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2015 6th International Conference on Automation, Robotics and Applications (ICARA)最新文献

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Impulse radar — A new sensor for robots 脉冲雷达——一种新的机器人传感器
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-04-09 DOI: 10.1109/ICARA.2015.7081158
I. Woodhead, A. Tan, Sean Richards, I. Platt
{"title":"Impulse radar — A new sensor for robots","authors":"I. Woodhead, A. Tan, Sean Richards, I. Platt","doi":"10.1109/ICARA.2015.7081158","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081158","url":null,"abstract":"Ground-based robots for agricultural applications are receiving increased attention as labour availability and cost drive interest and uptake. Here we describe a radar method that is suitable for soil moisture measurement from a moving vehicle. We have employed techniques from impulse radar that enable measurement of soil reflection at resolutions smaller than the antenna beam width. We show how the resolution is affected by the radar pulse-width, antenna parameters, radar location and sensing angle. The radar backscatter coefficient is calculated from the radar signals themselves, and demonstrated by measurements taken on wet pasture at different elevation angles. Measurements show that radar backscatter coefficients can be reliably measured at angles up to 60 degrees from the nadir.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130179740","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}
引用次数: 0
Configuration space impedance control for continuum manipulators 连续体机械臂位形空间阻抗控制
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-04-09 DOI: 10.1109/ICARA.2015.7081215
Lorenzo Toscano, Valentin Falkenhahn, A. Hildebrandt, F. Braghin, O. Sawodny
{"title":"Configuration space impedance control for continuum manipulators","authors":"Lorenzo Toscano, Valentin Falkenhahn, A. Hildebrandt, F. Braghin, O. Sawodny","doi":"10.1109/ICARA.2015.7081215","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081215","url":null,"abstract":"Despite their intrinsic structural compliance, a safe interaction of continuum robots with their environment requires a control strategy that is able to manage the compliant motion properly. This paper presents a peculiar strategy of application of the impedance control based on kinematic and dynamic models of the manipulator's sections. The control approach is able to deal with unpredicted contacts which can occur in unknown locations along the whole manipulator while the resulting contact forces don't need to be measured or estimated. The control concept is applied to a single section of the Bionic Handling Assistant, but its application can be extended to all the continuum robots modeled with the piecewise constant curvature approach.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121535243","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}
引用次数: 9
Monocular and range camera cross-calibration for RGB-D sensor architectures RGB-D传感器架构的单目和距离相机交叉校准
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-04-09 DOI: 10.1109/ICARA.2015.7081190
K. Varadarajan
{"title":"Monocular and range camera cross-calibration for RGB-D sensor architectures","authors":"K. Varadarajan","doi":"10.1109/ICARA.2015.7081190","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081190","url":null,"abstract":"RGB-D sensor frameworks such as the PrimeSense/Kinect have brought a massive change in the range of applications for the usage of depth data in not just core robotic and computer vision systems, but also in security, entertainment and medical faculties among others. Such projected texture range measurement systems have also effectively substituted traditional range sensor systems such as Laser and Lidar, which are not just bulky and expensive, but offer poor resolution/unit cost and low speed of usage. On the other hand, generic RGB-D sensor frameworks (as opposed to integrated RGB-D cameras) that provide flexibility in terms of usage of variegated monocular color and range image sensors form the future of computer vision applications. Unlike fixed RGB-D frameworks, these generic frameworks require explicit cross-calibration between the range and the monocular color image sensors. Traditional 2D checkerboard or similar alternate calibration patterns do not provide the necessary sensory response across the varied sensing modalities for accurate cross-calibration. To address this concern, we present a novel framework for extrinsic cross-calibration of variegated monocular and range sensors by extension of the traditional checkerboard pattern used for monocular or stereo calibration into a 3D checkerboard framework. A suite of computer vision techniques are also presented in order to obtain the necessary calibration parameters using the presented calibration pattern. Results presented show successful detection of correspondence points and estimation of extrinsic parameters for cross-calibration. It can also be seen that the error in the system increases with depth as the estimates from the Kinect sensor become unreliable.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128538605","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}
