New Publications are available for Robotics
http://dl-live.theiet.org
New Publications are available now online for this publication.
Please follow the links to view the publication.Closed form spherical omnidirectional image unwrapping
http://dl-live.theiet.org/content/conferences/10.1049/cp.2012.0443
This paper proposed a novel method of image unwrapping for spherical omnidirectional images acquired through a non-single viewpoint omnidirectional sensor. The proposed method comprises of three key steps, i.e. 1) calibrate the camera to obtain parameters describing the spherical omnidirectional sensor, 2) map world points onto mirror points and, subsequently, onto image points, and 3) set up the projection plane for the final image unwrapping. Depending on the projection plane selected, the algorithm is able to produce either the cylindrical panoramic, the cubloid panoramic, or the ground plane view using closed form mapping equations derived herein. The motivation for developing this technique is to address the complexity in using non-single viewpoint omnidirectional sensor; and ultimately promotes its adoption in robotics. (5 pages)Portable test platform for evaluating voltage dip immunity of industrial robots and components in the automotive industry
http://dl-live.theiet.org/content/conferences/10.1049/cp.2012.0358
Power quality disturbances like voltage sags and harmonics are an important cause of many ill effects and economic losses in industrial productive processes. Among others problems, production down times, equipment malfunctions and/or destruction of devices and even quality defects in final products can be originated by voltage dips. Power quality surveys and electromechanical device testing are previous steps for achieving an effective mitigation solution. This paper discusses a power quality survey conducted in an automotive company. In addition, a portable test platform for evaluating voltage dip immunity of industrial robots and components is presented. The results obtained from this survey and the immunity test may be useful for improving the power quality of this type of installation [3,4,6]. (4 pages)Task classification in multi-role robotic systems for independent living
http://dl-live.theiet.org/content/conferences/10.1049/ic.2011.0034
Homecare robots aiming at supporting the elderly independently living are necessary for aging society. Such kind robots must have multi-role with various capability to provide essential services, such as laundry, setting up table and preparing dinner. Each of these services is a task to be fulfilled from the view point of homecare robots. Understanding each task and being able to differentiate tasks are crucial for a homecare robot to successfully provide desired assistance and service to aging population. This paper introduces a Nature Language based approach to task classification. A verb-based task classifier was developed to extract tasks in the form of verbs and nouns given user's commands. A verb vector technique was then employed to classify tasks into categories according to verb clusters. Experiment results demonstrated that the proposed task classifier can successfully extract tasks from user's commands and to classify them into task categories. (6 pages)Study on the technology of intelligent cooperative simulation of soft-man and robot
http://dl-live.theiet.org/content/conferences/10.1049/cp.2011.1485
For the purpose of development of the new patrol robot in unattended power station, this paper studies and designs the intelligent cooperative simulation of soft-man and robot. First, the generalized logic model of cooperative intelligent simulation is established, and then the platform of cooperative intelligent simulation is designed. Finally, some simulations have been completed to confirm the effectiveness of the obtained results.Systematic literature review: teaching novices programming using robots
http://dl-live.theiet.org/content/conferences/10.1049/ic.2011.0003
Background: Teaching programming to novices is a difficult task due to the complex nature of the subject, as negative stereotypes are associated with programming and because introductory programming courses often fail to encourage student understanding. Aim: This study investigates the effectiveness of using robots as tools to aid the process of teaching programming and to determine whether such technology can help to overcome the current barriers for learners in this context. Method: The Systematic Literature Review (SLR) methodology has been selected to discover how effective the use of robotics has been in the teaching of introductory programming concepts. Nine electronic databases, the proceedings from six conferences and two journals have been searched for literature relevant to the study. Results: After applying inclusion and exclusion criteria 34 articles have been accepted in the SLR. 74% of included literature report robots to be an effective teaching tool and one that can help novice programmers in their studies. Conclusion: Robots can be a powerful and effective tool when used in an introductory programming course but the potential remains to further investigate methods for their implementation. Thoughts on the use of the SLR methodology from the perspective of a PhD student are also given.A universal virtual manufacturing system for cutting machines
http://dl-live.theiet.org/content/conferences/10.1049/cp.2010.1325
