hh.sePublikationer
Ändra sökning
Avgränsa sökresultatet
1234 101 - 150 av 179
RefereraExporteraLänk till träfflistan
Permanent länk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Träffar per sida
  • 5
  • 10
  • 20
  • 50
  • 100
  • 250
Sortering
  • Standard (Relevans)
  • Författare A-Ö
  • Författare Ö-A
  • Titel A-Ö
  • Titel Ö-A
  • Publikationstyp A-Ö
  • Publikationstyp Ö-A
  • Äldst först
  • Nyast först
  • Skapad (Äldst först)
  • Skapad (Nyast först)
  • Senast uppdaterad (Äldst först)
  • Senast uppdaterad (Nyast först)
  • Disputationsdatum (tidigaste först)
  • Disputationsdatum (senaste först)
  • Standard (Relevans)
  • Författare A-Ö
  • Författare Ö-A
  • Titel A-Ö
  • Titel Ö-A
  • Publikationstyp A-Ö
  • Publikationstyp Ö-A
  • Äldst först
  • Nyast först
  • Skapad (Äldst först)
  • Skapad (Nyast först)
  • Senast uppdaterad (Äldst först)
  • Senast uppdaterad (Nyast först)
  • Disputationsdatum (tidigaste först)
  • Disputationsdatum (senaste först)
Markera
Maxantalet träffar du kan exportera från sökgränssnittet är 250. Vid större uttag använd dig av utsökningar.
  • 101.
    Kewlani, Gaurav
    et al.
    MIT, USA.
    Iagnemma, Karl
    MIT, USA.
    A Multi-Element Generalized Polynomial Chaos Approach to Analysis of Mobile Robot Dynamics under Uncertainty2009Ingår i: IROS 2009: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, N.J.: IEEE Robotics and Automation Society, 2009, s. 1177-1182Konferensbidrag (Refereegranskat)
    Abstract [en]

    The ability of mobile robots to quickly and accurately analyze their dynamics is critical to their safety and efficient operation. In field conditions, significant uncertainty is associated with terrain and/or vehicle parameter estimates, and this must be considered in an analysis of robot motion. Here a Multi-Element generalized Polynomial Chaos (MEgPC) approach is presented that explicitly considers vehicle parameter uncertainty for long term estimation of robot dynamics. It is shown to be an improvement over the generalized Askey polynomial chaos framework as well as the standard Monte Carlo scheme, and can be used for efficient, accurate prediction of robot dynamics. © 2009 IEEE.

  • 102.
    Kewlani, Gaurav
    et al.
    MIT, USA.
    Iagnemma, Karl
    MIT, USA.
    A Stochastic Response Surface Approach to Statistical Prediction of Mobile Robot Mobility2008Ingår i: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) / [ed] Raja Chatila, Alonzo Kelly & Jean-Pierre Merlet, Piscataway, N.J.: IEEE Press, 2008, s. 2234-2239Konferensbidrag (Refereegranskat)
    Abstract [en]

    The ability of autonomous or semi-autonomous mobile robots to rapidly and accurately predict their mobility characteristics is an important requirement for their use in unstructured environments. Most methods for mobility prediction, however, assume precise knowledge of environmental (i.e. terrain) properties. In practical conditions, significant uncertainty is associated with terrain parameter estimation from robotic sensors, and this uncertainty must be considered in a mobility prediction algorithm. Here a method for efficient mobility prediction based on the stochastic response surface approach is presented that explicitly considers terrain parameter uncertainty. The method is compared to a Monte Carlo-based method and simulations show that the stochastic response surface approach can be used for efficient, accurate prediction of mobile robot mobility. ©2008 IEEE.

  • 103.
    Kewlani, Gaurav
    et al.
    MIT, USA.
    Iagnemma, Karl
    MIT, USA.
    Mobility prediction for unmanned ground vehicles in uncertain environments2008Ingår i: Unmanned systems technology X: 17-20 March 2008, Orlando, Florida, USA, Bellingham, WA: SPIE - International Society for Optical Engineering, 2008, s. Article number 69621G-Konferensbidrag (Refereegranskat)
    Abstract [en]

    The ability of autonomous unmanned ground vehicles (UGVs) to rapidly and effectively predict terrain negotiability is a critical requirement for their use on challenging terrain. Most methods for assessing traversability, however, assume precise knowledge of vehicle and terrain properties. In practical applications, uncertainties are associated with the estimation of the vehicle/terrain parameters, and these uncertainties must be considered while determining vehicular mobility. Here a computationally inexpensive method for efficient mobility prediction based on the stochastic response surface (SRSM) approach is presented that considers imprecise knowledge of terrain and vehicle parameters while analyzing various metrics associated with UGV mobility. A conventional Monte Carlo method and the proposed response surface methodology have been applied to two simulated cases of mobility analysis, and it has been shown that the SRSM method is an efficient tool as compared to conventional Monte Carlo methods for the analysis of vehicular mobility in uncertain environments.