引用次数: 0
Controller comparisons for autonomous railway following with a fixed-wing UAV 固定翼无人机自主铁路跟踪控制器比较
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-04-09 DOI: 10.1109/ICARA.2015.7081132
Christopher Jarrett, K. Perry, K. Stol
{"title":"Controller comparisons for autonomous railway following with a fixed-wing UAV","authors":"Christopher Jarrett, K. Perry, K. Stol","doi":"10.1109/ICARA.2015.7081132","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081132","url":null,"abstract":"The development of an on board vision-based path following system for a fixed-wing UAV is presented. The application is railway following and three path-following controllers have been investigated for their suitability for this task. The system is novel in that it includes all system components on board a lightweight and low-cost UAV. A vision system has been developed to characterise railway lines as first-order polynomials and relay this information to a flight controller. Its functionality was extended to provide information about the pixel distance between railway tracks, to be used to calculate the height of the plane above the railway. In simulation, the Non-Linear Guidance Law was found to be the controller that yielded the fastest settling times and least overshoot values; followed by the Vector Field method. A baseline PID method was the worst performing controller. Flight tests were performed to verify operation of the system but no conclusions could be drawn regarding controller performance.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130692808","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}
引用次数: 8
Review of underwater SLAM techniques 水下SLAM技术回顾
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-04-09 DOI: 10.1109/ICARA.2015.7081165
Franco Hidalgo, T. Bräunl
{"title":"Review of underwater SLAM techniques","authors":"Franco Hidalgo, T. Bräunl","doi":"10.1109/ICARA.2015.7081165","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081165","url":null,"abstract":"SLAM (Simultaneous Localization and Mapping) for underwater vehicles is a challenging research topic due to the limitations of underwater localization sensors and error accumulation over long-term operations. Furthermore, acoustic sensors for mapping often provide noisy and distorted images or low-resolution ranging, while video images provide highly detailed images but are often limited due to turbidity and lighting. This paper presents a review of the approaches used in state-of-the-art SLAM techniques: Extended Kalman Filter SLAM (EKF-SLAM), FastSLAM, GraphSLAM and its application in underwater environments.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"212 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134000838","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}
引用次数: 59
Fuzzy gain scheduled EKF for model-based Skid-Steered Mobile Robot 基于模型的滑动导向移动机器人模糊增益调度EKF
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-04-09 DOI: 10.1109/ICARA.2015.7081134
B. Kadmiry
{"title":"Fuzzy gain scheduled EKF for model-based Skid-Steered Mobile Robot","authors":"B. Kadmiry","doi":"10.1109/ICARA.2015.7081134","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081134","url":null,"abstract":"This article describes an approach to autonomous robotic for agricultural applications. Technological setup aims at stable navigation based on estimation through Extended Kalman filtering (EKF), to enforce robust Skid-Steered Mobile Robot (SSMR) navigation. The scientific contribution is the implementation of two model-based estimators, using EKF algorithms, one on a nonlinear model, and one on a piece-wise linearized robot model. The later is a Fuzzy Gain Scheduled (FGS)-based development. The process is taking into account tire-road modelling of friction forces in order to improve model performance. State estimation and correction using sensor data fusion (Odometry-IMU-GPS) is considered, to improve the SSMR control in critical motions, reducing inherent drifts due to skid-steer properties; for the purpose of better regulation and tracking control designs. Whilst the experimental results demonstrated the usefulness of FGS approach for optimal EKF estimation, further modelling and live testing are required to determine robot ability to cope with different scenarios in naturally varying environment.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131357302","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}
引用次数: 4
Simultaneous base and end-effector motion control of a nonholonomic mobile manipulator 非完整移动机械臂基座与末端同步运动控制
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-04-09 DOI: 10.1109/ICARA.2015.7081138
Shengfeng Zhou, Yazhini C. Pradeep, Peter C. Y. Chen
