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2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)最新文献

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Force, acceleration and vision sensor fusion for contour following tasks with an industrial robot 工业机器人轮廓跟踪任务的力、加速度和视觉传感器融合
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058516
Heiko Koch, A. Koenig, A. Weigl-Seitz, K. Kleinmann, J. Suchy
{"title":"Force, acceleration and vision sensor fusion for contour following tasks with an industrial robot","authors":"Heiko Koch, A. Koenig, A. Weigl-Seitz, K. Kleinmann, J. Suchy","doi":"10.1109/ROSE.2011.6058516","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058516","url":null,"abstract":"In robotic contour following tasks such as sewing or cutting an industrial robot guides a tool along a contour of a workpiece. Teaching the task manually is very time consuming and the process would be unable to react to uncertainties or changes of the environment. Thus sensor systems are applied to reduce human intervention, making the robot more autonomous. In this paper we present an integrated approach for multisensor contour following. A look-ahead vision sensor guides the tool along a contour of a workpiece while force feedback control maintains a desired contact force. Couplings that arise between these two controllers are estimated and compensated through online measurements of contact forces between robot and environment. The identification of the environment combines force and acceleration sensors in an observer-based control scheme. The system is validated by experiments that involve contour following on compliant objects","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115856934","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
Adaptive displacement tracking control of piezo-actuated manipulation mechanisms with hysteresis and disturbance 具有滞后和扰动的压电操纵机构的自适应位移跟踪控制
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058521
H. Chaoui, P. Sicard
{"title":"Adaptive displacement tracking control of piezo-actuated manipulation mechanisms with hysteresis and disturbance","authors":"H. Chaoui, P. Sicard","doi":"10.1109/ROSE.2011.6058521","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058521","url":null,"abstract":"In this paper, we introduce an adaptive control methodology of piezoelectric actuators for microelectromechanical manipulation mechanisms. The adaptive control strategy capitalizes on the piezoelectric actuator's inverse model to design an adaptive controller using a Lyapunov-based adaptation technique. The controller achieves high precision motion tracking under hysteresis nonlinearities, parametric uncertainties, and external disturbance. Results for different situations highlight the performance of the proposed controller in compensating for hysteresis effect.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132004161","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
Calibration of three-axis strapdown magnetometers using Particle Swarm Optimization algorithm 基于粒子群优化算法的三轴捷联磁力计标定
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058522
Zhitian Wu, Yuanxin Wu, Xiaoping Hu, Mei-ping Wu
{"title":"Calibration of three-axis strapdown magnetometers using Particle Swarm Optimization algorithm","authors":"Zhitian Wu, Yuanxin Wu, Xiaoping Hu, Mei-ping Wu","doi":"10.1109/ROSE.2011.6058522","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058522","url":null,"abstract":"In this work a new algorithm is developed for onboard calibration of three-axis strapdown magnetometers. The sensor errors, namely hard iron, soft iron, nonorthogonality, scale factors, biases and among others are taken into account. Particle Swarm Optimization (PSO) strategy is applied to estimate the errors above. The advantages of this method are no need for good initial values or linearization, easy realization and fast convergence. Accuracy and robustness of the proposed algorithm are validated by experiments. The post-calibration residuals are down to less than 10nT compared with approximate 1000nT before calibration. The proposed algorithm yields robust results with sufficient accuracy in tests.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131330742","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
Increasing compression of JPEG images using steganography 使用隐写术增加JPEG图像的压缩
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058519
Reza Jafari, D. Ziou, A. Mammeri
{"title":"Increasing compression of JPEG images using steganography","authors":"Reza Jafari, D. Ziou, A. Mammeri","doi":"10.1109/ROSE.2011.6058519","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058519","url":null,"abstract":"In this paper, we focus on the problem of improving image compression through steganography. Even if the purposes of digital steganography and data compression are by definition contradictory, these techniques might be used jointly to compress and to hide information within the same digital support. A novel image compression scheme, employing steganography to decrease the data file size, is investigated. That is, data compression is performed twice under this point of view. Using at first, the conventional standard JPEG which reduces redundant data, taking advantage of the energy compaction property, and secondly, by means of steganography which embeds some bits-blocks within its subsequent blocks of the same image. The embedded bits do not increase the file size of the compressed image, but as they are taken from and hidden within the image itself, the file size will be further decreased. Experimental results show that this promising technique has a wide potential in image coding.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"23 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116609801","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
Where do you sample? - An autonomous underwater vehicle story 你们在哪里试吃?-一个自主水下航行器的故事
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058512
Colin Ho, S. Saripalli
{"title":"Where do you sample? - An autonomous underwater vehicle story","authors":"Colin Ho, S. Saripalli","doi":"10.1109/ROSE.2011.6058512","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058512","url":null,"abstract":"We present an experimental evaluation of various sampling path strategies for an Autonomous Underwater Vehicle. Both systematic and stratified random sampling path strategies were evaluated based upon their estimation accuracy for isotropic and anisotropic scalar fields, as well as the relative energy consumption. We present results from several experimental trials that shows that the stratified random sampling strategy minimizes estimation error for denser sample distributions, and the systematic sampling strategy minimizes estimation error for sparser sample distributions. Finally, we experimentally show that the systematic spiral path sampling strategy is the most energy efficient.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126145479","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
A geomagnetic field based positioning technique for underground mines 基于地磁场的地下矿山定位技术
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058533
J. Haverinen, Anssi Kemppainen