  • 104.
    Kewlani, Gaurav
    et al.
    MIT, USA.
    Ishigami, Genya
    MIT, USA.
    Iagnemma, Karl
    MIT, USA.
    Stochastic Mobility-based Path Planning in Uncertain Environments2009Ingår i: IROS 2009: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, N.J.: IEEE Press, 2009, s. 1183-1189Konferensbidrag (Refereegranskat)
    Abstract [en]

    The ability of mobile robots to generate feasible trajectories online is an important requirement for their autonomous operation in unstructured environments. Many path generation techniques focus on generation of time- or distance-optimal paths while obeying dynamic constraints, and often assume precise knowledge of robot and/or environmental (i.e. terrain) properties. In uneven terrain, it is essential that the robot mobility over the terrain be explicitly considered in the planning process. Further, since significant uncertainty is often associated with robot and/or terrain parameter knowledge, this should also be accounted for in a path generation algorithm. Here, extensions to the rapidly exploring random tree (RRT) algorithm are presented that explicitly consider robot mobility and robot parameter uncertainty based on the stochastic response surface method (SRSM). Simulation results suggest that the proposed approach can be used for generating safe paths on uncertain, uneven terrain. © 2009 IEEE.

  • 105.
    Khandelwal, Siddhartha
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Laboratoriet för intelligenta system.
    Chevallereau, Christine
    Ecole Centrale de Nantes, Nantes, France.
    Estimation of the Trunk Attitude of a Humanoid by Data Fusion of Inertial Sensors and Joint Encoders2013Ingår i: Nature-Inspired Mobile Robotics / [ed] Kenneth J. Waldron, Mohammad O. Tokhi & Gurvinder S. Virk, Singapore: World Scientific, 2013, s. 822-830Konferensbidrag (Refereegranskat)
    Abstract [en]

    The major problem associated with the walking of humanoid robots is to main- tain its dynamic equilibrium while walking. To achieve this one must detect gait instability during walking to apply proper fall avoidance schemes and bring back the robot into stable equilibrium. A good approach to detect gait insta- bility is to study the evolution of the attitude of the humanoid's trunk. Most attitude estimation techniques involve using the information from inertial sen- sors positioned at the trunk. However, inertial sensors like accelerometer and gyro are highly prone to noise which lead to poor attitude estimates that can cause false fall detections and falsely trigger fall avoidance schemes. In this paper we present a novel way to access the information from joint encoders present in the legs and fuse it with the information from inertial sensors to provide a highly improved attitude estimate during humanoid walk. Also if the joint encoders' attitude measure is compared separately with the IMU's atti- tude estimate, then it is observed that they are different when there is a change of contact between the stance leg and the ground. This may be used to detect a loss of contact and can be verified by the information from force sensors present at the feet of the robot. The propositions are validated by experiments performed on humanoid robot NAO. Copyright © 2013 by World Scientific Publishing Co. Pte. Ltd.

  • 106.
    Kim, Yong-Jae
    et al.
    Samsung Advanced Institute of Technology, Yongin si 446-712, Republic of Korea.
    Cheng, Shanbao
    Direct Drive Systems, FMC Technologies, Fullerton, CA 92833 USA.
    Kim, Sangbae
    theMassachusetts Institute of Technology, Cambridge, MA 02139 USA.
    Iagnemma, Karl
    theMassachusetts Institute of Technology, Cambridge, MA 02139 USA.
    A Novel Layer Jamming Mechanism with Tunable Stiffness Capability for Minimally Invasive Surgery2013Ingår i: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 29, nr 4, s. 1031-1042Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    This paper presents a novel “layer jamming” mechanism that can achieve variable stiffness. The layer jamming mechanism exploits the friction present between layers of thin material, which can be controlled by a confining pressure. Due to the mechanism's hollow geometry, compact size, and light weight, it is well suited for various minimally invasive surgery applications, where stiffness change is required. This paper describes the concept, the mathematical model, and a tubular snake-like manipulator prototype. Various characteristics of layer jamming, such as stiffness and yield strength, are studied both theoretically and experimentally. © IEEE

  • 107.
    Kim, Yong-Jae
    et al.
    Samsung Advanced Institute of Technology, Kyunggi do, Ki-hung gu, Yong-in si, South Korea.
    Cheng, Shanbao
    Direct Drive Systems, FMC Technologies, Fullerton, CA 92833, United States.
    Kim, Sangbae
    MIT.
    Iagnemma, Karl
    MIT.
    Design of a tubular snake-like manipulator with stiffening capability by layer jamming2012Ingår i: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, Piscataway, N.J.: IEEE Press, 2012, s. 4251-4256Konferensbidrag (Refereegranskat)
    Abstract [en]

