Autonomous rigid body attitude synchronization

Control laws to synchronize attitudes in a swarm of fully actuated rigid bodies, in the absence of a common reference attitude or hierarchy in the swarm, are proposed in [Smith, T. R., Hanssmann, H., & Leonard, N.E. (2001). Orientation control of multiple underwater vehicles with symmetry-breaking potentials. In Proc. 40th IEEE conf. decision and control (pp. 4598-4603); Nair, S., Leonard, N. E. (2007). Stable synchronization of rigid body networks. Networks and Heterogeneous Media, 2(4), 595-624]. The present paper studies two separate extensions with the same energy shaping approach: (i) locally synchronizing the rigid bodies' attitudes, but without restricting their final motion and (ii) relaxing the communication topology from undirected, fixed and connected to directed, varying and uniformly connected. The specific strategies that must be developed for these extensions illustrate the limitations of attitude control with reduced information. © 2008 Elsevier Ltd.

An architecture design with data model for product recovery management systems

Due to concerns about environmental protection and resource utilization, product lifecycle management for end-of-life (EOL) has received increasing attention in many industrial sectors including manufacturing, maintenance/repair, and recycling/refurbishing of the product. To support these functions, crucial issues are studied to realize a product recovery management system (PRMS), including: (1) an architecture design for EOL services, such as remanufacturing and recycling; (2) a product data model required for EOL activity based on international standards; and (3) an infrastructure for information acquisition and mapping to product lifecycle information. The presented works are illustrated via a realistic scenario. © 2008 Elsevier B.V. All rights reserved.

Minimalistic control of biped walking in rough terrain

Toward our comprehensive understanding of legged locomotion in animals and machines, the compass gait model has been intensively studied for a systematic investigation of complex biped locomotion dynamics. While most of the previous studies focused only on the locomotion on flat surfaces, in this article, we tackle with the problem of bipedal locomotion in rough terrains by using a minimalistic control architecture for the compass gait walking model. This controller utilizes an open-loop sinusoidal oscillation of hip motor, which induces basic walking stability without sensory feedback. A set of simulation analyses show that the underlying mechanism lies in the "phase locking" mechanism that compensates phase delays between mechanical dynamics and the open-loop motor oscillation resulting in a relatively large basin of attraction in dynamic bipedal walking. By exploiting this mechanism, we also explain how the basin of attraction can be controlled by manipulating the parameters of oscillator not only on a flat terrain but also in various inclined slopes. Based on the simulation analysis, the proposed controller is implemented in a real-world robotic platform to confirm the plausibility of the approach. In addition, by using these basic principles of self-stability and gait variability, we demonstrate how the proposed controller can be extended with a simple sensory feedback such that the robot is able to control gait patterns autonomously for traversing a rough terrain. © 2010 Springer Science+Business Media, LLC.

Toward a human-like biped robot with compliant legs

Conventional models of bipedal walking generally assume rigid body structures, while elastic material properties seem to play an essential role in nature. On the basis of a novel theoretical model of bipedal walking, this paper investigates a model of biped robot which makes use of minimum control and elastic passive joints inspired from the structures of biological systems. The model is evaluated in simulation and a physical robotic platform by analyzing the kinematics and ground reaction force. The experimental results show that, with a proper leg design of passive dynamics and elasticity, an attractor state of human-like walking gait patterns can be achieved through extremely simple control without sensory feedback. The detailed analysis also explains how the dynamic human-like gait can contribute to adaptive biped walking. © 2007 Elsevier B.V. All rights reserved.

AI in locomotion: Challenges and perspectives of underactuated robots

This article discusses the issues of adaptive autonomous navigation as a challenge of artificial intelligence. We argue that, in order to enhance the dexterity and adaptivity in robot navigation, we need to take into account the decentralized mechanisms which exploit physical system-environment interactions. In this paper, by introducing a few underactuated locomotion systems, we explain (1) how mechanical body structures are related to motor control in locomotion behavior, (2) how a simple computational control process can generate complex locomotion behavior, and (3) how a motor control architecture can exploit the body dynamics through a learning process. Based on the case studies, we discuss the challenges and perspectives toward a new framework of adaptive robot control. © Springer-Verlag Berlin Heidelberg 2007.

VLSI architecture of a K-best detector for MIMO--OFDM wireless communication systems

The K-best detector is considered as a promising technique in the MIMO-OFDM detection because of its good performance and low complexity. In this paper, a new K-best VLSI architecture is presented. In the proposed architecture, the metric computation units (MCUs) expand each surviving path only to its partial branches, based on the novel expansion scheme, which can predetermine the branches' ascending order by their local distances. Then a distributed sorter sorts out the new K surviving paths from the expanded branches in pipelines. Compared to the conventional K-best scheme, the proposed architecture can approximately reduce fundamental operations by 50% and 75% for the 16-QAM and the 64-QAM cases, respectively, and, consequently, lower the demand on the hardware resource significantly. Simulation results prove that the proposed architecture can achieve a performance very similar to conventional K-best detectors. Hence, it is an efficient solution to the K-best detector's VLSI implementation for high-throughput MIMO-OFDM systems.