A virtual manufacturing (VM) system plays an important role before machining in reality. The VM systems currently used in CNC field are mainly for typical machine tools, whereas the development of using an industrial robot for cutting task has extended the cutting machine into a more generalized application. However, the current VM system is insufficient to fulfill the demand of different mechanical structures and uniform machine tools and cutting robots. This paper presents a universal 3D simulation system for machine tools and cutting robots with different mechanical structures. All machine tools and cutting robots are synthesized as cutting machines. Robotics methodologies like D-H (Denavit Hartenberg) convention, forward and inverse kinematics; CNC functionalities such as CL-data interpreter, various interpolation manners, are combined as the core of the system. Serial and parallel structured machine tools and cutting robots are simulated as typical case studies. The results show a great uniformity of the system to different mechanical structures.The impact of neural model resolution on hardware spiking neural network behaviour
http://dl-live.theiet.org/content/conferences/10.1049/cp.2010.0515
This paper contributes to the development of the proposed EMBRACE mixed-signal, reconfigurable, Network-on-Chip based hardware Spiking Neural Network. EMBRACE-FPGA is an FPGA-based prototype of the proposed EMBRACE architecture. Results from successful evolution of an EMBRACE-FPGA SNN robotics controller are presented. Noise in best fitness plots for a range of evolved EMBRACE-FPGA based SNN applications, including the robotics controller, have been observed. This paper investigates the sources of neural noise, and considers their impact in evolving digital-based hardware SNNs. The paper considers the expected performance benefits of the EMBRACE analogue neural cell.Service robot speech enhancement method using acoustic micro-sensor array
http://dl-live.theiet.org/content/conferences/10.1049/cp.2010.0800
Good interactive voice response and perception function is the important technology of intelligent service robot. Service robot works under noisy and multiple-path reflection environment generally. Speech enhancement technology is applied to increase the robustness and intelligence of input signal. Conventional single channel speech enhancement algorithms always improve the Signal-Noise-Ratio of target signal at the price of inevitable speech distortion. In this paper, we introduced an acoustic micro-sensor (microphone) array system as a frontend device to enhance desired signal polluted by diffuse noise. A Modified General Sidelobe Canceller (GSC) algorithm is proposed to achieve full-band stable gain and directional beam response from given angle range. An adaptive post-filter approach will further improve the performance of whole system. Experiments based on real data show that this method is efficient to improve the robustness and intelligence of service robot's interactive voice function.A design of multi-axis motion controller for welding robot based on DSP
http://dl-live.theiet.org/content/conferences/10.1049/cp.2010.1328
To satisfy the motion control for wielding robot, a design of multi-axis motion controller based on DSP is proposed in this paper. The hardware structure and the software structure are discussed in detail. The motion controller consists of three DSP control cards. There are two control units which can control two servo motors in one DSP control card. So the controller can control six servo motors at the same time. The motion controller can perform high accuracy and high velocity interpolation. It communicates with the upper computer through dual-port RAM. More axis controlling can be achieved by adding more DSP control cards with bus card. The absolute position is detected by motion controller. A variety of control mode can be achieved includes position control, velocity control and torque control. The interpolation algorithm is presented. The experiment data indicates that the motion controller has the advantages of good real-time performance and highly machining accuracy.Research on an arc welding robot controller with open architecture and the swing-welding interpolation algorithm
http://dl-live.theiet.org/content/conferences/10.1049/cp.2010.1330
This article introduces an open architecture for arc welding robot controller with self-defined Harting-bus structure. Each sub-board composes the controller and is connected to a bus base-plate through unified electrical interface (Harting-Terminal). Each module is flexible and it can be customized to further promotion of the controller so that non R&D personnel can be able to cut or extend the controller function according to specific engineering requirements. In the swing welding control stage, a track interpolation algorithm that gives priority to analytical method is applied to arc welding robot controller. The algorithm can be applied to the swing welding of straight line, and also to the sinusoidal-swing welding that takes spatial smooth curve as the baseline. Preliminary experimental results show that the arc welding robot controller can realize the motion control of 6 degree-of-freedom with industrial welding operation, and particularly it can achieve good results for sinusoidal-swing welding along with spatial circular arc and quadratic curve.Architecture of network robot control server software written in a rule-based language
http://dl-live.theiet.org/content/conferences/10.1049/cp.2010.0693
If robots of different models are to provide the same networked robot service, it is desirable that they are able to use the same service programs. In this paper, we propose the architecture of networked robot control server software that allows the same service programs to be used by different robot models. Specifically, we define robot-model-independent common signals, and propose a robot control algorithm that focuses on "has-a" relations in robot control functions. We have developed a networked robot control server that implements the proposed architecture and algorithm and uses STAR (SofΓware Architecture using Rule-based language). To evaluate the proposed algorithm, we have developed an experimental system that provides a "Garbage Collection Service," and uses two robot models: AIBO and AmigoBot.Advances in Cognitive Systems