    This paper introduces a new mechanism for achieving tunable stiffness, named layer jamming, and presents a hollow snake-like manipulator having tunable stiffness capability. The layer jamming mechanism is composed of multiple layers of thin Mylar film, and makes use of amplified friction between the films by applying vacuum pressure. In contrast to other tunable stiffness technology, such as particle jamming or field-activated materials (MR or ER fluids), layer jamming occupies a small volume and thus can be applied to small, light weight manipulators. The snake-like manipulator presented here is composed only of Mylar film and wires, and has highly flexible and under-actuated properties without application of a vacuum; however, it becomes highly stiff when a vacuum is applied. In this paper the characteristics of layer jamming are explored: its stiffness and breaking strength are obtained both theoretically and experimentally, and a prototype manipulator is developed and experimentally characterized. © 2012 IEEE.

  • 108.
    Kruusmaa, Maarja
    et al.
    Chalmers University of Technology, Department of Computer Engineering, Gothenburg, Sweden.
    Svensson, Bertil
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS).
    A low-risk approach to mobile robot path planning1998Ingår i: Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349, Vol. 1416, s. 132-141Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    This paper presents a self-organizing approach for mobile robot path planning problems in dynamic environments by using case-based reasoning together with a more conventional method of grid-map based path planning. The map-based path planner is used to suggest new innovative solutions for a particular path planning problem. The case-base is used to store the paths and evaluate their traversability. While planning the route those paths are preferred which, according to former experience, are least risky. As the environment changes, the exploration as well as the evaluation of the paths will allow the system to self-organize by forming a set of low-risk paths that are safest to follow. The experiments in a simulated environment show that the robot is able to adapt in a dynamic environment and learns to use the least risky paths. © Springer-Verlag Berlin Heidelberg 1998.

  • 109.
    La, Duc-Vinh
    et al.
    Högskolan i Halmstad.
    Ishac, Rami
    Högskolan i Halmstad.
    Stalker Robotplattform2015Självständigt arbete på grundnivå (högskoleexamen), 10 poäng / 15 hpStudentuppsats (Examensarbete)
    Abstract [sv]

    I robotikkursen Autonoma Mekatroniska System på Halmstad Högskola finns ett problem som kan uppstå vid bygget av deras hjulförsedda mobila robotar. Studenter har en tendens att bygga roboten så att den körs med maximal effekt från start till inbromsning. Detta medför att vid test av deras robotar så slits motorerna ut fortare vilket ger en onödig kostnad. För att minska på kostnaden är målet med detta projekt att bygga och reglera en sådan robot med hjälp av en banplanerare. Banplaneraren skapar mjuka övergångar vid start och inbromsning av roboten vilket gör att motorerna inte slits ut lika fort.

    I detta projekt ska vi utveckla en robot som kan användas som ett pedagogiskt undervisningsmaterial. Roboten ska vara en mall i kursen för studenterna så de kan se att det går bygga en robot som kan köras med mjuka övergångar. Roboten ska både kunna följa ett rörligt objekt med ett bestämt avstånd och har möjlighet att rotera. I detta projekt har även en undersökning av en modellerad och en verklig motor gjorts genom systemidentifiering.

    Resultatet blev en robot som kan följa ett rörligt objekt med ett bestämt avstånd där start och inbromsning görs mjukt. Med denna robot kan studenter se att det är möjligt att bygga en robot som körs med mjuka övergångar, vilket leder till mindre slitage av motorerna. Stegsvar och bodediagram har plottats fram genom systemidentifieringen där skillnader och likheter mellan verklig och modellerad motor kan ses.

  • 110.
    Larsson, Linus
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Fransson, Karl
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Automatisera återanvändning av elektronisk utrustning2018Självständigt arbete på grundnivå (högskoleexamen), 10 poäng / 15 hpStudentuppsats (Examensarbete)
  • 111.
    Lenfors, Camilla
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Sjögren, Mattias
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Bottender: Drinkblandarmaskin2015Självständigt arbete på grundnivå (högskoleexamen), 10 poäng / 15 hpStudentuppsats (Examensarbete)
    Abstract [sv]

    Denna rapport beskriver framtagningen av en drinkblandarmaskin samt utvecklingen aven applikation for att styra den. Syftet med projektetar att se om en billigare och mermodular produkt kan tas framan de liknande produkterna som idag nns pa marknaden.Malet var att ta fram en fungerande prototyp, och utifran den berakna om en produktkan tas fram med en materialkostnad pa under 5000 kr.Vi ville gora en drinkblandarmaskin som skiljer sig mot liknande produkter i det av-seende att den ska vara tillrackligt billig for att vara attraktiv for saval foretag somprivatpersoner. Den skaaven utmarka sig genom att vara modulart uppbyggd, d.v.s.inte sitta ihop med hjalp av ett stort ramverk. Detta eftersom det ger storre mojlighetatt anpassa den till sma ytor. Det garaven att hanga den upp pa vaggen for att sparapa sa mycket utrymme som mojligt.En applikationar framtagen for att fungera som anvandargranssnitt mot maskinen.Applikationen kan koras pa Android och PC, men kan endast kommunicera tradlost franen PC. Allt i applikationenar kompatibelt med android, utom just kommunikationen.Det konstaterades att nagon form av databas behovdes, och en lokal databas valdes pagrund av att det da ej kravs internetatkomst.Prototypenar klar till den grad att man i applikationen kan ange vilken drink som skagoras, och en vagn kor da till ratt position i ratt tid. Ventilerna har pa grund av tidsbristinte hunnits fa fungerande, och de simuleras darfor av lysdioder.Slutsatser fran detta arbetear att detar mojligt att gora en produkt under 5000 kr.

