2005 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第7页

Observability analysis for mobile robot localization 移动机器人定位的可观察性分析

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545153

Agostino Martinelli, R. Siegwart

引用次数: 137

An augmented state SLAM formulation for multiple line-of-sight features with millimetre wave RADAR 一种用于毫米波雷达多视距特征的增强状态SLAM公式

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545232

E. Jose, M. Adams

{"title":"An augmented state SLAM formulation for multiple line-of-sight features with millimetre wave RADAR","authors":"E. Jose, M. Adams","doi":"10.1109/IROS.2005.1545232","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545232","url":null,"abstract":"Millimetre wave RADAR can penetrate certain non-metallic objects, meaning that multiple line-of-sight objects can sometimes be detected, a property which can be exploited in mobile robot navigation in outdoor unstructured environments. This paper describes a new approach in predicting RADAR range bins which is essential for simultaneous localisation and map building (SLAM) with millimetre wave RADAR. The first contribution of this paper is a SLAM formulation using an augmented state vector which includes the normalised RADAR cross sections (RCS) and absorption cross sections of features as well as the usual feature Cartesian coordinates. The term \"normalised\" is used as the actual RCS is incorporated into a reflectivity parameter. Normalisation results as it is assumed that the sum of this reflectivity parameter and the absorption and transmittance parameters is unity. This is carried out to provide feature rich representations of the environment to significantly aid the data association process in SLAM. The second contribution is a predictive model of the power-range spectra (often referred to as range bins), from differing vehicle locations, for multiple line-of-sight targets. This forms a predicted power-range observation, based on estimates of the augmented SLAM state. The formulation of power returns from multiple objects down-range is derived and predicted RADAR range spectra are compared with real spectra, recorded outdoors. This prediction of power-range spectra is a step towards a full, RADAR based SLAM framework.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"6 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":"131175581","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: 36

Using energy-based variable structure approach to control the vibrations in a nonlinear beam with large deformations 采用基于能量的变结构方法控制大变形非线性梁的振动

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545412

B. Gharesifard, M. Mahzoon, M. Farid

引用次数: 0

Method for applying reinforcement learning to motion planning and control of under-actuated underwater vehicle in unknown non-uniform sea flow 未知非均匀海流下欠驱动水下航行器运动规划与控制的强化学习方法

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1544973

H. Kawano

{"title":"Method for applying reinforcement learning to motion planning and control of under-actuated underwater vehicle in unknown non-uniform sea flow","authors":"H. Kawano","doi":"10.1109/IROS.2005.1544973","DOIUrl":"https://doi.org/10.1109/IROS.2005.1544973","url":null,"abstract":"The development of a practical motion planning and control algorithm for under-actuated robots in an unknown disturbance is a very important issue in robotics research. In the case of under actuated underwater vehicles, developing such an algorithm has been particularly problematic for several reasons. First, not only the kinematical characteristics of the motion but also the dynamical characteristics of the underwater vehicle must be considered in the motion planning calculation. Second, it is very difficult to ascertain the exact distribution of the velocity of non-uniform sea flow around obstacles on the seabed before the mission. Third, the effect of the sea flow on the motion of an underwater vehicle is very large because the speed of sea flow is very high compared with the vehicle's. This paper proposes a new method based on the application of reinforcement learning to solve these problems. Reinforcement learning based on the Markov decision process (MDP) is known to be suitable for acquiring motion control algorithms for robots acting in a stochastic environment with disturbance. However, to apply reinforcement learning method, the robot's motion must be suitably digitized and the learning environment must be equal to the robot's mission environment. This paper introduces a motion digitizing method based on an artificial neuron model and a method for making up for the difference between learning and mission environments. The performance of the proposed algorithm is examined by the dynamical simulation of an under-actuated underwater vehicle cruising in an environment with an obstacle and an unknown non-uniform flow simulated by potential flow.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"137 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":"133698252","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: 14

Simultaneously calibrating catadioptric camera and detecting line features using Hough transform 利用霍夫变换同时标定反射相机和检测线特征

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545166

Xianghua Ying, H. Zha

{"title":"Simultaneously calibrating catadioptric camera and detecting line features using Hough transform","authors":"Xianghua Ying, H. Zha","doi":"10.1109/IROS.2005.1545166","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545166","url":null,"abstract":"A line in space is projected to a conic in a central catadioptric image, and such a conic is called a line image. This paper proposes a novel approach to calibrating catadioptric camera and detecting line images simultaneously by using Hough transform. Previous approaches to catadioptric cameras calibration employ the traditional conic detecting or fitting methods for line images, and then use these recovered conies to estimate the intrinsic parameters based on some properties of line images. However, the type of a line image can be line, circle, ellipse, hyperbola or parabola, and in general only a small arc of the conic is visible in the image, which brings novel challenges for conic detection and fitting where traditional conic detecting and fitting methods may fail. As we know, the accuracy of the estimated intrinsic parameters highly depends on the accuracy of the extracted conies. The main contribution of this work is we show that all line images from catadioptric cameras with the same intrinsic parameters must belong to a family of conies with only two degree-of-freedom, and such a family is called a line image family. Therefore, we present a novel special Hough transform for line image detection which ensures that all detected conies must belong to a line image family related to certain intrinsic parameters. For all possible values of the unknown intrinsic parameters, the line image special Hough transform are performed. The one with the highest confidence is chosen as the estimated values for these unknown intrinsic parameters, and the corresponding results of line image detection are chosen as the estimated values for line images. In order to make the searching process more efficient, the hierarchical approaches are employed in this paper. The validity of our proposed approach is illustrated by experiments.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"51 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":"133672764","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: 27