http://dl-live.theiet.org/content/books/ce/pbce071e
<p xmlns="http://pub2web.metastore.ingenta.com/ns/">This book has been inspired by the portfolio of recent scientific outputs from a range of European and national research initiatives in cognitive science. It presents an overview of recent developments in cognition research and unites the various emerging research strands within a single text as a reference point for progress in the subject. It also provides guidance for new researchers on the breadth of the field and the interconnections between the various research strands identified here. <i>Advances in Cognitive Systems</i> brings together a wide range of material from leading workers in the field as well as the outputs from research groups around the world, covering the two principal cognition paradigms of cognitivism and emergence. Furthermore, it suggests some interesting lines of thought about the challenges and opportunities for future work in the field and for promoting the various research agendas highlighted within. This compilation will be of interest not only to those working in the fields of computer science and AI but also to psychologists, neural scientists, researchers in information science, and engineers involved in the development of advanced robotics, mechatronic systems and HCI systems.</p>Autonomy and independence amongst patients with cognitive impairments
http://dl-live.theiet.org/content/conferences/10.1049/ic.2009.0041
Human motor assisted walking gait, together with successful motor rehabilitation after accidents to the Central Nervous System (CNS) requires a highly intensive and task-specific repetitive therapy-based approach (i.e. patient who wants to regain walking has to walk). Currently many patients with these types of pathologies, together with many elderly, end up normally confined to wheelchairs or even bedridden, which results in a sedentary lifestyle that significantly affects their independence and quality of life to perform normal Activities of Daily Living (ADLs). This paper, presents a new pneumatic powered locomotor exoskeleton, which aims to promote assisted walking and foster a more independent approach by encouraging motor/cognition assistance/recovery, reducing the required effort to a more tolerable level (by both patients & physiotherapists) while fomenting higher levels of exercise and improved secondary health conditions. (4 pages)Multidisciplinary collaborative optimization design of robots
http://dl-live.theiet.org/content/conferences/10.1049/cp.2009.1524
The idea of multidisciplinary design optimization (MDO) is applied to synthesize optimum robots. The main idea and frame of collaborative optimization are introduced. Three disciplines of working stroke L driving performance and hydraulic component are involved in the design optimization of a 3-RRS robot. The optimization model of system-level and optimization model of subsystem are established. Sequential quadratic programming (SQP) and genetic algorithm (GA) are respectively used to execute the optimization of system-level and the optimization of subsystems using popular commercialized MATLAB. The numerical results indicate that the collaborative optimization can be successfully applied to dealing with the complex robot system, and lay a foundation to solve more complex mechanical system. (5 pages)Welding multi-robot task allocation for BIW based on hill climbing genetic algorithm
http://dl-live.theiet.org/content/conferences/10.1049/cp.2009.1485
To study the problem of welding robot task allocation for car Body-in-White (BIW) product line, built the mathematic model of the problem with the strategy of thinking about reasonable abstract and process decision in different stages. Associating strong points of hill climbing algorithm (HCA) local search and genetic algorithm (GA) global search, added directed hill climbing operator to genetic algorithm so as to speed up the search for optimal solution while produce every generation population. After primary allocation results were obtained, reconsidered process restrictions and expert knowledge to revise. A side-panel of some car BIW as model presentation, programmed with MatLab and Visual C++ to realize welding multi-robot task allocation. As result, obtain the suitable allocation results and the distribution of welding spots allocated to each robot on car BIW, the efficiency and rationality of welding robot task allocation are dramatically increased, and also realizes CAPP on welding robot task allocation. On the other hand, the results of welding robots task allocation can provide reference and dependence for welding robot path optimization and welding product line balance design. (8 pages)Advanced robotics in the UK: opportunities and challenges
http://dl-live.theiet.org/content/conferences/10.1049/ic_20080550
A collection of slides form the authors' conference presentation is given. The slides cover the worldwide as well as the UK robot markets. (14 pages)CenFRA - Centre for Food Robotics and Automation
http://dl-live.theiet.org/content/conferences/10.1049/ic_20080556
A collection of slides from author's conference presentation is given. (23 pages)Robotics research funding - EU priorities and future directions
http://dl-live.theiet.org/content/conferences/10.1049/ic_20080551
The author considers why robotics research is necessary, presents an overview of current activities and discusses future priorities. (22 pages)The Italian Institute of Technology - an Italian perspective on robotics research and funding
http://dl-live.theiet.org/content/conferences/10.1049/ic_20080558
A collection of slides form the authors' conference presentation is given. The following topics are covered: humanoids including hardware, software/mindware and cognition, and human studies; telepresence; and biomimetics/actuation. (29 pages)Robotdalen - going for growth!