  • 112.
    Lilja, Mattias
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Robotverktyg till Smartpacker plockmaskin2012Självständigt arbete på grundnivå (högskoleexamen), 10 poäng / 15 hpStudentuppsats (Examensarbete)
  • 113.
    Liu, Guangjun
    et al.
    Allied Signal Aerosp., Canada, Eyobicoke, Ontario, Canada.
    Iagnemma, Karl
    Massachusetts Institute of Technology, Cambridge, MA, USA.
    Dubowsky, Steven
    Massachusetts Institute of Technology, Cambridge, MA, USA.
    Morel, Guillaume
    École Nationale Supérieure de Physique de Strasbourg (ENSPS), Strasbourg, France.
    A Base Force/Torque Sensor Approach to Robot Manipulator Inertial Parameter Estimation1998Ingår i: 1998 IEEE International Conference on Robotics and Automation, 1998. Proceedings., Piscataway, NJ: IEEE Press, 1998, Vol. 4, s. 3316-3321Konferensbidrag (Refereegranskat)
    Abstract [en]

    A practical method is proposed for estimating the inertial parameters of robot manipulators with substantial unmodeled joint friction and actuator dynamics. The manipulator is mounted on a six-axis force/torque sensor. Sensor measurements and joint velocities recorded during manipulator motion are used to identify the inertial parameters. The unmodeled joint friction and actuator dynamics do not degrade the estimation results, as in conventional methods. The estimation algorithm does not require difficult-to-measure acceleration measurements. Experimental results presented show that an accurate estimation of inertia parameters is attainable. Since the sensor is external to the manipulator, the same sensor can be used for parameter estimation for a number of different systems. @ IEEE 1998

  • 114.
    Mashad Nemati, Hassan
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Gholami Shahbandi, Saeed
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Åstrand, Björn
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Human Tracking in Occlusion based on Reappearance Event Estimation2016Ingår i: ICINCO 2016: 13th International Conference on Informatics in Control, Automation and Robotics: Proceedings, Volume 2 / [ed] Oleg Gusikhin, Dimitri Peaucelle & Kurosh Madani, SciTePress, 2016, Vol. 2, s. 505-512Konferensbidrag (Refereegranskat)
    Abstract [en]

    Relying on the commonsense knowledge that the trajectory of any physical entity in the spatio-temporal domain is continuous, we propose a heuristic data association technique. The technique is used in conjunction with an Extended Kalman Filter (EKF) for human tracking under occlusion. Our method is capable of tracking moving objects, maintain their state hypothesis even in the period of occlusion, and associate the target reappeared from occlusion with the existing hypothesis. The technique relies on the estimation of the reappearance event both in time and location, accompanied with an alert signal that would enable more intelligent behavior (e.g. in path planning). We implemented the proposed method, and evaluated its performance with real-world data. The result validates the expected capabilities, even in case of tracking multiple humans simultaneously.

  • 115.
    McDaniel, M. W.
    et al.
    MIT.
    Nishihata, T.
    MIT.
    Brooks, C. A.
    MIT.
    Iagnemma, Karl
    MIT, USA.
    Ground plane identification using LIDAR in forested environments2010Ingår i: 2010 ieee international conference on robotics and automation, IEEE Press, 2010, s. 3831-3836Konferensbidrag (Refereegranskat)
    Abstract [en]

    To operate autonomously in forested environments, unmanned ground vehicles (UGVs) must be able to identify the load-bearing surface of the terrain (i.e. the ground). This paper presents a novel two-stage approach for identifying ground points from 3-D point clouds sensed using LIDAR. The first stage, a local height-based filter, discards most of the non-ground points. The second stage, based on a support vector machine (SVM) classifier, operates on a set of geometrically defined features to identify which of the remaining points belong to the ground. Experimental results from two forested environments demonstrate the effectiveness of this approach. ©2010 IEEE.

