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IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.最新文献

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A switching control based fuzzy energy region method for underactuated robots 欠驱动机器人的模糊能量区域切换控制方法
Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511649
K. Ichida, K. Izumi, K. Watanabe
One of control methods for underactuated manipulators is known as a switching control which selects a partially-stable controller using a prespecified switching rule. A switching computed torque control with a fuzzy energy region method has been already proposed. In this approach, some partly stable controllers are designed by the computed torque method, and a switching rule is based on fuzzy energy regions. Design parameters related to boundary curves of fuzzy energy regions are optimized offline by a genetic algorithm (GA). In this paper, we discuss about the controlled system using the proposed method with parameters designed by GA.
欠驱动机械臂的一种控制方法是切换控制,它使用预先设定的切换规则选择部分稳定控制器。提出了一种基于模糊能量域的开关计算转矩控制方法。该方法采用计算转矩法设计部分稳定控制器,并基于模糊能量域设计切换规则。采用遗传算法离线优化模糊能区边界曲线的设计参数。本文讨论了采用遗传算法设计参数的被控系统。
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引用次数: 10
Comfortable environment for human by IRT based adaptive and intelligent interface 基于IRT的自适应智能界面,为人类提供舒适的环境
Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511657
Y. Wakuda, T. Fukuda, F. Arai, Y. Hasegawa, A. Noda, M. Kawaguchi
The purpose of this paper is to make an adaptive and intelligent human interface with wearable hardware. At first, we are trying to estimate human's state in sleep using wearable sensor device, with less physical movement than daytime. Next, we are trying to control human biological rhythm using the method to estimate human sleep state. We are considering about most simple way to control human's sleep is to control awakening timing and sleep time. Proposed system can estimate human sleep quality and rhythms, and stimuli to user at the timing easy to wake. The system uses only pulse wave to estimate sleep quality because pulse wave can be measured easier than PSG.
本文的目的是利用可穿戴硬件实现自适应智能人机界面。首先,我们试图使用可穿戴式传感器设备来估计人类在睡眠中的状态,人体的运动比白天少。接下来,我们将尝试用这种方法来控制人类的生物节律,以估计人类的睡眠状态。我们正在考虑控制人类睡眠的最简单的方法是控制唤醒时间和睡眠时间。所提出的系统可以估计人的睡眠质量和节奏,并在用户容易醒来的时间刺激。该系统仅使用脉搏波来评估睡眠质量,因为脉搏波比PSG更容易测量。
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引用次数: 0
Speed control of a sonar-based mobile robot determining sensing and action strategy simultaneously 基于声纳的移动机器人速度控制,同时确定感知和行动策略
Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511648
T. Emaru, K. Tanaka, T. Tsuchiya
Today, the ultrasonic TOF (time-of-flight) ranging system is the most common sensing system employed in indoor mobile robotic systems, primarily due to the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. TOF ranging systems measure the round-trip time required for a pulse of emitted energy to travel to a reflecting object and then echo back to a receiver. However, ultrasonic TOF ranging systems tend to neglect infinitesimal reflected waves below the threshold level. We have proposed a new approach to utilize the infinitesimal reflected waves by integrating the reflected waves. This is implemented using a transducer with a scanning system, and has a great ability of obtaining the travelable area for a robot in environments in which the distance cannot be precisely measured. The proposed system is constructed in a simple manner so as to improve the utility value of the sonar. This paper introduces the speed control strategy under uncertainty of sensor information. By considering the uncertainty of sensor information, we change the action strategy. By changing the action strategy, sensor information which is obtained by the robot changes at the same time. By using this relationship, we construct the robust robot system. The validity of the proposed method is investigated by applying this method to an autonomous mobile robot in various environments such as one with multiple obstacles, at the end of the hall, and so on.
今天,超声波TOF(飞行时间)测距系统是室内移动机器人系统中最常见的传感系统,主要是由于低成本系统的容易获得,它们的体积小,电路简单,并且易于与计算机接口。TOF测距系统测量发射能量脉冲到达反射物体然后返回接收器所需的往返时间。然而,超声TOF测距系统往往忽略了阈值水平以下的无穷小反射波。我们提出了一种利用无穷小反射波的新方法,即对反射波进行积分。该系统采用带扫描系统的换能器来实现,在无法精确测量距离的环境中,可以很好地获得机器人的可行走区域。该系统结构简单,提高了声呐的实用价值。介绍了传感器信息不确定情况下的速度控制策略。考虑到传感器信息的不确定性,我们改变了行动策略。通过改变动作策略,机器人获取的传感器信息也随之改变。利用这一关系,构造了鲁棒机器人系统。将该方法应用于多障碍物、大厅末端等环境下的自主移动机器人,验证了该方法的有效性。
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引用次数: 3
Autonomous driving in a time-varying environment 时变环境下的自动驾驶
Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511618
T. Myers, L. Vlacic, T. Noel, M. Parent
Robot motion is a field of continuing and active research that has recorded a number of achievements in the last decade, but research appears to be becoming stagnant in key areas. Current researchers limit the success of their work by using sensors with limited features capable of operating in static environments with known static obstacles and not considering implementation on non-holonomic vehicles. These simplifications of the task of dynamic obstacle avoidance greatly reduce the possible applications of current robot motion algorithms in areas such as autonomous driving. This paper deals with algorithms for on-the-fly avoidance of dynamic obstacle by presenting a new approach, the time-varying dynamic window algorithm capable of operating at high speeds on a non-holonomic vehicle in an environment that changes over time.