http://dl-live.theiet.org/content/conferences/10.1049/ic_20080555
This paper presents the application of robotics in SMEs, logistics automation, field robotics, and health robotics. Different robots are mentioned in the paper like Enzagon, RobCab, ReRob, and Bestic. (19 pages)The AWE wall: a smart reconfigurable robotic surface
http://dl-live.theiet.org/content/conferences/10.1049/cp_20081103
In this paper, we introduce a new robot "wall" surface, featuring a multiple folding panel structure. The wall forms part of AWE, a novel 'Animated Work Environment", which seeks to introduce robotics at the architectural scale to modify environments in real time to the changing needs and moods of their occupants. The panels of the AWE wall will feature embedded IT and adapt to the current movements and tasks of the user. We describe the overall AWE concept and detail the design and construction of the robot surface. Motion planning and control issues are discussed. (8 pages)A wireless network based multi-modal information perception framework and its application
http://dl-live.theiet.org/content/conferences/10.1049/cp_20070297
After analyzing the developing of the healthcare and rehabilitation service robot technology, this paper puts forward a multi-modal information perception system based on modular and open design idea. First, a general structure of this framework and its working process are elaborated. Then, an instance is built according to the proposed framework, and in this instance, multi-modality information perception and feedback to the human-robot interaction are realized. At last, experiments are taken on this instance and the results show that the proposed framework and design ideas are feasible.The "MUSIC BOX" C(2)IPO_06: interactive hybrid robotic sculpture
http://dl-live.theiet.org/content/conferences/10.1049/cp_20070428
The "ipo", "cipo" (K. Daflos, 2006) & "cibo" are active agents that agitate & bring the passive spectator into an active & interactive relationship with the subject. The interminglement of both, spectator (body) & subject (technology) transforms the given space into an experimental hybrid space where body & technology meet. The new medium of artworks is action-based. It involves the physical viewer participation & life's energy of human presence of the spectators or the performers. The body actions support the improvisation of self-discovery through this medium, and in turn the artwork itself becomes an improvisation. The successive transcriptions -transpositions of human presence & action in schemes, traces, signs, represent the distributed body, which is transcribed through various multiple mediums. Machine-organism inspired from: a) Gordon Pask's theory of discourse between man, machines and learning machines (P. Pangaro, 2002). b) Norbert Wiener's theory of control and communication of machines (N. Weiner, 1948).Free-space optical communication in a swarm of microrobots
http://dl-live.theiet.org/content/conferences/10.1049/ic_20070173
This paper presents the theoretical investigations, supported by experimental measurements, of the communication channel between miniaturized optical communication systems to be integrated into swarming microrobots, while trying to stress very low power consumption issues. (2 pages)A surgeon's view: experiences of introducing robots into the operating theatre
http://dl-live.theiet.org/content/conferences/10.1049/ic_20060523
A collection of slides from the author's seminar presentation is given: endoscopic surgery (minimal access surgery) is the execution of established and new surgical procedures using a remote manipulation within the close confines of body cavities or lumen of hollow organs under visual control via telescopes, cameras and television screens.Medical imaging, navigation, and robotics - technical solutions for clinical problems
http://dl-live.theiet.org/content/conferences/10.1049/ic_20060529
Medical imaging, navigation, and robotics are technical solutions which can be used to solve clinical problems. They can be used for personalizing the treatment, for accurate targeting, for increasing therapeutic effectiveness, and for decreasing procedure time. A main driver for the increased usage of these technologies is the trend to minimally invasive procedures. In the last two decades, there are many examples of minimally invasive procedures in surgery and interventional radiology replacing more invasive procedures. In conventional open surgery, the surgeon operates on the target tissue through a large incision. This large incision provides the surgeon as well as the assistant with direct access to the tissue, both visually and tactilely: The surgeon is in direct contact with the tissue and uses only simple instruments. During minimally invasive surgery, however, the operative situation is completely different, although the principle of treatment is not changed. Access to the pathology is generated through (several) small incisions. Unfortunately, these small incisions do not allow a direct contact of the surgeon with the target organ. Instead, imaging systems like endoscopes are used to provide a view to the operative target. Tools used to manipulate the tissue must also fit through these incisions and are thus more complex in structure and more difficult to use. In interventional radiology, the access to the target can be even smaller. Therapy is delivered through thin needles or catheters only. Tactile and visual feedback is thus even more indirect than in minimally invasive surgery and relies on non-optical imaging methods like X-ray, ultrasound, CT, and MRI. Nevertheless, the advantages of the smaller incisions for the patient (less pain, shorter stay in hospital, better cosmetics, and reduced risk of wound infection) usually outweigh the more complicated and less ergonomic working conditions of the medical professionals. The use of medical imaging also offers further advantages. Procedures can be planned in detail before the operation based on CT or MRI images. As well as morphological image information spatially resolved biological or physiological information obtained from molecular imaging methods like PET or SPECT can also be taken into