IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE最新文献_第6页

Robust generalized predictive control of Stewart-Gough platform Stewart-Gough平台的鲁棒广义预测控制

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086793

F. A. Lara-Molina, J. M. Rosário, D. Dumur

引用次数: 10

Locomotion rehabilitation platform with weight bearing relief for knee osteoarthritis 缓解膝关节骨关节炎负重的运动康复平台

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086818

A. Barón, Margareth Alfonso, Pedro Enrique Jimenez

引用次数: 0

An autonomous ground explorer utilizing a vision-based approach to indoor navigation 利用基于视觉的室内导航方法的自主地面探测器

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086807

E. Mattison, Adriano Garcia

{"title":"An autonomous ground explorer utilizing a vision-based approach to indoor navigation","authors":"E. Mattison, Adriano Garcia","doi":"10.1109/LARC.2011.6086807","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086807","url":null,"abstract":"We introduce a vision system based approach to autonomous navigation and mapping in an indoor environment. Our goal is to eventually use a common processing system that relies on using airborne and ground vehicles. This paper presents our initial results for a ground vehicle and demonstrates the potential of the vision based system for a solution that combines airborne vehicles with ground vehicles. The Autonomous Ground Explorer (AGE) described here serves as a test vehicle to validate the algorithms that will be integrated into our aerial vehicle that is under development. The ground explorer uses only vision (three basic web cameras augmented with simple laser pointers) to efficiently move within building corridors. It can estimate distance in three directions by evaluating the location of laser points within its fields of vision. The ground explorer navigates hallways and makes directional decisions based on the following processes: tracking the corridor's visual vanishing point, anticipating intersections using odometry and corner edge detection, identifying and classifying intersections based on distance measurements and vanishing points, and completing controlled turns based on a confidence factor in its location on a calculated route within a simplified topological map. Experimental results show the effectiveness of our approach and the promise of our combined ground/aerial system concept.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131461156","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

Simulation model of public transportation system using multiagent approach by means of Petri Nets: Bogotá study case 基于Petri网的公共交通系统多智能体仿真模型:波哥大<e:1>研究案例

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086820

D. Lopez, A. Triana, H. Chamorro

引用次数: 11

Coordination mechanisms for a multi-agent robotic system applied to search and target location 多智能体机器人系统搜索与目标定位的协调机制

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086817

M. ChristianG.Quintero, J. López, R. FranciscoA.Bertel

{"title":"Coordination mechanisms for a multi-agent robotic system applied to search and target location","authors":"M. ChristianG.Quintero, J. López, R. FranciscoA.Bertel","doi":"10.1109/LARC.2011.6086817","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086817","url":null,"abstract":"In this paper we consider the problem of searching an unknown number of targets in static environment by a team of robots. As the targets positions and distribution are uncertain; the goal is to minimize the overall exploration time. Using cell maps, the key problem can be solved choosing the suitable cell for the individual robots so that they simultaneously explore different regions of the environment. We present an intelligent approach for the coordination of multiple robots, in which contrast to previous approaches, able to perform task allocations taking into account the trade-off between the costs of reaching the cell and its utility. This utility function has been modeled using neural networks and optimized with genetic algorithms. Besides, if the task produces some conflict between robots, a negotiation algorithm is used to collision avoidance. The proposed approach has been implemented in real-world experiments and its performance tested in simulation runs. The results given in this paper demonstrate that our coordination mechanism significantly reduces the exploration time and increase the effectiveness compared to previous approaches.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116240352","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

Motion analysis of an ellipsoidal kinematic closed chain 椭球形运动闭链的运动分析

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086798

Kamilo Melo, Alexandra Velasco, C. Parra

引用次数: 8

A comparison of Extended Kalman Filter and Levenberg-Marquardt methods for neural network training 神经网络训练中扩展卡尔曼滤波与Levenberg-Marquardt方法的比较

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086835

P. Deossa, J. Patino, J. Espinosa, F. Valencia

引用次数: 6

Intelligent alarm management 智能报警管理

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086852

Carlos Agudelo, F. M. Anglada, Eduardo Quiles Cucarella, E. G. Moreno

引用次数: 3

Force feedback algorithms for master slave surgical systems 主从手术系统的力反馈算法

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086811

V. Pérez, M. J. Betancur, Jose R. Martinez, O. P. Torres, J. Bustamante

{"title":"Force feedback algorithms for master slave surgical systems","authors":"V. Pérez, M. J. Betancur, Jose R. Martinez, O. P. Torres, J. Bustamante","doi":"10.1109/LARC.2011.6086811","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086811","url":null,"abstract":"A teleoperated system with haptic feedback helps to improve the skills of an operator who is located in a “remote area”. These systems have many applications, one of them is minimally invasive robotic surgery, in which small incisions are used for surgical access with the aid of robotic systems controlled by a surgeon. In medical science, robotic surgery is the subject of many studies because of the advantages offered, such as better cosmetic results, reduced recovery time, and more precise surgical movements. This article presents a conceptual model of a robotic system for cardiac surgery, that uses a master-slave configuration, to implement bilateral algorithms for manipulating a robotic arm integrated with a commercial 3D joystick with force feedback, the Novint Falcon,. There are several important aspects in the implementation: (a) to guarantee a fixed point of contact between the skin of the patient and the surgical instruments, as established by the surgeon. (b) to provide realistic force feedback in three degrees of freedom, which is the main objective of this work, and (c) to accurately track the position demanded by the surgeon to the robotic arm. Some test are presented for the conceptual validation of the above points using a didactic commercial robot.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114126176","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: 7

Mobile robotic teleoperation using gesture-based human interfaces 使用基于手势的人机界面的移动机器人远程操作

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086812

A. Uribe, S. Alves, J. M. Rosário, H. Filho, B. Perez-Gutierrez

{"title":"Mobile robotic teleoperation using gesture-based human interfaces","authors":"A. Uribe, S. Alves, J. M. Rosário, H. Filho, B. Perez-Gutierrez","doi":"10.1109/LARC.2011.6086812","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086812","url":null,"abstract":"In this work a natural interaction framework for programming a mobile robot with gestures is developed using two low-cost human interface devices available on the market. The use of natural motion has been growing among user interface researches and developers for offering comfortable ways of interacting with the devices around us. Some examples can be seen in how touch screens, accelerometers and image processing have influenced our interactions with cellphones, gaming devices and computers, thus, allowing us to take advantage of our body ergonomics. The objective of this work is to integrate an intuitive tool for teleoperating a mobile robot through gestures as an alternative input for encouraging non-experts to relate with robotics and ease navigation tasks. For accomplishing the objective of this work, the mobile robots programming architecture is studied and integrated with those of the user interfaces for allowing the teleoperation of the robotics device. To check how the implemented framework impacts the user interaction, a navigation scenario with obstacles is used for validating the suitability of the gesture-based navigation.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133438295","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