Spatio-temporal changes in annual accumulated temperature in China and the effects on cropping systems, 1980s to 2000

Change in thermal conditions can substantially affect crop growth, cropping systems, agricultural production and land use. In the present study, we used annual accumulated temperatures > 10 degrees C (AAT10) as an indicator to investigate the spatio-temporal changes in thermal conditions across China from the late 1980s to 2000, with a spatial resolution of 1 x 1 km. We also investigated the effects of the spatio-temporal changes on cultivated land use and cropping systems. We found that AAT10 has increased on a national scale since the late 1980s, Particularly, 3.16 x 10(5) km(2) of land moved from the spring wheat zone (AAT10: 1600 to 3400 degrees C) to the winter wheat zone (AAT10: 3400 to 4500 degrees C). Changes in thermal conditions had large influences on cultivated land area and cropping systems. The areas of cultivated land have increased in regions with increasing AAT10, and the cropping rotation index has increased since the late 1980s. Single cropping was replaced by 3 crops in 2 years in many regions, and areas of winter wheat cultivation were shifted northward in some areas, such as in the eastern Inner Mongolia Autonomous Region and in western Liaoning and Jilin Provinces.

一种基于视觉的移动机器人定位系统

具有自主的全局定位能力是自主式移动机器人传感器系统的一项重要功能 .为了实现这个目的 ,国内外均在不断地研究发展各种定位传感器系统 .这里介绍了一种采用光学原理的全方位位置传感器系统 .该传感器系统由主动式路标、视觉传感器、图象采集与数据处理系统组成 .其视觉传感器和数据处理系统可安装在移动机器人上 ,然后可通过观测路标和视角定位的方法 ,计算出机器人在世界坐标系中的位置和方向 .实验证明 ,该系统可以实现机器人的在线定位 ,其采样速率和精度能够满足实用要求 .

Dexterous Robotic Hands: Kinematics and Control

This report presents issues relating to the kinematics and control of dexterous robotic hands using the Utah-MIT hand as an illustrative example. The emphasis throughout is on the actual implementation and testing of the theoretical concepts presented. The kinematics of such hands is interesting and complicated owing to the large number of degrees of freedom involved. The implementation of position and force control algorithms on such tendon driven hands has previously suffered from inefficient formulations and a lack of sophisticated computer hardware. Both these problems are addressed in this report. A multiprocessor architecture has been built with high performance microcomputers on which real-time algorithms can be efficiently implemented. A large software library has also been built to facilitate flexible software development on this architecture. The position and force control algorithms described herein have been implemented and tested on this hardware.

Contact Sensors for Dexterous Robotic Hands

This thesis examines a tactile sensor and a thermal sensor for use with the Utah-MIT dexterous four fingered hand. Sensory feedback is critical or full utilization of its advanced manipulatory capabilities. The hand itself provides tendon tensions and joint angles information. However, planned control algorithms require more information than these sources can provide. The tactile sensor utilizes capacitive transduction with a novel design based entirely on silicone elastomers. It provides an 8 x 8 array of force cells with 1.9 mm center-to-center spacing. A pressure resolution of 8 significant bits is available over a 0 to 200 grams per square mm range. The thermal sensor measures a material's heat conductivity by radiating heat into an object and measuring the resulting temperature variations. This sensor has a 4 x 4 array of temperature cells with 3.5 mm center-to-center spacing. Experiments show that the thermal sensor can discriminate among material by detecting differences in their thermal conduction properties. Both sensors meet the stringent mounting requirements posed by the Utah-MIT hand. Combining them together to form a sensor with both tactile and thermal capabilities will ultimately be possible. The computational requirements for controlling a sensor equipped dexterous hand are severe. Conventional single processor computers do not provide adequate performance. To overcome these difficulties, a computational architecture based on interconnecting high performance microcomputers and a set of software primitives tailored for sensor driven control has been proposed. The system has been implemented and tested on the Utah-MIT hand. The hand, equipped with tactile and thermal sensors and controlled by its computational architecture, is one of the most advanced robotic manipulatory devices available worldwide. Other ongoing projects will exploit these tools and allow the hand to perform tasks that exceed the capabilities of current generation robots.

A software development package for intelligent supervisory systems

Barnes, D. P., Hardy, N. W., Lee, M. H., Orgill, C. H., Sharpe, K. A. I. A software development package for intelligent supervisory systems. In Proc. ACME Res. Conf., Nottingham, September 1988, pp. 4

Learning and Control in Assistive Robotics for the Elderly

Q. Meng and M. H. Lee, Learning and Control in Assistive Robotics for the Elderly, IEEE Conference on Robotics, Automation and Mechatronics (RAM), Singapore, 2004.