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2009 4th International Conference on Autonomous Robots and Agents最新文献

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A simple and accurate method for lens calibration 一种简单、准确的透镜标定方法
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803955
C. Flemmer, R. Flemmer
{"title":"A simple and accurate method for lens calibration","authors":"C. Flemmer, R. Flemmer","doi":"10.1109/ICARA.2000.4803955","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803955","url":null,"abstract":"A simple method for lens calibration is presented. The method uses a fiducial disc and straightedge which are placed imprecisely within the field of view. Several inexpensive 6mm lenses and CCD cameras were used to validate the method. It is fast and accurate to a variance of less than half a pixel, which makes it a useful tool for computer vision.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129894332","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
A mathematical model for mapping EMG signal to joint torque for the human elbow joint using nonlinear regression 用非线性回归建立了人体肘关节肌电信号与关节力矩映射的数学模型
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803995
Khalil Ullah, Jung-Hoon Kim
{"title":"A mathematical model for mapping EMG signal to joint torque for the human elbow joint using nonlinear regression","authors":"Khalil Ullah, Jung-Hoon Kim","doi":"10.1109/ICARA.2000.4803995","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803995","url":null,"abstract":"Numerous researchers have investigated the relationship between EMG and joint torque. Most of these studies use some conventional filtering (i.e. rectification followed by low pass filtering) to estimate the electromyogram (EMG) amplitude and then relate it to the joint torque. Currently some advanced pre-processing techniques (i.e. signal whitening) are also used to estimate the EMG amplitude and then relate it to joint torque. In this study we apply some pre-processing techniques like DC offset removal, noise filtering followed by rectification and then we calculate the moving average of the EMG signal. Thus we get a linear envelope (muscle activation) of the EMG signal and use that linear envelope to estimate the joint torque. To map the EMG to joint torque we propose a new mathematical model. This model has some unknown adjustable parameters, and the values of these parameters are obtained using nonlinear regression. Five subjects took part in the experiments. They were asked to perform non-fatiguing and variable force maximal voluntary contractions (MVC) and submaximal voluntary contractions (SMVC), and the resulting elbow joint torque and EMG signals were recorded. This recorded data was entered to the model, to estimate best fit values for the unknown parameters. Once these values of the parameters were obtained they were put into the model and thus joint torque was estimated. Predictions made by our model are well correlated with experimental data in both MVC and SMVC, the correlation coefficient and mean square error obtained for experimental data during MVC are 0.998 and 0.056Nm respectively. The results of this new model were compared with other existing models and some new models and it was found that our model has greater correlation and least mean square error with experimental data. This model may be helpful in the control systems for recognition systems, robot manipulators, exoskeletons, EMG prosthesis and electric stimulators.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114588665","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
A modular robot climbing on pipe-like structures 一个模块化机器人爬上管道状结构
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803967
J. Mämpel, K. Gerlach, C. Schilling, H. Witte
{"title":"A modular robot climbing on pipe-like structures","authors":"J. Mämpel, K. Gerlach, C. Schilling, H. Witte","doi":"10.1109/ICARA.2000.4803967","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803967","url":null,"abstract":"“Raupi” is a prototype of a climbing robot. The robot is designed modularly, with the demands to climb on a pipe-like substrate and to change to another bar for avoiding. Research on biological climbers shows us, that the locomotion is driven by the trunk, not only by the limbs. So a trunk-driven concept is chosen as a base for the design process. The request by climbing locomotion to the mechanics of the system is very strong. The robot is build by only two different module types. The substrate contact has to be established and broken actively. A sensor concept a schematic was developed, with allow to determinate relevant sensor ranges depending on the desired type of control. It detects the relative position between gripping module and substrate by tactile sensors. The control of the robot is realized with four different modes. It is possible to switch between the modes. So it is possible to use the optimal control strategy for the actual situation.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129262088","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: 17
Neural-adaptive control of robotic manipulators using a supervisory inertia matrix 基于监督惯性矩阵的机械臂神经自适应控制
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4804007
D. Richert, Arash Beirami, C. Macnab
{"title":"Neural-adaptive control of robotic manipulators using a supervisory inertia matrix","authors":"D. Richert, Arash Beirami, C. Macnab","doi":"10.1109/ICARA.2000.4804007","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4804007","url":null,"abstract":"This paper utilizes a novel neural-adaptive method for controlling a two-link robotic manipulator. We do not need to resort to estimating the inverse dynamics. Our control utilizes the full dynamic model estimate including an inertia matrix estimate, referred to as a forward dynamics approach. Our novel contribution is to use an inertia matrix estimate to supervise the training of the neural networks. We find this overcomes the practical difficulties typically encountered with the forward dynamics method. The proposed method greatly improves performance over the forward dynamics approach, verified in experiment. The method is robust to changes in the real inertia matrix, because of a payload, even though the supervisory inertia matrix remains constant.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127945935","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
Position probability grids for mobile robots obtained by convolution 通过卷积得到移动机器人的位置概率网格
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803997
F. Hackbarth
{"title":"Position probability grids for mobile robots obtained by convolution","authors":"F. Hackbarth","doi":"10.1109/ICARA.2000.4803997","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803997","url":null,"abstract":"The paper presents an approach to use relative sensor information for position estimation in an absolute position probability grid. Here relatively measuring sensors are the odometry and nine narrow beam infrared sensors with nonlinear characteristics mounted on a mobile robot. An inaccurate indoor GPS sensor is available for absolute position data. However, for the best position estimate all these sensors have to be considered. The data fusion can only be done with comparable data. Therefore, the relative sensor information is transformed into absolute position information by convolution and represented as individual position probability grids. To determine the resulting position of one robot these grids are combined according to Bayes Theorem.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130897156","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
