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

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Flexible Modeling of a Long Reach Articulated Carrier: Geometric and Elastic Error Calibration 长臂铰接载体的柔性建模:几何和弹性误差标定
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382893
J. Chalfoun, C. Bidard, D. Keller, Y. Perrot, G. Piolain
{"title":"Flexible Modeling of a Long Reach Articulated Carrier: Geometric and Elastic Error Calibration","authors":"J. Chalfoun, C. Bidard, D. Keller, Y. Perrot, G. Piolain","doi":"10.1109/CIRA.2007.382893","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382893","url":null,"abstract":"The Interactive Robotics Unit of CEA LIST has developed a very challenging robotic carrier (called P.A.C.) which is able to perform high range intervention tasks inside blind hot cells. This long reach multi-link carrier has 11 degrees of freedom (DOF) and weighs less than 30 kg. Due to its size and weight, this large robot manipulator holds lots of elastic and geometric deformations. Hence, it presents very low position accuracy. A mechanical model is developed to take into account the flexibilities of the structure. A calibration method of the robot's parameters is used to further reduce the positioning error of the end effector. This method is first tested by simulation. After encouraging simulation results, an experimental field is made for the calibration of the PAC manipulator. Results show that the adopted flexible model, with the new calibrated parameters, is indeed able to correct and reduce for the system errors.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"9 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":"126415583","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
A Pattern Recognition Neural Network Using Many Sets of Weights and Biases 一种使用多权重和偏差集的模式识别神经网络
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382856
Le Dung, M. Mizukawa
{"title":"A Pattern Recognition Neural Network Using Many Sets of Weights and Biases","authors":"Le Dung, M. Mizukawa","doi":"10.1109/CIRA.2007.382856","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382856","url":null,"abstract":"In supervised training, we often try to find out a set of weights and biases for a pattern recognition neural network in order to classify all patterns in a training data set. However, it would be difficult if the neural network was not big enough for learning a large training data set. In this paper, we propose a training method and a design of pattern recognition neural network that is not big but still able to classify all the training patterns exactly. The neural network is designed with a reject output to separate the training data set into some parts for classifying more easily. The training method helps the neural network to find out not only one but many sets of weights and biases for classifying all the training patterns, controlling the recognizing rejection and reducing the error rate. On the other hand, with this design we can reduce the size of the neural network implemented on a FPGA chip in order to make fast smart sensors for the robots.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"108 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":"127632447","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
Compliant Formation Control of a Multi-Vehicle System 多车系统的柔性编队控制
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382911
Erica Z. MacArthur, C. Crane
{"title":"Compliant Formation Control of a Multi-Vehicle System","authors":"Erica Z. MacArthur, C. Crane","doi":"10.1109/CIRA.2007.382911","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382911","url":null,"abstract":"This research identifies a strategy called compliant formation control, which may be used to coordinate the navigational structure of a team of autonomous vehicles. This technique controls the team's motion based on a given, desired formation shape and a given, desired set of neighboring separation distances, wherein the formation shape is considered general two-dimensional. The strategy establishes how to select, place, and use virtual springs and dampers that conceptually \"force\" proper interspacing between neighboring team members. The objective is to continuously maintain, in the most optimal way, the desired formation as team motion proceeds. In practice, actual robot separation distances will be measured relative to smarter, leader robots that have known position and orientation information at all times (e.g., GPS or INS). The control strategy subsequently commands, in an optimal way, each vehicle by providing a heading and velocity necessary to maintain the desired formation. Such requisite commands result from modeling the compliant displacements of team members as they travel in a network of virtual springs and dampers. The equations used to achieve coordinated motion of the robot team will be discussed and specific case studies will be presented to demonstrate the effectiveness of the compliant formation control strategy.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"52 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":"123132396","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: 13
Minimum-Time Algorithm For Intercepting An Object On The Conveyor Belt By Robot 机器人在输送带上拦截物体的最小时间算法
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382906
Iksang Shin, Sang-Hyun Nam, R. Roberts, S. Moon
{"title":"Minimum-Time Algorithm For Intercepting An Object On The Conveyor Belt By Robot","authors":"Iksang Shin, Sang-Hyun Nam, R. Roberts, S. Moon","doi":"10.1109/CIRA.2007.382906","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382906","url":null,"abstract":"This paper provides a minimum time algorithm to intercept an object on the conveyor belt by robotic manipulator. The goal is that the robot is able to intercept objects on a conveyor line moving at a given speed in minimum time. In order to formulate the problem, we introduce the robot and object arrival time functions, and conclude that the optimal point occurs at the intersection of these two functions. The search algorithm for finding the intersection point between the robot and object arrival time functions are also presented to find the optimal point in real-time.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"439 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":"123052627","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: 3
Co-Evolution of Sensor Morphology and Control on a Simulated Legged Robot 模拟腿式机器人传感器形态与控制的协同进化
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382874
G. Parker, P. Nathan
{"title":"Co-Evolution of Sensor Morphology and Control on a Simulated Legged Robot","authors":"G. Parker, P. Nathan","doi":"10.1109/CIRA.2007.382874","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382874","url":null,"abstract":"This paper discusses utilizing genetic algorithms to automatically design a suitable sensor morphology and controller for a given task in categories of environments. The type of sensors, the heading angle and the range of the sensor, and the rules the controller, are co-evolved. The described method enables the system to decipher information from the environment to determine that is relevant to completing a given task while configuring a minimal controller and number of sensors, thus increasing the overall efficiency of the robot.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"os-28 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":"127771725","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