{"title":"Simultaneous base and end-effector motion control of a nonholonomic mobile manipulator","authors":"Shengfeng Zhou, Yazhini C. Pradeep, Peter C. Y. Chen","doi":"10.1109/ICARA.2015.7081138","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081138","url":null,"abstract":"This paper investigates the motion control for a nonholonomic mobile manipulator with the objective of simultaneously controlling the velocity of the mobile base and the motion of the end-effector. Both the reference velocity for the mobile base and the reference trajectory for the end-effector are specified in the task-space. A steering velocity is designed based on the steering system of the mobile base via dynamic feedback linearization, with the advantage of directly using the reference velocity set in task-space. A torque controller is subsequently designed via backstepping based on the dynamics of the mobile manipulator to ensure that the mobile base tracks the designed steering velocity and the end-effector tracks the reference trajectory. The asymptotic stability of both the velocity tracking error and the end-effector motion tracking error is achieved. Simulations are conducted to demonstrate the effectiveness of the proposed controller.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122401433","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}
引用次数: 5
A multimodal human machine interface for a robotic mobility aid 一种用于机器人移动辅助的多模态人机界面
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-04-09 DOI: 10.1109/ICARA.2015.7081162
Johannes Schneider, W. Stork, Stephan Irgenfried, H. Wörn
{"title":"A multimodal human machine interface for a robotic mobility aid","authors":"Johannes Schneider, W. Stork, Stephan Irgenfried, H. Wörn","doi":"10.1109/ICARA.2015.7081162","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081162","url":null,"abstract":"This paper presents design, implementation details and field trial results for a multimodal human machine interface for a robotic walking and sit-to-stand transfer assisting device with force-torque-sensor, user intention detection and active fall prevention. Two different human machine interfaces are described, a purely haptic version with buttons only and an alternative approach using a tablet computer. It is described, how the different modalities, optimized for the target user group of elderly persons, make the interaction with the system intuitive and reduce fear of contact with such a technical system. For the tablet PC based touch sensitive interface we describe our approach to automatically track user interactions with the system for detailed analysis and user interface optimization.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126368292","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}
引用次数: 7
Fuzzy reactive control for wheeled mobile robots 轮式移动机器人的模糊响应控制
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-04-09 DOI: 10.1109/ICARA.2015.7081142
P. Chand
{"title":"Fuzzy reactive control for wheeled mobile robots","authors":"P. Chand","doi":"10.1109/ICARA.2015.7081142","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081142","url":null,"abstract":"A mobile robot's ability to negotiate obstacles is important for successful point-to-point navigation. Hence, this paper presents a two stage fuzzy reactive control method. The first stage consists of a direction sensor that employs a fuzzy objective function to compute a direction (heading angle) for a robot to travel. At the second stage, a fuzzy dynamic window method utilizes a fuzzy objective function to determine the target wheel velocities of the robot. Simulations with two heterogeneous robots are performed in multiple environments. Initial results indicate that the fuzzy methods improve path length and are better at reducing speed around obstacles than linear methods.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127585662","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}
引用次数: 4
Concepts and simulations of a soft robot mimicking human tongue 模仿人类舌头的软体机器人的概念和仿真
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-04-09 DOI: 10.1109/ICARA.2015.7081169
Xuanming Lu, Weiliang Xu, Xiaoning Li
{"title":"Concepts and simulations of a soft robot mimicking human tongue","authors":"Xuanming Lu, Weiliang Xu, Xiaoning Li","doi":"10.1109/ICARA.2015.7081169","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081169","url":null,"abstract":"The structure of a novel soft robot which can mimic a few movements of human tongue was designed with a series of embedded chambers using pneumatic actuation pattern. Two silicone materials (Ecoflex 0030 and PDMS) were chosen to fabricate the body of the robot. FEM simulations have been carried out using software Abaqus. Four types of deformation have been achieved in simulation including roll, groove, elongation and twist when different combinations of chambers were pressurized with the same pressure of 17 kPa. The relationship between deformation range and structural parameters, the pressure in each chamber was also discovered during simulation.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114879245","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}
引用次数: 10
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