On the implementation of a robotic SWARM testbed 机器人SWARM试验台的实现
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803949
X. Hou, Changbin Yu
{"title":"On the implementation of a robotic SWARM testbed","authors":"X. Hou, Changbin Yu","doi":"10.1109/ICARA.2000.4803949","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803949","url":null,"abstract":"This paper presents the development of a robotic testbed for investigating the formation control algorithms. The design of this testbed aims for enhancing the sensing capability of the robotic agents, overcoming the constraints led by lack of communications among robots and accustoming itself to various formation control simulations. The proposed design schema utilizes an overhead camera to localize the agents, 3 E-puck robots and one computer as the simulation platform and console to generate commands for controlling the robots and recording the experimental data. Throughout this project, the simulations in Matlab and the agents on testbed could run at the same time, besides, the location data of agents would be recorded and drawn as a stop motion figure in Matlab for further analysis and study. Several basic tasks, such as triangular formation flocking and moving, and formation centre preserving, are implemented using the testbed.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":" 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132123385","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
A method of accelerating convergence for Genetic Algorithms evolving morphological and control parameters for a biomimetic robot 仿生机器人形态与控制参数演化的遗传算法加速收敛方法
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803935
F. Saunders, John Rieffel, J. Rife
{"title":"A method of accelerating convergence for Genetic Algorithms evolving morphological and control parameters for a biomimetic robot","authors":"F. Saunders, John Rieffel, J. Rife","doi":"10.1109/ICARA.2000.4803935","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803935","url":null,"abstract":"In generating efficient gaits for biomimetic robots, control commands and robot morphology are closely coupled, particularly for soft bodied robots with complex internal dynamics. Achieving optimal robot energy consumption is only possible if robot control parameters and morphology are tuned simultaneously. Genetic Algorithms (GAs) are well suited for this purpose. In this application, however, GAs converge slowly because of the high dimensionality of the fitness landscape, the limited number of successful designs within this landscape, and the significant computational cost of evaluating the fitness function using dynamics simulations. To accelerate GA convergence for design applications involving biomimetic robots, a new physics-based preprocessing methodology is proposed. This preprocessing strategy was applied to develop gaits for a biomimetic caterpillar robot. Convergence speeds were observed to increase significantly through the application of the physics-based preprocessing.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132381336","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
Cell image recognition and visual servo control for automated cell injection 细胞图像识别和视觉伺服控制的自动细胞注射
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803986
A. Ghanbari, Wenhui Wang, C. Hann, J. Chase, Xiaoqi Chen
{"title":"Cell image recognition and visual servo control for automated cell injection","authors":"A. Ghanbari, Wenhui Wang, C. Hann, J. Chase, Xiaoqi Chen","doi":"10.1109/ICARA.2000.4803986","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803986","url":null,"abstract":"This paper presents a micro-robotic bio-manipulation system for automated cell injection, addressing two key challenges. First, this paper reports a human interference-free determination of material deposition destinations based on image processing of the cell structures. Depending on the applications, foreign materials could be deposited inside the nucleus of the cell or outside but still inside the cytoplasm of the cell. Recognition of the nucleoli boundary brings us basic cell structure information, which consequently provides high flexibility to determine the deposition destinations, with no need of the destinations to be selected by an operator. Second, the paper presents a visual servo control design which moves the micropipette tip to the targeted position and deposits foreign materials to that point autonomously. The visual servo control allows the motion settle time within 0.5 sec., with an accuracy of one pixel, which are highly desirable in automated cell injection applications.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127665105","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
Enhancement approaches of covering process for robot behaviors 机器人行为覆盖过程的增强方法
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803920
S. M. Baneamoon, R. A. Salam
{"title":"Enhancement approaches of covering process for robot behaviors","authors":"S. M. Baneamoon, R. A. Salam","doi":"10.1109/ICARA.2000.4803920","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803920","url":null,"abstract":"In this paper a simulated control system for robot is designed by using distributed learning classifier system to perform complex behaviors. A set of enhanced solutions of cover detectors problem is suggested and compared with each other in order to make the simulated robot more effective in choosing the appropriate behavior (action).","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"269 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128762171","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
Application of a communication interface between agents and the low level control 在代理和低级控件之间的通信接口的应用
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4804006
M. Merdan, W. Lepuschitz, I. Hegny, G. Koppensteiner
{"title":"Application of a communication interface between agents and the low level control","authors":"M. Merdan, W. Lepuschitz, I. Hegny, G. Koppensteiner","doi":"10.1109/ICARA.2000.4804006","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4804006","url":null,"abstract":"Increasing complexity in the transport domain requires flexible and reconfigurable control architectures. In this paper we present the deployment of an agent-based system in this domain splitting the manufacturing control into two layers: a high level control based on agents and a low level control based on the standard IEC 61499. A further focus is laid on the design of a generic communication interface between the control layers and a graphical representation of the target system that allows the simulation of failure scenarios.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"121-124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121033976","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: 18
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