account. However, in order to accurately execute the planned procedure in the operating room, navigation and robot technology must be used in surgery as well as in interventional radiology. These technologies are of crucial importance if a multi-modal treatment plan involving not only surgery, but also other treatment modalities like radiotherapy or chemotherapy, needs to be carried out. Surgical navigation systems measure the intra-operative position of a surgical instrument and relate it via a suitable registration method to the pre- or intra-operative image and the surgical plan. The surgeon can see where the instrument is positioned in the patient, without real-time imaging, and can thus operate according to the plan. Navigation systems have been introduced in the 1990 s first in neurosurgery, but are now used routinely also in ENT surgery, orthopedics, spine surgery, and traumatology. In interventional radiology, navigation systems are not as wide-spread as in surgery, since real-time imaging devices are often preferred and available. However, robots can offer ways to handle instruments in the imaging system, where the interventionist cannot work either due to space restrictions or due to X-ray radiation. However, navigation systems as well as medical robots are intrinsically complex systems. In contrast to traditional operations they require a significant investment in technology as well as training. Therefore, both technologies, navigation and robotics, have to compete with simpler and cheaper methods of reaching the same goal of delivering the correct treatment to the correct place. The potential of surgical navigation and medical robotics is enormous. Nevertheless, before robots will be used routinely it must be proven that the quality of the medical procedures is increased and at the same time the cost of the treatment can be reduced.Robotic imaged-based neurosurgery
http://dl-live.theiet.org/content/conferences/10.1049/ic_20060525
Modern medical scanners allow neurosurgeons to plan operations with millimetre precision. But this planning accuracy needs to be reproduced on the real patient. Image guided surgical robots achieve this by using the scan as a 3D map to locate targets precisely. Success depends on good registration between the patient, the image and the robot.Robotic radiosurgery
http://dl-live.theiet.org/content/conferences/10.1049/ic_20060528
In radiosurgery, a precisely guided beam of radiation is used to irradiate a selected target volume. Since the development of this technique by Lars Leksell, radiosurgery has required the application of a stereotactic frame in order to guide the beams, thus limiting the use of this technique to treatment of intracranial lesions. Only recently the introduction of robotic radiosurgery delivering beams to the target using real-time image-guidance has changed this outlook. Frameless image-guided robotic radiosurgery has expanded the scope radiosurgical treatments to the entire body. Lesions in the spine, chest and abdomen can now be treated by delivering high-dose focal irradiation with very high precision. This review article gives an overview of the current clinical applications of robotic radiosurgery (intracranial, spine, extracranial) and describes its technical basis.BeamLoc - an approach for NLoS localization in UWB indoor environments
http://dl-live.theiet.org/content/conferences/10.1049/ic_20060504
Indoor localization for non line of sight (NLoS) situations in unknown environments has not yet been satisfactorily solved. A new algorithm, called BeamLoc, is presented in this paper, which does not assume any a priori information about the environment. The position of a robot with an arbitrary position should be estimated via several access points (AP) installed in the indoor scenario. The robot is equipped with a compass to guarantee a common spatial reference within the APs. Using beamforming the APs steer to a certain direction, which is utilized at the APs to estimate the direction of arrival (DoA) of the signal emitted by the robot. Also a time of arrival (ToA) estimation is performed, so that ToA and DoA estimates of the different APs can be combined to estimate the robot's position within a centimeter accuracy, thanks to the huge bandwidth.Active constraints for robotic knee surgery
http://dl-live.theiet.org/content/conferences/10.1049/ic_20060526
After a brief introduction to medical robotics, the concept of an "Active Constraint" System used in a medical robot called Acrobot<sup xmlns="http://pub2web.metastore.ingenta.com/ns/">®</sup> is described. The technical details of the complete system are then outlined, including the pre-operative planner which incorporates 3D CT models together with CAD models of prostheses that can be used to plan the leg alignment, position the prostheses, plan the shape of the cuts required and generate the regions within which cuts must be constrained. The robotic system is also described, together with the methods for locating, clamping, cutting and monitoring the patient. An outline is given of the means by which the preoperative model is registered or aligned to the intra-operative position of the patient and of the robot, without the need for fiducial markers. A prospective randomised clinical trial is then described, in which the robotic system was used for uni-condylar knee replacement surgery and compared to a conventional minimally invasive surgery procedure. The post operative results of the trial are then described and compared to the pre-operative plan.Study on a spiral-type robot magnetically controlled in biotic tracts
http://dl-live.theiet.org/content/conferences/10.1049/cp_20061120