  • 116.
    McDaniel, Matthew W.
    et al.
    Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA.
    Nishihata, Takayuki
    Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA.
    Brooks, Christopher A.
    Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA.
    Salesses, Phil
    Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA.
    Iagnemma, Karl
    Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA .
    Terrain classification and identification of tree stems using ground-based LiDAR2012Ingår i: Journal of Field Robotics, ISSN 1556-4967, Vol. 29, nr 6, s. 891-910Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    To operate autonomously in forested terrain, unmanned ground vehicles must be able to identify the load-bearing surface of the terrain(i.e., the ground) and obstacles in the environment. To travel long distances, they must be able to track their position even when the forest canopy obstructs GPS signals, e.g., by tracking progress relative to tree stems. This paper presents a novel, robust approach for modeling the ground plane and tree stems in forests from a single viewpoint using a lightweight LiDAR scanner. Ground plane identification is implemented using a two-stage approach. The first stage, a local height-based filter, discards most nonground points. The second stage,based on a support vector machine classifier, identifies which of the remaining points belong to the ground. Main tree stems are modeled as cylinders or cones to estimate the diameter 130 cm above the ground plane. To fit these models, candidate main stem data are selected by finding points approximately 130 cm above the ground. These points are clustered into separate point clouds for each stem. Cylinders and cones are fit to each point cloud, and heuristic filters identify which fits correspond to tree stems. Experimental results from five forested environments demonstrate the effectiveness of this approach. For ground plane estimation, the overall classification accuracy was 86.28% with a mean error for the ground height of approximately 4.7 cm. For stem estimation, up to 50% of the main stems were accurately modeled using cones, with a root mean square diameter error of 13.2 cm.© 2012 Wiley Periodicals, Inc. Copyright © 2012 Wiley Periodicals, Inc.

  • 117.
    Midtiby, Henrik Skov
    et al.
    The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark.
    Åstrand, Björn
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Jørgensen, Ole
    Operations Management, Aarhus University, Tjele, Denmark.
    Jørgensen, Rasmus Nyholm
    Signal Processing, Aarhus University, Aarhus, Denmark.
    Upper limit for context-based crop classification in robotic weeding applications2016Ingår i: Biosystems Engineering, ISSN 1537-5110, E-ISSN 1537-5129, Vol. 146, s. 183-192Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Knowledge of the precise position of crop plants is a prerequisite for effective mechanical weed control in robotic weeding application such as in crops like sugar beets which are sensitive to mechanical stress. Visual detection and recognition of crop plants based on their shapes has been described many times in the literature. In this paper the potential of using knowledge about the crop seed pattern is investigated based on simulated output from a perception system. The reliability of position–based crop plant detection is shown to depend on the weed density (ρ, measured in weed plants per square metre) and the crop plant pattern position uncertainty (σx and σy, measured in metres along and perpendicular to the crop row, respectively). The recognition reliability can be described with the positive predictive value (PPV), which is limited by the seeding pattern uncertainty and the weed density according to the inequality: PPV ≤ (1 + 2πρσxσy)−1. This result matches computer simulations of two novel methods for position–based crop recognition as well as earlier reported field–based trials. © 2016 IAgrE

  • 118.
    Morimoto, Yuka
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Malvila, Marja
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Automatiserad testning av digitala lås2018Självständigt arbete på grundnivå (kandidatexamen), 10 poäng / 15 hpStudentuppsats (Examensarbete)
    Abstract [sv]

    Testsystem är en stor del i dagen samhälle. Att testa en produkt är viktigt för att se hur länge den håller, extra viktigt att testa produkter är det när produkterna ska användas till välfärdsteknologi oche-hälsa då tekniken ska användas i människors vardag. Phoniro utvecklar produkter och tjänster inom välfärdsteknologi och e-hälsa. Exempel på produkt som tillverkas på Phoniro är digitala lås där testningen främst består av mjukvarutester under förhållanden där en verklig aspekt på användning av produkten är önskad men inte är medräknad. Därför vill Phoniro ha en automatiserad testmaskin som på ett mer korrekt sätt återspeglar verkligheten. Målet med projektet var att testa digitala lås där verklig aspekt på användning av produkten ärmedräknad. Det beslutades att göra en testmaskin som skulle innehålla en räknare för att se hur länge testet har körts och sensorer som ska känna av om något havererar. En testmaskin har tillverkats som kan testa det digitala låset. En räknare visar hur många gånger den har öppnat låset. Testmaskinen stannar om något havererat. Målen men projektet har uppnåtts, erfarenheter projektet har gett är praktiska och teoretiska kunskaper om processen att bygga upp ett testsystem.

