocking mechanism is driven by motor and wire rope directly which has advantages of high reliability and low power lost. A percussion mechanism is introduced to guarantee the lunar sample could be transferred easily in low gravity. Some parts of SSACD are designed with triggered passive mechanism for lowering the power consumption. The prototype of SSACD has been built up to demonstrate the practical effect and some primary experiments are delivered to validate the mechanism design. And a future prospect of SSACD applications is discussed at the end of this paper.
{"title":"Surface Sample Acquisition and Caching Device for Chinese lunar sample return plan","authors":"Cao Li, Zongwu Xie, Hong Liu","doi":"10.1109/ROBIO.2013.6739864","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739864","url":null,"abstract":"Surface Sample Acquisition and Caching Device (SSACD) is an underway equipment which is designed for the upcoming Chinese Lunar Exploration Stage III: lunar sample return. Considering the characteristics of lunar environment and soil, the scoop of SSACD is a bionic design which would have lower digging resistance and higher efficiency. The unlocking mechanism is driven by motor and wire rope directly which has advantages of high reliability and low power lost. A percussion mechanism is introduced to guarantee the lunar sample could be transferred easily in low gravity. Some parts of SSACD are designed with triggered passive mechanism for lowering the power consumption. The prototype of SSACD has been built up to demonstrate the practical effect and some primary experiments are delivered to validate the mechanism design. And a future prospect of SSACD applications is discussed at the end of this paper.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131187754","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 : 2013-12-01DOI: 10.1109/ROBIO.2013.6739830
U. Farooq, J. Gu, Jun Luo
An interval type-2 fuzzy logic controller using the switching type-1 fuzzy Takagi-Sugeno model is presented for the position control of wheeled mobile robot. The control gains for the switched regions are determined using linear quadratic regulator approach. The blending of the local controllers based on the interval type-2 design scheme yields the final motion commands for the wheeled mobile robot. MATLAB simulations have proved the effectiveness of the proposed controller.
{"title":"An interval type-2 fuzzy LQR positioning controller for wheeled mobile robot","authors":"U. Farooq, J. Gu, Jun Luo","doi":"10.1109/ROBIO.2013.6739830","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739830","url":null,"abstract":"An interval type-2 fuzzy logic controller using the switching type-1 fuzzy Takagi-Sugeno model is presented for the position control of wheeled mobile robot. The control gains for the switched regions are determined using linear quadratic regulator approach. The blending of the local controllers based on the interval type-2 design scheme yields the final motion commands for the wheeled mobile robot. MATLAB simulations have proved the effectiveness of the proposed controller.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132917843","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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