W4C | | Planning and Navigation | W4D | SALA BIANCA | 17:10―18:30 | SALA TURCA | Bahram Ravani, USA | CHAIR | | Gabriele Vassura, Italy | CO-CHAIR | Norberto Pires, Portugal | Object Conveyance System ″Magic Carpet″ Consisting of 64 Linear Actuators — Object Position Feedback Control with Object Position Estimation —
Hichirousai Oyobe, Yoichi Hori, University of Tokyo, Japan
A novel object transfer system named Magic Carpet composed of linear actuator array and driven by autonomous decentralized type control algorithm is proposed. An object is manipulated by a large number of contact points with many actuators which differs from conventional systems like belt conveyor. In this paper the control algorithm for such distributed manipulation is proposed. Due to recent development of micromachine technology distributed manipulation becomes more important. This system has a big advantage in its fault tolerance because it has a lot of actuators with poor performance to move a large heavy object. However it has a serious wiring problem to be solved and homogeneous structure should be introduced … | 17:10―17:30 |
Nouara Achour, Redouane Toumi, Algiers Univ. of Technology, Algeria
In this paper, we present an efficient and cheap approach to build a sonar based mapping for autonomous mobile robot in indoor environments. The system uses one ultrasonic sensor (Emitter and receiver are separated) mounted on a motorization constituted by two motors allowing a horizontal and vertical scanning. The reading is modelled as probability profiles projected on a two-dimensional map. These readings provide information’s concerning empty and occupied areas in the sensor cone. The world is modelled as a grid of cells. Using raster-based approach to computer graphic, we determine the cells of the area occupied by the sensor cone. The map can be used to plan paths and for landmark recognition. Results from actual runs are presented at the end.
| Coarse/Fine Motion Control of a Teleoperated Autonomous Piezoelectric Nanopositioner Operating under a Microscope
Antoine Ferreira, Jean-Guy Fontaine, ENSIB, France
A small “intelligent” autonomous multidegree of freedom mobile nanopositioner is presented. It is controlled and operated remotely through a graphical user interface for coarse and fine positioning under a microscope. The motion principle of the mobile piezoelectric platform actuated by ultrasonic piezo-legs is presented. Its on-board control architecture comprises power, motion controllers, sensors and IR communication interface. In order to operate under the field of view of a microscope, a motion strategy based on on-board controllers and remote semi-automatic operation has been adopted in order to provide coarse and fine positioning. The closed-loop position schemes are theoretically considered and their results are demonstrated and evaluated in practice. Evaluations of experimental … | 17:30―17:50 | The Agoraphilic Algorithm: A New Optimistic Approach for Mobile Robot Navigation
M. Yousef Ibrahim, L. McFetridge, Monash University, Australia
This paper presents a summary of research which is recently conducted at Monash University - Gippsland Campus. The objective of this research project is to develop a new efficient methodology for mobile robot navigation. The new optimistic algorithm is based on free space attraction rather than looking for obstacles to avoid. It utilizes a single attractive force generated by the surrounding local free-space as opposed to the classical APF whereby attractive and repulsive forces are employed. Adaptive Fuzzy Logic is then utilized to limit the `free-space' force so as to promote the movement toward the goal. To demonstrate the algorithms ability several simulations plus some preliminary experimental results are presented. |
Study on Turning Motion of Micro Robot Driven by Cyclic Force Kiyoshi Ioi, Kinki University, Japan
This paper deals with the turning motion mechanism of a brush-type micro robot using cyclic centrifugal forces. Many wheeled robots usually turn along the tangential velocity generated by their rolling wheels. The micro robot studied here has a turning property different from usual wheeled mobile robots. To realize the micro mobile robot, the mechanism accompanied with many brush legs has been often applied so far. However, the turning motion mechanics has not been clarified. This paper clarifies the mechanics. First, We derive a two-dimensional rolling model of the brush-type robot driven by cyclic centrifugal forces, and indicate the existence of the lateral force acting toward the robot by the computer simulation and the simple mathematical analysis. Next, to confirm the turning motion mechanics caused by the lateral force, we obtain many experimental results of the circular …
| 17:50―18:10 | New Concept of Visibility Tetrahedra for Fast Robot Motion Planning
Miguel Hernando, Ernesto Gambao, Universidad Politécnica de Madrid, Spain
Currently new applications of robots outside the known and fixed environment of a factory will increase the need for these planners. In this situations it will be necessary to cope with very variable and complex environments and with the direct human interaction. A new approach for n degrees of freedom robot motion planning based on the concept of the Visibility Tetrahedra and the use of Genetic Algorithms combined with local search methods is presented in this paper. The proposed approach has been successfully tested over several selected experiments obtaining fast planning even for complex situations. |
Osamah M. El Rifai, Kamal Youcef-Toumi, MIT, USA
This paper demonstrates and explains the great impact scan parameters and cantilever properties have on the dynamics of atomic force microscopes (AFM) and hence its performance. Results show that when operating in Air and in-contact with hard samples modal damping is a strong function of contact force set-point and amplitude of disturbance i.e. sample surface topography. Small amplitudes and large set-points result in lower damping. In addition a large contact force can result in damage to the sample and increase friction force between probe and sample. Further cantilevers with long probes result in pole-zero flipping possibly due to the compliance of the probe being comparable to that of the cantilever. These large changes in the dynamics of the AFM impose a challenge on its feedback system. It requires a controller that provides robust performance to ensure high-fidelity of …
| 18:10―18:30 | An Outdoor Navigation System Using GPS and Inertial Platform
S. Panzieri, Università di Roma Tre, F. Pascucci, Università di Roma "La Sapienza", G. Ulivi, Università di Roma Tre, Italy
The use of Global Positioning System (GPS) in outdoor localization is a quite common solution in large environments where no other references are available and positioning requirements are not so pressing. Of course fine motion without the use of an expensive differential device is not an easy task even now that available precision has been greatly improved as the military encoding has been removed. In this paper we present a localization algorithm based on Kalman filtering that tries to fuse information coming from an inexpensive single GPS with inertial and sometimes uncertain map based data. The algorithm is able to produce an estimated configuration for the robot that can be successfully fed back in a navigation system leading to a motion whose precision is only related to current … information quality. |
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