2005 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献

Wound roll dielectric elastomer actuators: fabrication, analysis and experiments 卷绕式介电弹性体致动器:制造、分析与实验

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545366

A. Rajamani, M. Grissom, C. Rahn, Y. Ma, Qiming Zhang

引用次数: 34

An active micro-force sensing system with piezoelectric servomechanism 基于压电伺服机构的主动微力传感系统

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545372

Yantao Shen, N. Xi, C. Pomeroy, U. Wejinya, W. Li

{"title":"An active micro-force sensing system with piezoelectric servomechanism","authors":"Yantao Shen, N. Xi, C. Pomeroy, U. Wejinya, W. Li","doi":"10.1109/IROS.2005.1545372","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545372","url":null,"abstract":"This paper aims at developing an active force sensing technology for micromanipulation and microassembly using in-situ piezoelectric polyvinylidene fluoride (PVDF) films symmetrically bonded to the surface of a flexible cantilever beam structure. The designed micro-force sensing beam has both sensing and actuating layers. The sensing layer can detect the deformation signal due to the external micro-force acting at the sensor tip, the signal is then fed back to the actuating layer through a servoed transfer function or servo controller, as a result, a counteracting bending moment generated by the actuating layer can be used to balance the deformation of sensor beam in real time. Once balanced, the sensor tip will maintain in the equilibrium position as if the sensor stiffness is virtually improved, yielding accurate motion control of the sensor tip. Especially, the micro-force can be obtained by calculating the balance force through the counteracting servo voltage applied to the actuating layer. The developed active structure greatly enlarge dynamic range of micro-force sensor and enhance the manipulability during micromanipulation/microassembly when the sensor is mounted at the end-effector. Preliminary calibration and experimental results both verified the performance of the developed active micro-force sensor and the effectiveness of the models.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"154 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125228505","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: 6

RePLiCS: an environment for open real-time control of a dual-arm industrial robotic cell based on RTAI-Linux RePLiCS:基于RTAI-Linux的双臂工业机器人单元开放实时控制环境

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545520

F. Caccavale, V. Lippiello, B. Siciliano, L. Villani

引用次数: 16

Two-step grasping strategy for capturing a stick-shaped object 棒状物体的两步抓取策略

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545527

M. Higashimori, M. Kimura, I. Ishii, M. Kaneko

引用次数: 1

Maintaining visibility of a moving holonomic target at a fixed distance with a non-holonomic robot 用非完整机器人在固定距离上保持运动完整目标的可见性

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545275

Rafael Murrieta-Cid, Lourdes Muñoz-Gómez, M. Alencastre-Miranda, A. Sarmiento, Stephen Kloder, S. Hutchinson, F. Lamiraux, J. Laumond

引用次数: 13

Augmenting situation awareness via model-based control in rescue robots 基于模型控制的救援机器人情境感知增强

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545199

Andrea Carbone, Alberto Finzi, Andrea Orlandini, F. Pirri, G. Ugazio

引用次数: 22

CSD: cell-based service discovery in large-scale robot networks CSD:大规模机器人网络中基于小区的服务发现

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1544963

J. Du, U. Witkowski, U. Rückert

引用次数: 3

Online job shop rescheduling with reaction-diffusion equation on a graph 基于反应扩散方程的在线作业车间重调度

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545459

Mingang Cheng, M. Sugi, J. Ota, Masashi Yamamoto, Hiroki Ito, Kazuyoshi Inoue

引用次数: 1

Predictive controller for heterogeneous sensor network operation in dynamic environments 动态环境下异构传感器网络运行的预测控制器

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545132

A. Talukder, S. Ali, A. Panangadan, L. Chandramouli

{"title":"Predictive controller for heterogeneous sensor network operation in dynamic environments","authors":"A. Talukder, S. Ali, A. Panangadan, L. Chandramouli","doi":"10.1109/IROS.2005.1545132","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545132","url":null,"abstract":"We discuss a novel control methodology for power management in heterogeneous distributed sensor networks. Many algorithms for resource management in sensor networks require complete knowledge of the external environment and the sensor network system, are rule-based and cannot handle rapidly changing environments; this restricts their use in real-world environments. We present an event based control optimization formulation of the resource management problem and discuss a method to adaptively change desired system performance of the sensor network in response to events. This functionality is critical in field-deployable sensor networks where the available energy is extremely limited. This limitation disallows continuous operation as a very expensive option and necessitates system adaptation as a means to extend operational lifetime in the face of dynamic external events. We show results on synthetic sensor networks where only partially accurate information about the external world and the sensing system is available and illustrate the efficacy of the control algorithm in handling dynamic events with guaranteed minimum system lifespan via efficient usage of energy resources. We show that the control algorithm makes effective control decisions about the use of energy resources with varying sensor reliabilities.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125095649","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: 2

A practical approach to control and self-localization of Persia omni directional mobile robot 波斯全方位移动机器人控制与自定位的实用方法

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545090

Saeed Ziaie-Rad, F. Janabi-Sharifi, M. M. Danesh-Panah, Amir Abdollahi, Hossein Ostadi, H. Samani

引用次数: 15