  • 119.
    Muhammad, Naveed
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Åstrand, Björn
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Intention Estimation Using Set of Reference Trajectories as Behaviour Model2018Ingår i: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 18, nr 12, artikel-id 4423Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Autonomous robotic systems operating in the vicinity of other agents, such as humans, manually driven vehicles and other robots, can model the behaviour and estimate intentions of the other agents to enhance efficiency of their operation, while preserving safety. We propose a data-driven approach to model the behaviour of other agents, which is based on a set of trajectories navigated by other agents. Then, to evaluate the proposed behaviour modelling approach, we propose and compare two methods for agent intention estimation based on: (i) particle filtering; and (ii) decision trees. The proposed methods were validated using three datasets that consist of real-world bicycle and car trajectories in two different scenarios, at a roundabout and at a t-junction with a pedestrian crossing. The results validate the utility of the data-driven behaviour model, and show that decision-tree based intention estimation works better on a binary-class problem, whereas the particle-filter based technique performs better on a multi-class problem, such as the roundabout, where the method yielded an average gain of 14.88 m for correct intention estimation locations compared to the decision-tree based method. © 2018 by the authors

  • 120.
    Muhammad, Naveed
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Åstrand, Björn
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Predicting Agent Behaviour and State for Applications in a Roundabout-Scenario Autonomous Driving2019Ingår i: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 19, nr 19, artikel-id 4279Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    As human drivers, we instinctively employ our understanding of other road users' behaviour for enhanced efficiency of our drive and safety of the traffic. In recent years, different aspects of assisted and autonomous driving have gotten a lot of attention from the research and industrial community, including the aspects of behaviour modelling and prediction of future state. In this paper, we address the problem of modelling and predicting agent behaviour and state in a roundabout traffic scenario. We present three ways of modelling traffic in a roundabout based on: (i) the roundabout geometry; (ii) mean path taken by vehicles inside the roundabout; and (iii) a set of reference trajectories traversed by vehicles inside the roundabout. The roundabout models are compared in terms of exit-direction classification and state (i.e., position inside the roundabout) prediction of query vehicles inside the roundabout. The exit-direction classification and state prediction are based on a particle-filter classifier algorithm. The results show that the roundabout model based on set of reference trajectories is better suited for both the exit-direction and state prediction.

  • 121.
    Mühlfellner, Peter
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Bürki, Mathias
    ETH, Zürich, Switzerland.
    Bosse, Mike
    ETH, Zürich, Switzerland.
    Derendarz, Wojciech
    Volkswagen AG, Wolfsburg, Germany.
    Philippsen, Roland
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Furgale, Paul
    ETH, Zürich, Switzerland.
    Summary Maps for Lifelong Visual Localization2016Ingår i: Journal of Field Robotics, ISSN 1556-4959, E-ISSN 1556-4967, Vol. 33, nr 5, s. 561-590Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Robots that use vision for localization need to handle environments which are subject to seasonal and structural change, and operate under changing lighting and weather conditions. We present a framework for lifelong localization and mapping designed to provide robust and metrically accurate online localization in these kinds of changing environments. Our system iterates between offline map building, map summary, and online localization. The offline mapping fuses data from multiple visually varied datasets, thus dealing with changing environments by incorporating new information. Before passing this data to the online localization system, the map is summarized, selecting only the landmarks that are deemed useful for localization. This Summary Map enables online localization that is accurate and robust to the variation of visual information in natural environments while still being computationally efficient.

    We present a number of summary policies for selecting useful features for localization from the multi-session map and explore the tradeoff between localization performance and computational complexity. The system is evaluated on 77 recordings, with a total length of 30 kilometers, collected outdoors over sixteen months. These datasets cover all seasons, various times of day, and changing weather such as sunshine, rain, fog, and snow. We show that it is possible to build consistent maps that span data collected over an entire year, and cover day-to-night transitions. Simple statistics computed on landmark observations are enough to produce a Summary Map that enables robust and accurate localization over a wide range of seasonal, lighting, and weather conditions. © 2015 Wiley Periodicals, Inc.

  • 122.
    Nilsson, Fredrik
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Automatiserad pulsationsrigg med övervakning och loggning av mätdata2018Självständigt arbete på grundnivå (yrkesexamen), 10 poäng / 15 hpStudentuppsats (Examensarbete)
    Abstract [sv]

    Denna rapport beskriver framtagningen av en automatiserad pulsationsrigg som är utvecklad för test av skivbromsar. Utvecklingen av den automatiserade pulsationsriggen riktar sig mot att designa och konstruera ett automatiserat system. Målet med projektet är att utveckla en systemlösning med möjligheten att övervaka och logga mätdata från varje körd testcykel för att uppnå bättre spårbarhet. Metoderna som har undersökts, utvärderats och tillämpats är befintliga lösningar inom givare som mäter kraft och slag, test-och mätsystem för dataloggning samt mjukvara för styrning av testprogram. 

    Arbetet resulterade i utveckling av två delsystem där hårdvaran för testriggen utgör det första delsystemet. Hårdvaran består av en magnetisk lägesgivare som mäter slag, trådtöjningsgivare och lastcell som mäter kraft. Test- och mätsystemet som är länken mellan givarna och mjukvaran består av en CompaqDAQ med tillhörande moduler utvecklat av National Instrument. Mjukvaran utgör det andra delsystemet där LabVIEW har använts för uppbyggnaden av det automatiserade testprogrammet och användargränssnitt för användaren.