机器人运动是一个持续而活跃的研究领域,在过去十年中取得了许多成就,但在关键领域的研究似乎变得停滞不前。目前的研究人员限制了他们工作的成功,因为他们使用的传感器功能有限,只能在已知的静态障碍物的静态环境中工作,而不考虑在非完整车辆上实现。这些对动态避障任务的简化大大减少了当前机器人运动算法在自动驾驶等领域的应用。本文提出了一种新的动态避障算法——时变动态窗口算法,该算法能够在随时间变化的环境中对非完整车辆进行高速避障。
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引用次数: 2
Challenges for standards for consumer robotics 消费者机器人标准面临的挑战
Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511662
P. Pirjanian
For many years, the robotics community has aimed at developing a standard control architecture for robotics. Is this a reasonable goal to pursue? In this paper we discuss this question and other related questions. We describe our philosophy for developing an architecture and describe the key elements of the evolution robotics software platform and architecture.
多年来,机器人社区一直致力于开发机器人的标准控制体系结构。这是一个合理的目标吗?本文讨论了这一问题及其他相关问题。我们描述了开发体系结构的理念,并描述了进化机器人软件平台和体系结构的关键要素。
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引用次数: 4
CAMUS: a middleware supporting context-aware services for network-based robots CAMUS:一种中间件,支持基于网络的机器人的上下文感知服务
Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511658
Hyun Kim, Young-Jo Cho, Sang-Rok Oh
A URC (ubiquitous robotic companion) is a concept for a network-based service robot. It allows the service robot to extend its functions and services by utilizing external sensor networks and remote computing servers. It also provides the robot's services at any time and any place. The URC requires not only the hardware infrastructure such as ubiquitous networks or sensor networks and high-performance computing servers but also the software infrastructure which resides above the hardware infrastructure. In this paper, authors introduce the CAMUS (context-aware middleware for URC system) as a part of the software infrastructure, which is a system middleware to support context-aware services for network-based robots. The CAMUS is based on the CORBA technology. It provides the common data model for different types of context information from external sensors, applications and users in the environment. It also offers the software framework to acquire, interpret and disseminate context information. PLUE (Programming Language for Ubiquitous Environment) is proposed to describe context-aware services for robots.
URC (ubiquitous robot companion)是基于网络的服务机器人的概念。它允许服务机器人利用外部传感器网络和远程计算服务器扩展其功能和服务。它还可以随时随地为机器人提供服务。URC不仅需要硬件基础设施,如无处不在的网络或传感器网络和高性能计算服务器,还需要驻留在硬件基础设施之上的软件基础设施。在本文中,作者介绍了CAMUS(上下文感知中间件URC系统)作为软件基础设施的一部分,它是一个系统中间件,用于支持基于网络的机器人的上下文感知服务。CAMUS基于CORBA技术。它为来自外部传感器、应用程序和环境中的用户的不同类型的上下文信息提供了通用数据模型。它还提供了获取、解释和传播语境信息的软件框架。提出了面向泛在环境的编程语言(Programming Language for Ubiquitous Environment, PLUE)来描述机器人的上下文感知服务。
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引用次数: 91
Teaching mechatronics design course for engineers 教授工程师机电一体化设计课程
Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511630
M. Jarrah
A mechatronics graduate program was started in September 2001 at the American University of Sharjab with the objective of helping working engineers meet the challenges posed by emerging technologies. The program strives at providing industry with a new generation of engineers having interdisciplinary skills necessary to deal with state of the art technology in designing, maintaining, selecting, and procuring modern engineering systems. This paper details framework of mechatronics design course (MTR 590). The course is a project-based course foundation course in the mechatronics graduate program. This paper gives the detail of the course objectives, typical projects, and course assessments. There are many challenges in teaching a design course to working engineers. Some of these challenges are encountered by selecting full time students to be project team leaders. The mechatronics design course coverage, and laboratory facilities are discussed.