{"title":"A geomagnetic field based positioning technique for underground mines","authors":"J. Haverinen, Anssi Kemppainen","doi":"10.1109/ROSE.2011.6058533","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058533","url":null,"abstract":"A geomagnetic field based positioning technique is proposed for underground mining environments. The proposed technique utilizes the anomalies of the geomagnetic field present in underground environments. The main source of the magnetic anomalies is the complex distribution of metallic minerals such as iron ore. The distribution of metallic minerals produces unique spatial magnetic patterns in underground mines which can be utilized for positioning. Preliminary results are presented using the data collected from Pyhäsalmi, which is an underground copper and zinc mine located in central Finland. The data used in the experiments were collected from tunnels located approximately 1400 meters below the surface. The obtained results suggest that the proposed positioning technique can provide pose estimates with an accuracy of ≈1.5meters. The proposed technique can potentially provide a robust, and a cost-efficient positioning solution for underground environments with minor infrastructure requirements","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127472838","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: 28
Quadratic damping model for a spherical mobile robot moving on the free surface of the water 在自由水面上运动的球形移动机器人二次阻尼模型
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058541
H. Alizadeh, M. Mahjoob
{"title":"Quadratic damping model for a spherical mobile robot moving on the free surface of the water","authors":"H. Alizadeh, M. Mahjoob","doi":"10.1109/ROSE.2011.6058541","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058541","url":null,"abstract":"In this paper, The spherical robot will be studied as an amphibious mobile robot. Motion of the spherical robot on the surface of water will be proposed as a new application for the spherical robot. The driving mechanism and design of such a robot will be introduced. The dynamic equation of motion of the robot will be derived and verified both theoretically and experimentally. On the other hand, straight-line motion of the spherical robot on the surface of water will be simulated using computational fluid dynamics. A new quadratic damping model will be introduced using correlation between the drag torque (fluid resistance) and the angular velocity of the robot. Eventually, the quadratic damping model will be utilized to simulate the motion of the spherical mobile robot on the free surface of water.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116751537","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
Visual servoing of an articulated object based on stereovision 基于立体视觉的铰接物体的视觉伺服
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058535
Fadi Alkhalil, L. Barbé, C. Doignon
{"title":"Visual servoing of an articulated object based on stereovision","authors":"Fadi Alkhalil, L. Barbé, C. Doignon","doi":"10.1109/ROSE.2011.6058535","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058535","url":null,"abstract":"For about a decade and half, the tracking of nonrigid mechanical structures have been started to be investigated. For tasks with collaborative robots or obstacles avoidance with redundant arms, the motion tracking of the structure of interest is rather a 3-D tracking with moving visual sensors, and then, there is a need of including visual servoing techniques to tackle this kind of complex task. The objective of this work is to use stereo visual feedback for controlling both on-board cameras motion mounted on a robot but also the active joints of the viewed articulated target. Considering a kinematic analysis, the velocity screw is composed of a translational velocity and a rotational velocity and we present decoupled control laws to improve the convergence property of the servoing but also to account for the types of link to be servoed for the articulated object joint space. To assess this work, lines are used as visual cues since they are easy to segment from most images issued from man-made environments, as axes of many model-based human, animal or robot motions. Tasks functions based on Plücker coordinates are presented for this both joint-based and position-based visual servoing approach. Simulations and preliminary results from experiments with a eye-in-hand robotic platform and a motorized revolute joint are provided.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126722663","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
Design and analysis of a new piezoelectric MEMS tilt sensor 一种新型压电MEMS倾斜传感器的设计与分析
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058525
P. Moubarak, P. Ben-Tzvi
{"title":"Design and analysis of a new piezoelectric MEMS tilt sensor","authors":"P. Moubarak, P. Ben-Tzvi","doi":"10.1109/ROSE.2011.6058525","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058525","url":null,"abstract":"This paper reports the design and preliminary analytical investigations of a new MEMS piezoelectric tilt sensor. The proposed tilt sensor consists of a Platinum supported beam with a central proof mass which causes the beam to deflect under gravitational loading. This static deflection generates intrinsic stress across the beam, which is a direct function of the dual-axis inclination of the sensor. A thin 0.2 µm layer of Lead Zirconate Titanate (PbZrTiO3-PbTiO3) deposited on the top surface of the beam where the peak stress occurs, enables the conversion of the variable stress as a function of the spatial inclination to a measurable voltage. The voltage output of the PZT layer is therefore directly proportional to the inclination of the sensor around two orthogonal axes. The feasibility of this measurement approach is validated through simulation results for a dual-axis operation range of 0 – 90°. These results further demonstrate the tunable sensitivity property of the sensor as a function of its geometry.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133271518","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: 12
Vision based simultaneous localization and mapping using Sigma Point Kalman Filter 基于视觉的同时定位和映射，使用Sigma点卡尔曼滤波器
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058514
Samira Darabi, A. M. Shahri
{"title":"Vision based simultaneous localization and mapping using Sigma Point Kalman Filter","authors":"Samira Darabi, A. M. Shahri","doi":"10.1109/ROSE.2011.6058514","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058514","url":null,"abstract":"Simultaneous localization and mapping (SLAM) is one of the challenging issues in recent decades. In this paper solving vision based SLAM problem using Kalman filters family have been provided. It is focused on mobile robot equipped with stereo vision sensor which moves in an indoor environment. The mobile robot navigated among the landmarks which were detected by scale invariant feature transform (SIFT) method. The Extended Kalman Filter (EKF) approaches have been used to solve this SLAM problem. Then the role of sigma points in this filter to improve estimation accuracy of state in SLAM has been investigated. Finally the implementation results were presented to validate a better estimation of the state by Sigma Point Kalman Filter (SPKF) algorithm and its superiority over the EKF as a new method for solving the SLAM problem.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127900372","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: 0
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