ROBOT DYNAMIC CONTROL INSTABILITIES.

The authors demonstrate that a widely proposed method of robot dynamic control can be inherently unstable, due to an algebraic feedback loop condition causing an ill-posed feedback system. By focussing on the concept of ill-posedness a necessary and sufficient condition is derived for instability in robot manipulator systems which incorporate online acceleration cross-coupling control. Also demonstrated is a quasilinear multivariable control framework useful for assessing the robustness of this type of control when the instability condition is not obeyed.

Influence of a bow of finite width on bowed string motion: numerical modelling and experimental evidence

An enhanced physical model of the bowed string presented previously [1] is explored. It takes into account: the width of the bow, the angular motion of the string, bow-hair elasticity and string bending stiffness. The results of an analytical investigation of a model system - an infinite string sticking to a bow of finite width and driven on one side of the bow - are compared with experimental results published by Cremer [2] and reinterpreted here. Comparison shows that both the width of the bow and the bow-hair elasticity have a large impact on the reflection and transmission behaviour. In general, bending stiffness plays a minor role. Furthermore, a method of numerical simulation of the stiff string bowed with a bow of finite width is presented along with some preliminary results.

Efficient block segmentation algorithm for true motion estimation

A block-based motion estimation technique is proposed which permits a less general segmentation performed using an efficient deterministic algorithm. Applied to image pairs from the Flower Garden and Table Tennis sequences, the algorithm successfully localizes motion discontinuities and detects uncovered regions. The algorithm is implemented in C on a Sun Sparcstation 20. The gradient-based motion estimation required 28.8 s CPU time, and 500 iterations of the segmentation algorithm required 32.6 s.

Reconstruction of Outdoor Sculptures from Silhouettes under Approximate Circular Motion of an Uncalibrated Hand-Held Camera

This paper presents a novel technique for reconstructing an outdoor sculpture from an uncalibrated image sequence acquired around it using a hand-held camera. The technique introduced here uses only the silhouettes of the sculpture for both motion estimation and model reconstruction, and no corner detection nor matching is necessary. This is very important as most sculptures are composed of smooth textureless surfaces, and hence their silhouettes are very often the only information available from their images. Besides, as opposed to previous works, the proposed technique does not require the camera motion to be perfectly circular (e.g., turntable sequence). It employs an image rectification step before the motion estimation step to obtain a rough estimate of the camera motion which is only approximately circular. A refinement process is then applied to obtain the true general motion of the camera. This allows the technique to handle large outdoor sculptures which cannot be rotated on a turntable, making it much more practical and flexible.

Unsteady shock motion on a NACA0012 aerofoil at low reduced frequencies

Using transonic blowdown windtunnel experiments, the 2D unsteady shock motion on a NACA0012 aerofoil is examined at various frequencies typical for helicopter blades in forward flight. The aerofoil is subjected to freestream velocities oscillating periodically between M = 0.66 and M = 0.77. Unsteady pressure traces and schlieren images are analyzed over a range of low reduced frequencies to provide information on shock location and strength throughout the cycle. Unsteady effects were noticeable even at very low reduced frequencies (down to O(0.01). However, through the range of frequencies investigated, and within experimental error, the unsteady shock location showed no discernible lag compared to the quasi-steady behaviour. On the other hand, significant variations were observed in shock strengths with the upstream running part of the cycle (decreasing Mach number) displaying considerably stronger shocks than during the accelerating part of the cycle. It could be shown that this variation in shock strength is primarily caused by the shock motion modifying the relative shock Mach number. As a result is was possible to use the quasi-steady results to predict the unsteady shock behaviour at the frequencies investigated here (below 0(0.1)).

Unsteady shock motion on a NACA0012 aerofoil at low reduced frequencies

Using transonic blowdown windtunnel experiments, the 2D unsteady shock motion on a NACA0012 aerofoil is examined at various frequencies typical for helicopter blades in forward flight. The aerofoil is subjected to freestream velocities oscillating periodically between M = 0.66 and M = 0.77. Unsteady pressure traces and schlieren images are analyzed over a range of low reduced frequencies to provide information on shock location and strength throughout the cycle. Unsteady effects were noticeable even at very low reduced frequencies (down to O(0.01). However, through the range of frequencies investigated, and within experimental error, the unsteady shock location showed no discernible lag compared to the quasi-steady behaviour. On the other hand, significant variations were observed in shock strengths with the upstream running part of the cycle (decreasing Mach number) displaying considerably stronger shocks than during the accelerating part of the cycle. It could be shown that this variation in shock strength is primarily caused by the shock motion modifying the relative shock Mach number. As a result is was possible to use the quasi-steady results to predict the unsteady shock behaviour at the frequencies investigated here (below 0(0.1)).