2001年9月,美国沙迦大学启动了一个机电一体化研究生项目,目的是帮助在职工程师应对新兴技术带来的挑战。该计划致力于为工业提供具有跨学科技能的新一代工程师,以处理设计,维护,选择和采购现代工程系统中的最先进技术。本文详细介绍了机电一体化设计课程(MTR 590)的框架。本课程是机电一体化研究生课程中一门以项目为基础的课程基础课程。本文详细介绍了课程目标、典型项目和课程评估。向在职工程师教授设计课程有许多挑战。其中一些挑战是在选择全日制学生作为项目团队负责人时遇到的。讨论了机电一体化设计课程的覆盖范围和实验室设施。
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引用次数: 3
Service media using robotic technology in ubiquitous computing environment 在普适计算环境下使用机器人技术的服务媒体
Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511617
H. Asama
RT (robot technology) is expected to magnify the IT industry, which is characterized by the real time operation in the physical environment. Especially, integration of RT with ubiquitous computation technology makes a big impact on service industry. In this presentation, a concept of service media for ubiquitous service RT in the context of service engineering is introduced, which provides users with various services in a ubiquitous computing environment. Examples of ubiquitous RT devices called intelligent data carrier, and their application to user adaptive systems, rescue systems, and security systems are introduced.
机器人技术(RT)有望扩大在物理环境中实时操作的IT产业。特别是RT与泛在计算技术的融合对服务业产生了巨大的影响。本文介绍了服务工程背景下泛在服务RT的服务媒体概念,它在泛在计算环境中为用户提供各种服务。介绍了被称为智能数据载体的无处不在的RT设备的实例,以及它们在用户自适应系统、救援系统和安全系统中的应用。
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引用次数: 3
Overview of the intelligent security robot - Chung Cheng I 智能安防机器人概述——中正1
Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511655
R. Luo, K. Su, K.C. Lin
The security of home, laboratory, office, building and factory is important to human being. So we develop intelligent multi sensor-based security robot system that is widely employed in our daily life. The security robot can detect abnormal and dangerous situation and notify us. The structure of the security robot contains six parts. There is software development system; obstacle avoidance and motion planning system, image system, sensor system remote supervise system and other system. First, we develop a multi sensor-based sensor system for the security robot. Then we also present the remote mobile security system (RMS) for the security robot system. We think that man-machine interface in security robot system must have mobility and convenience. Therefore, we use touch panel to display system state, and design a general user interface (GUI) on the touch panel. We demonstrate the remote supervise system to control the security robot using direct control mode and behavior control mode, and we can get the behavior control mode better than direct control mode.
家庭、实验室、办公室、建筑和工厂的安全对人类来说很重要。因此,我们开发了基于多传感器的智能安防机器人系统,并广泛应用于我们的日常生活中。安全机器人可以检测到异常和危险的情况并通知我们。安防机器人的结构包括六个部分。有软件开发系统;避障与运动规划系统、图像系统、传感器系统、远程监控系统等。首先,我们开发了一个基于多传感器的安防机器人传感器系统。在此基础上,提出了远程移动安防系统(RMS)。我们认为安防机器人系统的人机界面必须具有移动性和方便性。因此,我们使用触摸屏来显示系统状态,并在触摸屏上设计通用用户界面(GUI)。对远程监控系统采用直接控制方式和行为控制方式对安防机器人进行了演示,得到了行为控制方式比直接控制方式更好的控制效果。
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引用次数: 8
A neurointerface with an adaptive fuzzy compensator for controlling nonholonomic mobile robots 带有自适应模糊补偿器的神经接口控制非完整移动机器人
Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511659
K. Watanabe, R. Syam, K. Izumi
This paper describes an adaptive control for nonholonomic mobile robots, which are subjected to a suddenly changed disturbance due to the change of payloads. We adopt a control architecture based on a two-degrees-of-freedom design, where the feedforward controller is constructed by a neural network (NN) to acquire an inverse dynamical model of the robot, whereas the feedback controller is designed by two methods: one is a conventional PD compensator and the other is an adaptive fuzzy compensator. A concept of virtual master-slave robots is applied to obtain an inverse model of a nonholonomic robot. A compensator needs to be used to reduce the effect of the NN mapping errors or to suppress the effect of a sudden change of payloads. It is demonstrated by several simulations that the present approach is effective for controlling a nonholonomic mobile robot in a navigation of trajectory tracking problem for the positions and azimuth.
针对非完整移动机器人由于载荷变化而受到突变扰动的情况,提出了一种自适应控制方法。我们采用了一种基于二自由度设计的控制体系结构,其中前馈控制器由神经网络(NN)构造以获取机器人的逆动力学模型,而反馈控制器采用两种方法设计:一种是传统的PD补偿器,另一种是自适应模糊补偿器。应用虚拟主从机器人的概念,建立了非完整机器人的逆模型。需要使用补偿器来减少神经网络映射误差的影响或抑制有效载荷突然变化的影响。仿真结果表明,该方法可以有效地控制非完整移动机器人的位置和方位导航跟踪问题。
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引用次数: 0
期刊
IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.
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