Development of Visual Simultaneous Localization and Mapping (VSLAM) for a Pipe Inspection Robot 管道检测机器人视觉同步定位与制图(VSLAM)研究
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382850
Dennis Krys, H. Najjaran
{"title":"Development of Visual Simultaneous Localization and Mapping (VSLAM) for a Pipe Inspection Robot","authors":"Dennis Krys, H. Najjaran","doi":"10.1109/CIRA.2007.382850","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382850","url":null,"abstract":"This paper describes a visual simultaneous localization and mapping (VSLAM) method for a pipe inspection robot that can serve as a carrier for nondestructive testing (NDT) sensors inside in-service water mains. The proposed method features a multi-sensor fusion system that simultaneously executes two important functions of the robot: construct a global image of the internal surface of the pipe and provide the location of the NDT sensors. The fusion involves a synergy between image mosaicing and dead reckoning. More precisely, the sequential images of a digital camera are stitched together with the help of an inertial navigation system (INS). In the proposed model, the processing load of image mosaicing is reduced significantly, and at the same time the accumulation of error of the INS is prevented. The functionality of the model is verified using a simulator that mimics the motion of a pipe inspection robot inside a water main.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"57 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":"130198974","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: 39
Learning Tactic-Based Motion Models of a Moving Object with Particle Filtering 基于策略的粒子滤波运动物体运动模型学习
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382907
Yang Gu, M. Veloso
{"title":"Learning Tactic-Based Motion Models of a Moving Object with Particle Filtering","authors":"Yang Gu, M. Veloso","doi":"10.1109/CIRA.2007.382907","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382907","url":null,"abstract":"Learning motion models of a moving object is a challenge for autonomous robots. We address the particular instance of parameter learning when tracking object motions in a switching multi-model system. We present a general algorithm of joint parameter-state estimation based on multi-model particle filter. We apply the approach to a specific ball-tracking problem and extend the algorithm to learn model parameters in a dynamic Bayesian network (DBN). We show empirical results in simulation and in a team robot soccer environment, as a substrate for applying the learned models to object tracking in a team. The learning capability allow the tracker to much more effectively track mobile objects.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"19 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":"134014148","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: 1
Redundancy Control and Optimization of a 9-DoF Wheelchair-Mounted Robotic Arm System 九自由度轮椅机械臂系统的冗余控制与优化
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382891
Redwan Alqasemi, R. Dubey
{"title":"Redundancy Control and Optimization of a 9-DoF Wheelchair-Mounted Robotic Arm System","authors":"Redwan Alqasemi, R. Dubey","doi":"10.1109/CIRA.2007.382891","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382891","url":null,"abstract":"A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy are optimized to effectively perform activities of daily living (ADLs) and overcome singularities, joint limits and some workspace limitations. The control system is designed for teleoperated or autonomous coordinated Cartesian control, and it offers expandability for future research, such as voice or sip and puff control operations and sensor assist functions.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"1 2 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":"132076824","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
Interfacing a Force-Feedback Joystick with a Hydraulic Robot Arm 力反馈操纵杆与液压机械臂的连接
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382881
Joshua R. Mckinsey, G. Chiu
{"title":"Interfacing a Force-Feedback Joystick with a Hydraulic Robot Arm","authors":"Joshua R. Mckinsey, G. Chiu","doi":"10.1109/CIRA.2007.382881","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382881","url":null,"abstract":"The interfacing of haptic and hydraulic systems produce great benefits and the application of these systems will increase over time. This research presents one approach to successfully interfacing a force-feedback joystick with a hydraulic robot arm. In order to complete this task, two mild-stones have to be achieved. First, an expression representing the value of the displayed force needs to be determined. Secondly, a real-time interface has to exist between the force-feedback joystick and the hydraulic arm. The method chosen to determine the displayed force is based on Lagrange-Euler recursive equations for generalized linkages. These equations represent the system dynamics and can be used to determine the desired drive efforts. The calculated drive effort combined with an experimentally modeled frictional effect is then used to compute the necessary display force. The force-feedback joystick chosen was an impulse engine 2000. From this research, it can be observed that modeling the effect of friction definitely improves the accuracy of the display force. It also can be inferred that using Lagrange-Euler to determine the display force is not a desirable method for mass production of hydraulic force-feedback systems.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"13 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":"123811295","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
Physics-Based Animation for Qualitative Assessment of Biomimetic Subterranean Burrowing Behaviors 基于物理的模拟地下挖洞行为定性评价动画
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382837
B. Bergeron
{"title":"Physics-Based Animation for Qualitative Assessment of Biomimetic Subterranean Burrowing Behaviors","authors":"B. Bergeron","doi":"10.1109/CIRA.2007.382837","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382837","url":null,"abstract":"Physics-based animations executing on 3D game engines enabled with physics middleware libraries and coprocessors can be used to explore the suitability of potential robot behaviors in working environments and robot configurations that are ill-defined or difficult and time-consuming to model with traditional quantitative tools. We use an inexpensive game development engine and PC hardware to develop physics-based animations of potential biomimetic subterranean robot burrowing behaviors. Qualitative assessment of energy efficiency, burrowing time, and digging capabilities of several biomimetic robot designs are validated with data from physical prototypes operated in a range of soil types and models of soil using colored particles. Results suggest this methodology is applicable to rapid screening of potential robot designs intended to operate in a variety of domains.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"11 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":"115631979","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: 1
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