  • 123.
    Ourique de Morais, Wagner
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Inbyggda system (CERES).
    Mayr, Matthias
    Högskolan i Halmstad, Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE). Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany.
    Wickström, Nicholas
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Philippsen, Roland
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Ambient Intelligence and Robotics: complementing one another to support Ambient Assisted Living2014Ingår i: IAS-13: The 13th International Conference on Intelligent Autonomous Systems: July 15-19, 2014: Padova and Venice, Italy: Proceedings of Workshops and Tutorials / [ed] Jangmyung Lee, Philippe Martinet, Marcus Strand, Stefano Ghidoni & Matteo Munaro, 2014Konferensbidrag (Refereegranskat)
    Abstract [en]

    This work combines a database-centric architecture, which supports Ambient Intelligence (AmI) for Ambient Assisted Living, with a ROS-based mobile sensing and interaction robot. The role of the active database is to monitor and respond to events in the environment and the robot subscribes to tasks issued by the AmI system. The robot can autonomously perform tasks such as to search for and interact with a person. Consequently, the two systems combine their capabilities and complement the lack of computational, sensing and actuation resources.

  • 124.
    Peters, S. C.
    et al.
    MIT, USA.
    Frazzoli, E.
    MIT, USA.
    Iagnemma, Karl
    MIT, USA.
    Differential flatness of a front-steered vehicle with tire force control2011Ingår i: Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, Piscataway, N.J.: IEEE Press, 2011, s. 298-304Konferensbidrag (Refereegranskat)
    Abstract [en]

    A trajectory tracking controller based on differential flatness is presented for a nonlinear bicycle model. This controller maps the bicycle dynamics into a point mass located at a center of oscillation with an additional degree of freedom of yaw dynamics. A state transformation is performed that reveals structure in the yaw dynamics resembling a Liénard system. A candidate Lyapunov function inspired by this structure is used to assess the stability of the yaw dynamics while tracking straight-line trajectories and steady turns. The basin of attraction of the controller is limited by actuator constraints and the presence of unstable equilibrium points during turns with high lateral acceleration. The controller properties and the stability of yaw dynamics are demonstrated in simulation. © 2011 IEEE.

  • 125.
    Peters, S. C.
    et al.
    Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, United States.
    Iagnemma, Karl
    Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, United States.
    An analysis of rollover stability measurement for high-speed mobile robots2006Ingår i: Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, Piscataway: IEEE Press, 2006, s. 3711-3716Konferensbidrag (Refereegranskat)
    Abstract [en]

    Mobile robots and passenger vehicles are frequently required to operate at high speeds, on terrain that is sloped or uneven. These systems can be susceptible to rollover, particularly during severe maneuvers. This paper presents an analysis of rollover stability measurement for mobile robots operating at high speeds. The analysis examines the accuracy of a commonly accepted rollover stability metric during operation on sloped and rough terrain. The effects of sensor placement, center-of-gravity position estimation error, and wheel dynamics are examined. It is shown that these effects can have a significant impact on stability measurement during high speed operation.

  • 126.
    Peters, Steven C.
    et al.
    MIT, USA.
    Bobrow, James E.
    Department of Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92697, United States.
    Iagnemma, Karl
    MIT, USA.
    Stabilizing a Vehicle near Rollover: An Analogy to Cart-Pole Stabilization2010Ingår i: 2010 IEEE international conference on robotics and automation, Piscataway, N.J.: IEEE Press, 2010, s. 5194-5200Konferensbidrag (Refereegranskat)
    Abstract [en]

    An analogy between the dynamics of a cart-pole system and vehicle rollover dynamics is used to derive a controller for tipping up and stabilizing a planar model of a passenger vehicle near rollover by controlling lateral tire friction forces. The controller is based on a previously published controller for stabilizing a cart-pole using partial feedback linearization and energy shaping. A necessary condition for tip-up is given based on the surface friction coefficient and the location of the vehicle center of gravity (c.g.). A multi-body vehicle model with suspension is presented in the form of the robotic manipulator equations. Simulation results are presented demonstrating the effect of friction and suspension properties on the tip-up problem. ©2010 IEEE.

  • 127.
    Peters, Steven C.
    et al.
    MIT, USA.
    Iagnemma, Karl
    MIT, USA.
    Mobile robot path tracking of aggressive maneuvers on sloped terrain2008Ingår i: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) / [ed] Raja Chatila, Alonzo Kelly & Jean-Pierre Merlet, Piscataway, N.J.: IEEE Robotics and Automation Society, 2008, s. 242-247Konferensbidrag (Refereegranskat)
    Abstract [en]

    Path tracking control on non-flat terrain is an important capability of mobile robots operating in outdoor environments. A path tracking controller based on the model predictive control (MPC) framework is presented that explicitly considers terrain geometry and actuator limitations. The controller performance is studied with three vehicle dynamic models in a high-fidelity ADAMS simulation. The effect of model order on path tracking performance on flat terrain and sloped terrain is evaluated. It is shown that improved performance can be obtained by explicitly considering terrain effects. ©2008 IEEE.