A spiral-type biotic tract robot moving through biotic tracts and its outer system producing an invariable magnetic field strength at a steady rotational speed are proposed in the paper. The robot has a spiral surface and two strong magnet bars under the spiral. The outer rotational magnetic field is produced by the circumferential array of permanent magnets. During working, the robot locates in the center point of the array all along because the magnetic field in the center point possesses an invariable rotating speed and magnetic strength so that the magnet field applies an invariable torque on the robot to make it revolve around its axis. During revolving, the counterforce of intestine on the spiral surface of the robot pushes it forward or backward. Therefore, the autonomous motion of the robot is realized. The circumferential array method of permanent magnets is given and magnetic inductive intensity distribution on a sphere surrounding one permanent magnet is calculated. Then, the computing formulas of the magnetic field intensity in the center point of permanent magnets array are deduced by the method of coordinate transformation. It is found that an invariable rotating speed and strength of the rotating magnetic field is achieved if the number of permanent magnets is no less than three. Analysis shows that the magnetic field strength in the center point is proportional to the number of permanent magnets, so it is easy to get specified magnetic field intensity. Experiments are carried out in a segment of small intestine of pig. The experiments show that the robot works reliably which can run forward and backward at controllable and changeable velocity when the diameter of the samples is less than 20 mm. It is found that when the intensity of the outer magnetic field is about 500 Oe, the active torque on the samples is about 1.0 mN.m. At present, the tract robot has been used be a carrier, such as a temperature sensor or a wireless capsule endoscope.Application of liquid crystal light valve in robot vision system
http://dl-live.theiet.org/content/conferences/10.1049/cp_20061071
The robot vision system is designed basing on optical information processing 4f system and photoelectricity information technology. It is applied successfully in the Fourier transform and wavelet transform of optical image. Compared with computer software or special integrated circuit in image processing, the processing speed of this system on optical image is greatly improved. Liquid crystal light valve is used in this system, so the transform from incoherent light to coherent light is realized. And the optical system design is only required to adapt to the demand of coherent light, so the system will not be restricted by the demand of coherent light when it is applied in the robot vision system. At the same time, it has the following advantages: low cost, parallel processing and large capacity. So the performance of optical system is improved. This system can be applied extensively in the fields of feature extraction on object edge, image filtering, image compression and image correlation identification. The experimental result indicates that the program of this robot vision system is feasible and it has flexible structure, wide scope of application and ideal effect. As a result, there is extensive application prospect in the fields of imaging, optical calculating, remote sensing, security, military affairs and so on.Modeling and simulation research on move-in-mud robot based on creeping principle
http://dl-live.theiet.org/content/conferences/10.1049/cp_20061126
Move-in-mud robot is one kind of special type robot under water using to salvage sunk ship and belongs to limited working robot. It integrates creeping principle of crawling biology and robot design of high reliability, high aptitude and self-adaptability to realize robotization of perforation in mud. In this paper the system design is introduced about move-in-mud robot, and which mainly includes three parts of robot reality, testing system and controlling system. By virtual assembly designing of move-in-mud robot parts using ADAMS software, the conclusion are drawn that virtual assembly is no interferential, and thus it is proved that structure designing of robot is feasible. The working principle of move-in-mud robot is described in detail. According to the kinetic characteristic of move-in-mud robot, mathematical models of sportive course as robot works are established. The reliability of mathematical models is tested by simulation researching on robot. This paper can provide academic references for selecting diversified parameters in the course of designing and as well as analyzing on dynamics of move-in-mud robot.Research on measuring model for parallel robot coordinate measuring machine
http://dl-live.theiet.org/content/conferences/10.1049/cp_20061067
Building measuring model of parallel robot coordinate measuring machine and finding its solutions are positional forward solution problem in parallel machine position analyzing, which is the foundation for its work space, control algorithm and measuring precision. In order to reduce the difficulty for building measuring model and finding its solution, a method of using assembly constraint and dimension driven function of CAD software is presented. Defining the length of actuating limbs as the driving dimensions and the pose parameters of the probe as the driven dimensions, the configuration of the simulation mechanism is varied correspondingly with the variation of the driving dimensions and the driven dimensions (the pose parameters of the probe) can be acquired and recorded. The results of computer simulation show that this method is not only straightforward and quick, but is also advantageous from viewpoint of accuracy and the highly efficient solution for other parallel robot coordinate measuring machine.Study on real-time control of humanoid robot using surface EMGS
http://dl-live.theiet.org/content/conferences/10.1049/cp_20061096
The objective of this study was to control humanoid robot real-time by using surface electromyograms (EMGs). The requirements to the qualities of prepositive circuits acquiring surface EMGs were presented. A high performance preamplifier and a filter were constructed. A EMGs acquisition system using DAQ2006 had been built. Surface EMGs were detected and processed by the designed system. The processed surface EMGs were used to control the humanoid robot. Different muscles of those different subjects were used to control the humanoid robot to catch object. Experimental results show the failure rate of catching the object by the humanoid robot is less than 1%.Study on large radius of spherical fiducial surface of bearing of highspeed railway forming base on virtual axis