A procedure for automatically estimating model parameters in optical motion capture

Model-based optical motion capture systems require knowledge of the position of the markers relative to the underlying skeleton, the lengths of the skeleton's limbs, and which limb each marker is attached to. These model parameters are typically assumed and entered into the system manually, although techniques exist for calculating some of them, such as the position of the markers relative to the skeleton's joints. We present a fully automatic procedure for determining these model parameters. It tracks the 2D positions of the markers on the cameras' image planes and determines which markers lie on each limb before calculating the position of the underlying skeleton. The only assumption is that the skeleton consists of rigid limbs connected with ball joints. The proposed system is demonstrated on a number of real data examples and is shown to calculate good estimates of the model parameters in each. © 2004 Elsevier B.V. All rights reserved.

Segmentation and recognition using structure from motion point clouds

We propose an algorithm for semantic segmentation based on 3D point clouds derived from ego-motion. We motivate five simple cues designed to model specific patterns of motion and 3D world structure that vary with object category. We introduce features that project the 3D cues back to the 2D image plane while modeling spatial layout and context. A randomized decision forest combines many such features to achieve a coherent 2D segmentation and recognize the object categories present. Our main contribution is to show how semantic segmentation is possible based solely on motion-derived 3D world structure. Our method works well on sparse, noisy point clouds, and unlike existing approaches, does not need appearance-based descriptors. Experiments were performed on a challenging new video database containing sequences filmed from a moving car in daylight and at dusk. The results confirm that indeed, accurate segmentation and recognition are possible using only motion and 3D world structure. Further, we show that the motion-derived information complements an existing state-of-the-art appearance-based method, improving both qualitative and quantitative performance. © 2008 Springer Berlin Heidelberg.

Workspace comparisons of setup configurations for human-robot interaction

In virtual assembly verification or remote maintenance tasks, bimanual haptic interfaces play a crucial role in successful task completion. This paper proposes a method for objectively comparing how well a haptic interface covers the reachable workspace of human arms. Two system configurations are analyzed for a recently introduced haptic device that is based on two DLR-KUKA light weight robots: the standard configuration, where the device is opposite the human operator, and the ergonomic configuration, where the haptic device is mounted behind the human operator. The human operator directly controls the robotic arms using handles. The analysis is performed using a representation of the robot arm workspace. The merits of restricting the comparisons to the most significant regions of the human workspace are discussed. Using this method, a greater workspace correspondence for the ergonomic configuration was shown. ©2010 IEEE.

Human-humanoid interaction: Is a humanoid robot perceived as a human?

As humanoid robots become more commonplace in our society, it is important to understand the relation between humans and humanoid robots. In human face-to-face interaction, the observation of another individual performing an action facilitates the execution of a similar action, and interferes with the execution of different action. This phenomenon has been explained by the existence of shared internal representations for the execution and perception of actions, which would be automatically activated by the perception of another individual's action. In one interference experiment, null interference was reported when subjects observed a robotic arm perform the incongruent task, suggesting that this effect may be specific to interacting with other humans. This experimental paradigm, designed to investigate motor interference in human interactions, was adapted to investigate how similar the implicit perception of a humanoid robot is to a human agent. Subjects performed rhythmic arm movements while observing either a human agent or humanoid robot performing either congruent or incongruent movements. The variance of the executed movements was used as a measure of the amount of interference in the movements. Both the human and humanoid agents produced significant interference effect. These results suggest that observing the action of humanoid robot and human agent may rely on similar perceptual processes. Furthermore, the ratio of the variance in incongruent to congruent conditions varied between the human agent and humanoid robot. We speculate this ratio describes how the implicit perception of a robot is similar to that of a human, so that this paradigm could provide an objective measure of the reaction to different types of robots and be used to guide the design of humanoid robots interacting with humans. © 2004 IEEE.