Development of a dexterous minimally-invasive surgical system with augmented force feedback capability 具有增强力反馈能力的灵巧微创手术系统的开发

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545551

J. Arata, M. Mitsuishi, S. Warisawa, Katsuya Tanaka, T. Yoshizawa, M. Hashizume

{"title":"Development of a dexterous minimally-invasive surgical system with augmented force feedback capability","authors":"J. Arata, M. Mitsuishi, S. Warisawa, Katsuya Tanaka, T. Yoshizawa, M. Hashizume","doi":"10.1109/IROS.2005.1545551","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545551","url":null,"abstract":"Several robotic surgical systems have been developed for minimally-invasive surgery including commercialized products such as da Vinci and ZEUS. We have developed a minimally-invasive surgical system, which had performed remote surgery experiments for four times until now (performed on pigs over 150 km in Japan). In this paper, two approaches that extend the system from the perspective of extensions of surgeon's dexterity are described. The first approach is a development of complex robotic forceps, which have multiple d.o.f. on their tip. A complex rigid link mechanism has been applied to the robotic forceps to realize 3 d.o.f. motions in a patient's abdominal cavity. With the rigid link mechanism, surgeons have no longer need to be concerned a cable cutting problem, which often can be happened on conventional cable driven systems. The second approach is a force feedback capability. The developed rigid link mechanism is preferable for an implementation of a force feedback capability. The force feedback capability is important not only for extending surgeon's dexterity but also for preventing unexpected damage on internal organs. An evaluation experiment of the force feedback capability on a simulated surgical procedure was conducted. An augmented force presentation method was developed that displays contact information between forceps and soft tissues. In an evaluation experiment, the load applied to soft organ tissues was reduced by approximately 30% compared with a conventional force feedback method.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"134 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":"132581490","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: 61

On the deployment of a hybrid free-space optic/radio frequency (FSO/RF) mobile ad-hoc network 自由空间光/射频(FSO/RF)混合移动自组网的部署

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545193

J. Derenick, Christopher Thorne, J. Spletzer

{"title":"On the deployment of a hybrid free-space optic/radio frequency (FSO/RF) mobile ad-hoc network","authors":"J. Derenick, Christopher Thorne, J. Spletzer","doi":"10.1109/IROS.2005.1545193","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545193","url":null,"abstract":"The hybrid free-space optics/radio frequency (FSO/RF) network paradigm promises new levels of throughput for sensor and mobile ad-hoc networks. However, several challenges must be addressed before such a network model can be realized. These include a means by which deployed robots can autonomously establish optical links over sufficiently long distances as well as the formulation of a mobile network architecture that can exploit high throughput FSO channels. In this paper, we offer solutions to these problems in the form of hierarchical link acquisition and routing protocols. The heart of our link acquisition system (LAS) is a vision-based alignment phase for locating robot link partners via high zoom camera systems. Identification is accomplished in real-time using a multi-resolution image representation and normalized intensity distribution (NID) as a similarity metric. Our routing protocol relies upon the hierarchical state routing (HSR) model adapted to the FSO/RF paradigm. Experimental results from a large set of link acquisition trials as well as a small scale FSO/RF deployment are provided to support our approach.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"29 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":"132658159","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: 50

Modeling facial expression space for recognition 面部表情空间建模识别

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545532

Yuwen Wu, Hong Liu, H. Zha

引用次数: 57

High resolution flexible 3-RRR planar parallel micro-stage in near singular configuration for resolution improvement. Part I 近奇异构型高分辨率柔性3-RRR平面平行微台，提高分辨率。第一部分

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545142

S. Ronchi, O. Company, S. Krut, F. Pierrot, A. Fournier

{"title":"High resolution flexible 3-RRR planar parallel micro-stage in near singular configuration for resolution improvement. Part I","authors":"S. Ronchi, O. Company, S. Krut, F. Pierrot, A. Fournier","doi":"10.1109/IROS.2005.1545142","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545142","url":null,"abstract":"The increasing level of requirements in terms of performance, accuracy, repeatability and resolution in the semiconductors industry leads to several technological problems; among them the positioning accuracy and resolution are peculiarly important. In this paper, we address the crucial issue of high resolution and fast positioning mechanisms. We propose a novel type of high resolution and fast positioning mechanism, based on a macro/micro architecture composed of two stages. We focus here on the micro-stage. It is a combination of: a 3-RRR planar parallel structure (3-RRR stands for 3 kinematic chains in parallel, each chain composed of 3 revolute joints R in a serial arrangement) with deported PRR actuation (a rod connected with two revolute joints R to a linear actuator P and to the RRR chain). This architecture provides stiffness, symmetry and interesting thermal properties; Flexible R links (which avoid the drawbacks of conventional links in terms of backlash, friction, wear, stick-slip,...); and near serial-singular configuration which results in an improvement of the resolution. A modeling of inverse kinematics for position and velocity is presented. Then, an optimization is run to find the best set of geometrical parameters for the micro-stage. An articulated kinematic scheme is finally presented.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"67 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":"131406542","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

Manipulating biological cells with a micro-robot cluster 用微型机器人集群操纵生物细胞

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545018

F. Tagliareni, M. Nierlich, O. Steinmetz, T. Velten, J. Brufau-Penella, J. López-Sánchez, M. Puig-Vidal, J. Samitier

引用次数: 11