http://dl-live.theiet.org/content/conferences/10.1049/cp_20061109
It is popular to use the method of mold grinding at home and abroad when a cylindrical roller-bearing of highspeed railway is proceeded, however it couldn't realize a continuous processing. It's needed to make axis of roller swing around a fixed axis and roller rotate around self-axes in order to realize a continuous processing, which needs a mechanism swinging around fixed axis. Because a diameter of spherical surface of cylindrical roller-bearing exceeds five meters, the dimension of a swinging mechanism must be very huge, which makes moment of inertia become great and limit the swinging speed. This mechanism isn't practical. In view of this situation, a 4-RPR structure based on the theory on parallel robot was brought forward to realize a mechanism swinging around virtual axes. Its dimension and moment of inertia are so small that the continuous processing of rollers could be gotten. The direct and inverse kinematic models are established in this paper.Research on high precision control system of a hybrid five-bar actuator
http://dl-live.theiet.org/content/conferences/10.1049/cp_20061128
Hybrid actuator is a new type of planar parallel robot. Hybrid five bar mechanism remains with position control following system. Position control accuracy of system determines the profile accuracy of hybrid actuator. According to the characteristics of the hybrid actuator, incorporating the grey prediction, repetitive control and the conventional PID control, a design method of the grey prediction repetitive PID control algorithm (GRPID) is presented for the first time. This control algorithm can be divided into three steps: to estimate unsure parameters and disturbance of system using grey prediction, to compensate PID control in terms of the prediction results, and then to add repetitive control for controlling cyclical motion. The simulation results show that this algorithm has better performances than that of the conventional repetitive control system. The control method has better application value for hybrid linkage mechanism taking on a characteristic of periodic motion.Advances in Unmanned Marine Vehicles
http://dl-live.theiet.org/content/books/ce/pbce069e
<p xmlns="http://pub2web.metastore.ingenta.com/ns/">Unmanned marine vehicles (UMVs) include autonomous underwater vehicles, remotely operated vehicles, semi-submersibles and unmanned surface craft. Considerable importance is being placed on the design and development of such vehicles, as they provide cost-effective solutions to a number of littoral, coastal and offshore problems. This book highlights the advanced technology that is evolving to meet the challenges being posed in this exciting and growing area of research.</p>Community-based public authoring with mobile chemical sensor networks
http://dl-live.theiet.org/content/conferences/10.1049/cp_20060674
The Robotic Feral Public Authoring (RFPA) project seeks to combine low-cost robotics with geo-annotation in an innovative way for a novel approach to galvanising social activism on a local level around environmental issues. Adapting commercially available toy robots and remotely controlled vehicles with a variety of sensors and uploading the readings to a spatial annotation database for visualisation, we aim to explore new ways in which the exclusiveness of pollution sensing and robotics can be dispelled and a new sense of empowerment promoted. In this paper we introduce the current version of a mobile chemical sensor network node which forms the core of such an RFPA built around the Urban Tapestries platform. Finally, we report on our recent experiences during tests and community workshops at the London fields park in East London. (7 pages)Robotic interactive installations
http://dl-live.theiet.org/content/conferences/10.1049/cp_20060628
In digital culture, the code gives to existent, inert spaces the meaning of active, interactive environments, notionally stimulating them and ascribing to them contents of places. Body action, movement and contact in an appointed active space produce a situation of further automatic, perceptible and physical experiences. The contemporary pursuit is toward a medium of the artwork - a user (hearer-viewer) who is additionally applying in the space his/her particularities - characteristics with his/her physical involvement in a time-based visual interactive installation, open to the outcome. (7 pages)Collaborating multi robotic agents for operations in inaccessible environments
http://dl-live.theiet.org/content/conferences/10.1049/ic_20050470
This paper introduces a novel system where identical miniaturised robotic agents with limited capabilities collaborate to form a team that is capable of sophisticated tasks within inaccessible environments. Each autonomous entity is based on the biologically inspired spiking neural networks (SNNs) and communicates using pulses or spikes, with the weighting of the SNN evolved using an adaptive genetic algorithm (GA) that allows the robots to complete their desired tasks. (9 pages)Using real-time mobile database technology for ubiquitous networked robots
http://dl-live.theiet.org/content/conferences/10.1049/ic_20050666
Using real-time mobile database for ubiquitous networked robots provides excellent performance. A real-time embedded database is coupled with ubiquitous networking technologies such as land lines, wireless, grids and plexes. Both structured and unstructured data are handled. (9 pages)Beckoning robots with the eyes
http://dl-live.theiet.org/content/conferences/10.1049/ic_20050244
Eye contact is an effective means of controlling human communication, such as in starting communication. It seems that we can make eye contact if we simply look at each other. However, this alone does not establish eye contact. Both parties also need to be aware of being watched by the other. We propose a method of eye contact considering these two conditions for human-robot communication. When a human wants to start communication with a robot, he/she watches the robot. If it finds a human looking at it, the robot turns to him/her, changing its facial expressions to let him/her know its awareness of his/her gaze. This completes eye contact. We then present a robot with a wide field of view using three cameras. If a person wants the robot to come to him/her, he can do so just by making eye contact with the robot. (7 pages)Smart sensors for human movement tracking
