| 1. |
- Broxvall, Mathias, et al.
(författare)
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An ecological approach to odour recognition in intelligent environments
- 2006
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Ingår i: 2006 IEEE International Conference on Robotics and automation, ICRA 2006. - 0780395050 ; , s. 2066-2071
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Konferensbidrag (refereegranskat)abstract
- We present a new approach for odour detection and recognition based on a so-called PEIS-Ecology: a network of gas sensors and a mobile robot are integrated in an intelligent environment. The environment can provide information regarding the location of potential odour sources, which is then relayed to a mobile robot equipped with an electronic nose. The robot can then perform a more thorough analysis of the odour character. This is a novel approach which alleviates some the challenges in mobile olfaction techniques by single and embedded mobile robots. The environment also provides contextual information which can be used to constrain the learning of odours, which is shown to improve classification performance.
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| 2. |
- Broxvall, Mathias, et al.
(författare)
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PEIS ecology : integrating robots into smart environments
- 2006
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Ingår i: 2006 IEEE International Conference on Robotics and automation, ICRA 2006. - 0780395050 ; , s. 212-218
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Konferensbidrag (refereegranskat)abstract
- We introduce the concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology. This is a network of heterogeneous robotic devices (PEIS) pervasively embedded in the environment. A PEIS can be as simple as a toaster and as complex as a humanoid robot. PEIS can exchange information at different levels of abstraction, and share both physical and virtual functionalities to perform complex tasks. By putting together insights from the fields of autonomous robotics and of ambient intelligence, the PEIS-Ecology approach explores a new road to building assistive, personal, and service robots. In this paper, we discuss this concept, describe a first realization of it, and show an implemented use-case scenario.
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| 3. |
- Gunnar, Johan, et al.
(författare)
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Nonlinear Grey-box Identification of Linear Actuators Containing Hysteresis
- 2006
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Ingår i: Proceedings of the 2006 IEEE International Conference on Robotics and Automation. - Linköping : Linköping University Electronic Press. - 0780395050 ; , s. 1818-1823
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Konferensbidrag (refereegranskat)abstract
- A new identification procedure for a linear actuator used in parallel kinematic manipulators has been developed. The actuator dynamics contain both hysteresis and backlash resulting in a highly nonlinear system. The results in this paper show that not only can a nonlinear model of the system be successfully identified from measurement data, but the model is also compact enough to be an ideal candidate for inclusion in a high-performance robot control system.
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| 4. |
- Jensfelt, Patric, et al.
(författare)
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A framework for vision based bearing only 3D SLAM
- 2006
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Ingår i: Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida - May 2006. - : IEEE. - 0780395050 ; , s. 1944-1950
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Konferensbidrag (refereegranskat)abstract
- This paper presents a framework for 3D vision based bearing only SLAM using a single camera, an interesting setup for many real applications due to its low cost. The focus in is on the management of the features to achieve real-time performance in extraction, matching and loop detection. For matching image features to map landmarks a modified, rotationally variant SIFT descriptor is used in combination with a Harris-Laplace detector. To reduce the complexity in the map estimation while maintaining matching performance only a few, high quality, image features are used for map landmarks. The rest of the features are used for matching. The framework has been combined with an EKF implementation for SLAM. Experiments performed in indoor environments are presented. These experiments demonstrate the validity and effectiveness of the approach. In particular they show how the robot is able to successfully match current image features to the map when revisiting an area.
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| 5. |
- Karayiannidis, Yiannis, 1980-, et al.
(författare)
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An adaptive law for slope identification and force position regulation using motion variables
- 2006
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Ingår i: 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10. - NEW YORK : IEEE. - 0780395050 ; , s. 3538-3543
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Konferensbidrag (refereegranskat)abstract
- This work proposes an adaptive control law for the force position regulation problem under surface kinematic uncertainties. A compliant contact with friction is considered. The control law achieves exact regulation of force and position along the surface tangent by identifying the surface slope. The asymptotic stability of the closed loop system equilibrium point is proved in a local sense and is demonstrated by a simulation example
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| 6. |
- Kyrki, Ville, et al.
(författare)
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Tracking Unobservable Rotations by Cue Integration
- 2006
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Ingår i: 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). - 0780395050 ; , s. 2744-2750
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Konferensbidrag (refereegranskat)abstract
- Model based object tracking has earned significant importance in areas such as augmented reality, surveillance, visual servoing, robotic object manipulation and grasping. Although an active research area, there are still few systems that perform robustly in realistic settings. The key problems to robust and precise object tracking are outliers caused by occlusion, self-occlusion, cluttered background, and reflections. Two most common solutions to the above problems have been the use of robust estimators and the integration of visual cues. The tracking system considered in this paper achieves robustness by integrating model-based and model-free cues. As model-based cues, we consider a CAD model of the object known a priori and as model-free cues,. automatically generated corner features are used. The main idea is to account for relative object motion between consecutive frames using integration of the two cues. The particular contribution of this work is the integration framework where not only polyhedral objects are considered. In particular, we deal with spherical, cylindrical and conical objects for which the complete pose cannot be estimate using only CAD like models. Using the integration with the model-free features, we show how a full pose estimate can be obtained. Experimental evaluation demonstrates robust system performance in realistic settings with highly textured objects.
