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2008 International Workshop on Robotic and Sensors Environments最新文献

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An omnidirectional stereoscopic system for mobile robot navigation 移动机器人全向立体导航系统
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669195
R. Boutteau, X. Savatier, J. Ertaud, B. Mazari
{"title":"An omnidirectional stereoscopic system for mobile robot navigation","authors":"R. Boutteau, X. Savatier, J. Ertaud, B. Mazari","doi":"10.1109/ROSE.2008.4669195","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669195","url":null,"abstract":"This paper proposes a scheme for a 3D metric reconstruction of the environment of a mobile robot. We first introduce the advantages of a catadioptric stereovision sensor for autonomous navigation and how we have designed it with respect to the Single Viewpoint constraint. For applications such as path generation, the robot needs a metric reconstruction of its environment, so calibration of the sensor is required. After justification of the chosen model, a calibration method to obtain the model parameters and the relative pose of the two catadioptric sensors is presented. Knowledge of all the sensor parameters yields the 3D metric reconstruction of the environment by triangulation. Tools for calibration and relative pose estimation are presented and are available on the authorpsilas Web page. The entire process has been evaluated using real data.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121677748","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: 15
Use of RSSI for motion control of wirelessly networked robot swarm RSSI在无线网络机器人群运动控制中的应用
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669187
T. Ishimoto, S. Hara
{"title":"Use of RSSI for motion control of wirelessly networked robot swarm","authors":"T. Ishimoto, S. Hara","doi":"10.1109/ROSE.2008.4669187","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669187","url":null,"abstract":"For a wirelessly networked robot swarm, to accomplish a unified task as a group, it is necessary to generate a set of common coordinates among all member robots and to notify each member robot of its heading direction in the generated common coordinates. However, when the member robots are not equipped with sensors to identify their locations or bearings, they can use only a function in the wireless communication protocol to network them as a tool to generate a set of common coordinates among them. This paper outlines a set of common coordinates and a heading direction generation method for a wirelessly networked robot swarm with RSSI (Received Signal Strength Indicator, namely, received power) measured through wireless communications and shows experimental results on the location and heading direction estimation errors in indoor and outdoor environments.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121887002","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
Grasping in Depth maps of time-of-flight cameras 飞行时间相机的深度图抓取
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669194
J. Kühnle, Zhixing Xue, Martin Stotz, Johann Marius Zöllner, A. Verl, R. Dillmann
{"title":"Grasping in Depth maps of time-of-flight cameras","authors":"J. Kühnle, Zhixing Xue, Martin Stotz, Johann Marius Zöllner, A. Verl, R. Dillmann","doi":"10.1109/ROSE.2008.4669194","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669194","url":null,"abstract":"The recognition and localization of objects in space is of fundamental interest in many robot vision applications, especially in those that are supposed to provide services to human beings. The trivial example of any such task is manipulation, i.e., providing a robot the means of handling objects. In this work, we discuss the chances and the problems experienced when using a time-of-flight camera as the only measurement device of an object recognizer. The localization is based on the best-fit of the geometric primitives within the objects considered (such as planes, cylinders, cones, or spheres). Such shapes are of special interest not only in recognition but also in grasp planning. We use a time-of-flight camera SwissRanger SR-3000 and localize a selected set of objects in order to grasp them with a dexterous robotic hand.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134540591","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: 20
Iterative Learning-based fuzzy Control system 基于迭代学习的模糊控制系统
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669175
R. Precup, S. Preitl, E. Petriu, J. Tar, J. Fodor
{"title":"Iterative Learning-based fuzzy Control system","authors":"R. Precup, S. Preitl, E. Petriu, J. Tar, J. Fodor","doi":"10.1109/ROSE.2008.4669175","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669175","url":null,"abstract":"The paper discusses a delta domain approach to the design of Mamdani PI-fuzzy controllers using iterative learning control algorithms. A speed control system for a DC drive servo-drive is implemented and experimental results are used to validate the proposed design method.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123039867","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
Message redundancy in sensor networks implemented with intelligent agents 用智能代理实现传感器网络中的消息冗余
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669186
V. Ancușa
{"title":"Message redundancy in sensor networks implemented with intelligent agents","authors":"V. Ancușa","doi":"10.1109/ROSE.2008.4669186","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669186","url":null,"abstract":"In this paper is explored the implementation of message redundancy using consensus. A fault-tolerant consensus-based protocol is presented and tested on an agent-oriented distributed system, in which the agents are provided with a limited memory. This protocol is applicable to sensor networks in which the failure of links and nodes is highly probable. Though the time performance of this protocol is of exponential complexity, the gain in reliability justifies it.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123584702","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
Two-layer sliding mode control of pneumatic position synchro system with feedback linearization based on friction compensation 基于摩擦补偿的反馈线性化气动位置同步系统两层滑模控制
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669178
Hong Zhao, P. Ben-Tzvi, Ting-Yung Lin, A. Goldenberg
{"title":"Two-layer sliding mode control of pneumatic position synchro system with feedback linearization based on friction compensation","authors":"Hong Zhao, P. Ben-Tzvi, Ting-Yung Lin, A. Goldenberg","doi":"10.1109/ROSE.2008.4669178","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669178","url":null,"abstract":"Pneumatic systems have been widely used in industrial applications because of their well-known advantages. However, pneumatic systems have disadvantages that include strong non-linearity and low natural frequency. These drawbacks make it difficult to obtain satisfactory control performances in comparison to hydraulic systems. In this paper, the fundamental characteristics and nonlinear control strategy of the pneumatic system is studied. The two-layer sliding mode synchro system with feedback linearization based on friction compensation is applied to electro-pneumatic synchro position system. To verify the used strategies, experiments with the synchro system are performed. The experimental results show that the new designed controller is effective for both accuracy and robustness.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130178465","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
Intelligent haptics sensing and biometric security 智能触觉传感和生物识别安全
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669189
A. Kanneh, Z. Sakr
{"title":"Intelligent haptics sensing and biometric security","authors":"A. Kanneh, Z. Sakr","doi":"10.1109/ROSE.2008.4669189","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669189","url":null,"abstract":"Security is a great concern for both organizations and individuals. The concept of biometric measures has been used to identify and/or verify individuals as long as we have existed and has evolved with time. This paper presents an intelligent sensing system, which uses a haptics device to capture behavioral biometric features and a fuzzy logic controller for classification. A comparison is made of the Mamdani and Sugeno fuzzy inference methods. This study shows that even with a simple interface effective security could be achieved. Possible applications include online (signature) recognition or access control to highly restricted areas and/or data.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114945660","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
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