http://dl-live.theiet.org/content/conferences/10.1049/ic_20040642
This paper discussed the technical problems and solutions involving the smart sensors tracking the human movement. The paper also presented the sensor technologies such as non-vision based tracking, vision based tracking with markers, vision based tracking without markers, and robot-guided tracking. (10 pages)GA-based autonomous design of robust fast and precise positioning considering machine stand vibration suppression
http://dl-live.theiet.org/content/conferences/10.1049/cp_20040375
This paper presents a novel genetic algorithm (GA)-based autonomous compensator design and position command shaping considering the stand vibration suppression for the fast and precise positioning of mechatronic systems. The positioning system is mainly composed of a robust 2-degrees-of-freedom (2DOF) controller based on the coprime factorization description. The feedback compensator based on H<sub xmlns="http://pub2web.metastore.ingenta.com/ns/">∞</sub>, design framework in the 2DOF controller ensures the robustness against the variations of resonant vibration mode. The feedforward compensator and position command, on the other hand, can be autonomously designed by the optimization capability of GA, in order to achieve the desired positioning performance and to suppress the machine stand vibration. The effectiveness of the proposed optimal design has been verified by experiments using a table drive system with ball screw. (6 pages)Active vision for wearables
http://dl-live.theiet.org/content/conferences/10.1049/ic_20030154
In this paper we report on our ongoing research on wearable active vision, where we have iteratively prototyped a wearable visual robot - a body mounted robot for which the main sensor is a camera. Two main areas have been studied: robot design and visual algorithms. In the design stage, we have analysed sensor placement through the computation of the field of view and body motion using a 3D model of the human form. A design methodology for the robot morphology was developed with the help of an optimisation algorithm based on the Pareto front. The wearability of the device has progressed over several iterations as have the sensor and control architectures. In terms of visual algorithms, we have studied methods of visual tracking fused with inertial sensors, real-time template tracking, human head pose recovery and more recently real-time simultaneous ego-localisation and autonomous 3D map building. Our main long-term application areas are enhanced remote collaboration and autonomous wearable assistants that use vision.Computational delays and habits
http://dl-live.theiet.org/content/conferences/10.1049/ic_19990260
The brain is a slow computer yet humans can skilfully play games where very fast reactions are required. A solution to that problem is to bypass the slow action planning process and map directly perceptions to plans. It is proposed that the cerebellum has a dual function. Whereas in the intermediate and medial areas, it has the well known function of an inverse model of the motor system; in its lateral zone, it learns which plans are the most appropriate responses to a set of future perceptual situations, for a given goal and preselects them via cerebrocortical projections for execution under sensory triggering. This scheme saves planning time but, in absence of cognitive gating, enables sometimes inappropriate habitual behaviour. Hence habits may be a by-product of a computational strategy designed for compensating for computational planning delays. Robot control strategies inspired by the cerebellum are proposed, whereby planning is performed off-line and fed to a sequence learning system or task specific sets of plans are prepared in advance for fast selection using sensory inputs. Such schemes have been implemented using artificial neural networks. (5 pages)An overview of cerebellar control
http://dl-live.theiet.org/content/conferences/10.1049/ic_19990256
Cerebellar models were first applied for robot dynamics control after Albus' CMAC model was published in 1975. Especially the later implementations by Miller et al. (1989, 1997) for control of a 4-DOF robot arm as well as biped control have demonstrated the power of this approach. Although cerebellar modelling has come a long way since then, applications of such models remain limited to toy problems, not exceeding the complexity of (simulated) two-link robot arms. (2 pages)Concentric spatial maps for neural network based navigation
http://dl-live.theiet.org/content/conferences/10.1049/cp_19991099
A model for navigation based on artificial neural networks is proposed and tested for the task of planning and reaching a goal location in a continuous, dynamic environment. The model is based on the concept of concentric spatial maps, which is a cognitive representation of the surrounding environment in the central nervous system. With the construction and maintenance of these cognitive maps by a specialized neural network architecture, initial results demonstrate the system's ability to reach the goal by continuously fusing sensory inputs from the environment with the cognitive maps in memory to dynamically plan a path to the goal.TMS320C40 parallel processor for high speed imaging application
http://dl-live.theiet.org/content/conferences/10.1049/cp_19990358
This paper describes the high-speed vision system and the novel image processing algorithm developed for seam tracking applications. This system was used in the gantry robot constructed in Liverpool University for high-speed edge trimming of fabric embroideries. Parallelism between image grabbing, image processing and communication with PC for enhancing the performance of the vision system is also described. The speed and the accuracy of the seam-tracking algorithm are compared with the conventional geometric approach.