2007 International Symposium on Computational Intelligence in Robotics and Automation最新文献

An Augmented State Vector Approach to GPS-Based Localization 一种基于gps定位的增强状态向量方法

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-12-26 DOI: 10.1109/AIM.2007.4412556

F. Capezio, A. Sgorbissa, R. Zaccaria

引用次数: 0

A Sensor Calibration Methodology for Evidence Theoretic Unmanned Ground Vehicle Localization 一种基于证据理论的无人地面车辆定位传感器标定方法

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382887

Veera Jawahar Vibeeshanan, K. Subbarao, B. Huff

引用次数: 8

Probabilistic Semantic Mapping with a Virtual Sensor for Building/Nature detection 基于虚拟传感器的概率语义映射用于建筑/自然检测

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382870

M. Persson, T. Duckett, Christoffer Valgren, A. Lilienthal

{"title":"Probabilistic Semantic Mapping with a Virtual Sensor for Building/Nature detection","authors":"M. Persson, T. Duckett, Christoffer Valgren, A. Lilienthal","doi":"10.1109/CIRA.2007.382870","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382870","url":null,"abstract":"In human-robot communication it is often important to relate robot sensor readings to concepts used by humans. We believe that access to semantic maps will make it possible for robots to better communicate information to a human operator and vice versa. The main contribution of this paper is a method that fuses data from different sensor modalities, range sensors and vision sensors are considered, to create a probabilistic semantic map of an outdoor environment. The method combines a learned virtual sensor (understood as one or several physical sensors with a dedicated signal processing unit for recognition of real world concepts) for building detection with a standard occupancy map. The virtual sensor is applied on a mobile robot, combining classifications of sub-images from a panoramic view with spatial information (location and orientation of the robot) giving the likely locations of buildings. This information is combined with an occupancy map to calculate a probabilistic semantic map. Our experiments with an outdoor mobile robot show that the method produces semantic maps with correct labeling and an evident distinction between 'building' objects from 'nature' objects.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114285171","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: 26

Robotic Self-Replication in a Structured Environment without Computer Control 无计算机控制的结构化环境中的机器人自我复制

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382902

S. Eno, Lauren Mace, Jianyi Liu, Brian Benson, K. Raman, Kiju Lee, M. Moses, G. Chirikjian

{"title":"Robotic Self-Replication in a Structured Environment without Computer Control","authors":"S. Eno, Lauren Mace, Jianyi Liu, Brian Benson, K. Raman, Kiju Lee, M. Moses, G. Chirikjian","doi":"10.1109/CIRA.2007.382902","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382902","url":null,"abstract":"The ability to self-replicate is one of the distinctive features of living organisms. Robots capable of self-replication would have a profound impact on the field of robotics by improving lifetime and robustness. In the past our lab has built several prototypes of self-replicating robotic systems including semi-autonomous and fully-autonomous robots with microprocessor-based control, and a self-replicating electromechanical circuit composed of basic electronic elements (transistors, resistors, etc.). These previous efforts demonstrated that man-made systems with simple behaviors are capable of self-replication. Extending our previous results, in this paper, we present an autonomous self-replicating robotic system with distributed electronic components in a structured environment. Using simple discrete electronic components allows for a more uniform decomposition of each robot into simpler parts than for microprocessor-controlled systems. Ultimately, we would like to demonstrate robots that replicate from the most basic parts, and this paper represents one more step toward achieving this goal.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129745359","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

Rate-Dependent Hysteresis Model of Piezoelectric using Singularity Free Prandtl-Ishlinskii Model 基于无奇异Prandtl-Ishlinskii模型的压电滞回率相关模型

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382862

U. Tan, W. T. Latt, C. Shee, W. T. Ang

{"title":"Rate-Dependent Hysteresis Model of Piezoelectric using Singularity Free Prandtl-Ishlinskii Model","authors":"U. Tan, W. T. Latt, C. Shee, W. T. Ang","doi":"10.1109/CIRA.2007.382862","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382862","url":null,"abstract":"Actuators using advance materials like piezoelectric and shape memory alloy are gaining popularity in applications involving high frequency, high precision and also when there's a need in compactness. As time is required for the switching of polarization, the phenomena hysteretic behavior of these materials changes with rate. Most present hysteresis models are based on rate-independent assumption and cannot be applied for non-periodic applications. To make matters worse, the hysteresis actually becomes ill-conditioned when the velocity is high at the turning point. This paper proposes a phenomena rate-dependent model using a modified Prandtl-Ishlinskii (PI) operator without singularity to model the behavior of piezoelectric actuators, even when subjected to varying frequency signals. Past work had shown that the weights of the Prandtl-Ishlinskii operators vary linearly with velocity when the velocity is less than 900mum/s. As the first weight becomes negative when operating at higher frequencies, the threshold value has to be kept large to avoid the singularity problem when computing the inverse Prandtl-Ishlinskii model. Similar ill-conditioned problems also arise when the actuators are subjected to heavy loads. Thus, this paper proposes extensions to the PI operator by mapping the hysteresis data through a linear transformation onto a domain where the singularity problem is removed. The inverse weights are obtained and subsequently used to compute the inverse hysteresis model and implemented as an open-loop feedforward control of a piezoelectric actuator.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130617820","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

Nonlinear Control Using a Model Based Predictive Control Algorithm 基于模型的非线性预测控制算法

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382871

R. Balan, V. Maties, O. Hancu, S. Stan, C. Lapusan

引用次数: 2

Modification of the Wave Variable Technique for Teleoperation Systems Experiencing Communication Loss 通信丢失远程操作系统的波变技术改进

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382877

M. Dede, S. Tosunoglu

引用次数: 11

Simulation of Fine Gain Tuning Using Genetic Algorithms for Model-Based Robotic Servo Controllers 基于模型的机器人伺服控制器精细增益调谐的遗传算法仿真

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382914

F. Nagata, K. Kuribayashi, K. Kiguchi, Keigo Watanabe

{"title":"Simulation of Fine Gain Tuning Using Genetic Algorithms for Model-Based Robotic Servo Controllers","authors":"F. Nagata, K. Kuribayashi, K. Kiguchi, Keigo Watanabe","doi":"10.1109/CIRA.2007.382914","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382914","url":null,"abstract":"Resolved acceleration control method or computed torque method is used for nonlinear control of industrial manipulators, which is composed of a model base portion and a servo portion. The servo portion is a close loop with respect to the position and velocity. On the other hand, the model base portion has the inertia term, gravity term and centrifugal/Coriolis term, which work for canceling the nonlinearity of manipulator. In order to realize high control stability, the position and velocity gains used in the servo portion should be selected suitably. In this paper, a simple but effective fine tuning method after manual tuning is introduced for the position and velocity feedback gains in the servo portion. At the first step, base values of the gains are roughly selected by a controller designer, e.g., considering the critically damped condition. After that, the base values are finely tuned by genetic algorithms. Genetic algorithms search for the better combination of the position and velocity gains. Simulations are conducted using a dynamic model of PUMA560 manipulator to validate the effectiveness of the proposed method.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131731093","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: 24

Unmanned Ground Vehicle State Estimation using an Unmanned Air Vehicle 基于无人机的无人地面飞行器状态估计

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382909

D. MacArthur, C. Crane

引用次数: 18

Morphological Evolution of Dynamic Structures in a 3-Dimensional Simulated Environment 三维模拟环境中动态结构的形态演化

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382873

G. Parker, D. Duzevik, A. Anev, R. Georgescu

引用次数: 1