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| 7. |
- López-Nicolás, G, et al.
(författare)
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Nonholonomic epipolar visual servoing
- 2006
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Ingår i: 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). - New York : IEEE. - 0780395050 ; , s. 2378-2384
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Konferensbidrag (refereegranskat)abstract
- A significant amount of work has been reported in the area of visual servoing during the last decade. However, most of the contributions are applied in cases of holonomic robots. More recently, the use of visual feedback for control of nonholonomic vehicles has been reported. Some of the examples are docking and parallel parking maneuvers of cars or vision-based stabilization of a mobile manipulator to a desired pose with respect to a target of interest. Still, many of the approaches are mostly interested in the control part of visual servoing loop considering very simple vision algorithms based on artificial markers. In this paper, we present an approach for nonholonomic visual servoing based on epipolar geometry. The method facilitates a classical teach-by-showing approach where a reference image is used to define the desired pose (position and orientation) of the robot. The major contribution of the paper is the design of the control law that considers nonholonomic constraints of the robot as well as the robust feature detection and matching process based on scale and rotation invariant image features. An extensive experimental evaluation has been performed in a realistic indoor setting and the results are summarized in the paper.
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| 8. |
- Rentschler, M. E., et al.
(författare)
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Mobile in vivo biopsy robot
- 2006
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Ingår i: Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on. - Piscataway : IEEE Press. - 0780395050 - 0780395069 - 9780780395060 ; , s. 4155-4160
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Konferensbidrag (refereegranskat)abstract
- A mobile in vivo camera robot was developed to provide the ability for a single port biopsy procedure. Such a robot can be inserted into the abdominal cavity through a standard trocar. The surgeon controls the robot using visual feedback from the on-board camera. Measurements were made to identify the forces required to successfully biopsy in vivo tissue, including clamping and tearing forces. The robot design was developed around these parameters and the need to traverse the abdominal environment using specially designed wheels. This mobility allows the biopsy robot to move to the area of interest to sample specific tissues. The lead-screw linkage system that actuated the graspers allows for large force production through careful mechanical design. In vivo testing of this system in a porcine (pig) model has been successful. The robot is capable of traversing the entire in vivo abdominal environment and has successfully been used to biopsy hepatic tissue. In addition, experimental analysis of the biopsy mechanism shows good results towards more elaborate tissue manipulation in the future.
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| 9. |
- Sundvall, Paul, et al.
(författare)
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Fault detection for mobile robots using redundant positioning systems
- 2006
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Ingår i: 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10. - NEW YORK, NY : IEEE. - 0780395050 ; , s. 3781-3786
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Konferensbidrag (refereegranskat)abstract
- Reliable navigation is a very important part of an autonomous mobile robot system. This means for instance that the robot should not lose track of its position, even if unexpected events like wheel slip and collisions occur. The standard approach to this problem is to construct a navigation system that is robust in itself. This paper proposes that detecting faults can also be made outside the normal navigation system, as an additional fault detector. Besides increasing the robustness, a means for detecting deviations is obtained, which can be important for the rest of the robot system, for instance the top level planner. The method uses two or more sources of robot position estimates, and compares them to detect unexpected deviation without getting deceived by drift or different characteristics in the position systems it gets information from. Both relative and absolute position sources can be used. meaning that existing positioning systems already implemented can be used in the detector. For detection purposes, an extended Kalman filter is used in conjunction with a CUSUM test. The detector is able to not only detect faults, but also give an estimate of when the fault occurred, which is useful for doing fault recovery. The detector is easy to implement, as it requires no modification of existing systems. Also the computational demands are very low. The approach is implemented and demonstrated on a mobile robot, using odometry and a scan matcher as sources of position information. It is shown that the system is able to detect wheel slip in real-time.
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| 10. |
- Viksten, Fredrik, 1976-, et al.
(författare)
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Increasing Pose Estimation Performance using Multi-cue Integration
- 2006
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Ingår i: IEEE International Conference on Robotic and Automation (ICRA). - : IEEE. - 0780395050 ; , s. 3760-3767
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Konferensbidrag (refereegranskat)abstract
- We have developed a system which integrates the information output from several pose estimation algorithms and from several views of the scene. It is tested in a real setup with a robotic manipulator. It is shown that integrating pose estimates from several algorithms increases the overall performance of the pose estimation accuracy as well as the robustness as compared to using only a single algorithm. It is shown that increased robustness can be achieved by using pose estimation algorithms based on complementary features, so called algorithmic multi-cue integration (AMC). Furthermore it is also shown that increased accuracy can be achieved by integrating pose estimation results from different views of the scene, so-called temporal multi-cue integration (TMC). Temporal multi-cue integration is the most interesting aspect of this paper.
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