  • 128.
    Pihl, Jacob
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Tataragic, Edin
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Automatisk kollisionsundvikande bärhjälp för livsmedel: med fokus på analys av metoder för objektspårning i bild2017Självständigt arbete på grundnivå (kandidatexamen), 10 poäng / 15 hpStudentuppsats (Examensarbete)
  • 129.
    Ploeg, Jeroen
    et al.
    TNO, Helmond, The Netherlands & Eindhoven University of Technology, Eindhoven, Netherlands.
    Englund, Cristofer
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Nijmeijer, Henk
    Eindhoven University of Technology, Eindhoven, Netherlands.
    Semsar-Kazerooni, Elham
    TNO, Helmond, The Netherlands & Twente University, Enschede, The Netherlands.
    Shladover, Steven E.
    TRB Committee on Vehicle-Highway Automation, California PATH Program, Institute of Transportation Studies, University of California, Berkeley, CA, USA.
    Voronov, Alexey
    RISE Viktoria, Gothenburg, Sweden.
    van de Wouw, Nathan
    Eindhoven University of Technology, Eindhoven, Netherlands & University of Minnesota, Minneapolis, Minnesota, USA & Delft University of Technology, Delft, The Netherlands.
    Guest Editorial Introduction to the Special Issue on the 2016 Grand Cooperative Driving Challenge2018Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 19, nr 4, s. 1208-1212Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Cooperative driving is based on wireless communications between vehicles and between vehicles and roadside infrastructure, aiming for increased traffic flow and traffic safety, while decreasing fuel consumption and emissions. To support and accelerate the introduction of cooperative vehicles in everyday traffic, in 2011, nine international teams joined the Grand Cooperative Driving Challenge (GCDC). The challenge was to perform platooning, in which vehicles drive in road trains with short intervehicle distances. The results were reported in a Special Issue of IEEE Transactions on Intelligent Transportation Systems, published in September 2012 [item 1 in the Appendix]. © 2000-2011 IEEE.

  • 130.
    Ploeg, Jeroen
    et al.
    Netherlands Organisation for Applied Scientific Research TNO, Helmond, The Netherlands.
    Semsar-Kazerooni, Elham
    Netherlands Organisation for Applied Scientific Research TNO, Helmond, The Netherlands.
    Morales Medina, Alejandro I.
    Eindhoven University of Technology, Eindhoven, The Netherlands.
    de Jongh, Jan F. C. M
    Netherlands Organisation for Applied Scientific Research TNO, Helmond, The Netherlands.
    van de Sluis, Jacco
    Netherlands Organisation for Applied Scientific Research TNO, Helmond, The Netherlands.
    Voronov, Alexey
    RISE Viktoria, Gothenburg, Sweden.
    Englund, Cristofer
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS). RISE Viktoria, Gothenburg, Sweden & Chalmers University of Technology, Gothenburg, Sweden.
    Bril, Reinder J.
    Eindhoven University of Technology, Eindhoven, The Netherlands.
    Salunkhe, Hrishikesh
    Thermo Fisher Scientific, Eindhoven, The Netherlands.
    Arrú, Álvaro
    Applus+ IDIADA, L'Albornar, Tarragona, Spain.
    Ruano, Aitor
    Applus+ IDIADA, L'Albornar, Tarragona, Spain.
    Garcí-Sol, Lorena
    Applus+ IDIADA, L'Albornar, Tarragona, Spain.
    van Nunen, Ellen
    Netherlands Organisation for Applied Scientific Research TNO, Helmond, The Netherlands.
    van de Wouw, Nathan
    Eindhoven University of Technology, Eindhoven, The Netherlands; University of Minnesota, Minneapolis, MN, USA & Delft University of Technology, Delft, The Netherlands.
    Cooperative Automated Maneuvering at the 2016 Grand Cooperative Driving Challenge2018Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 19, nr 4, s. 1213-1226Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Cooperative adaptive cruise control and platooning are well-known applications in the field of cooperative automated driving. However, extension toward maneuvering is desired to accommodate common highway maneuvers, such as merging, and to enable urban applications. To this end, a layered control architecture is adopted. In this architecture, the tactical layer hosts the interaction protocols, describing the wireless information exchange to initiate the vehicle maneuvers, supported by a novel wireless message set, whereas the operational layer involves the vehicle controllers to realize the desired maneuvers. This hierarchical approach was the basis for the Grand Cooperative Driving Challenge (GCDC), which was held in May 2016 in The Netherlands. The GCDC provided the opportunity for participating teams to cooperatively execute a highway lane-reduction scenario and an urban intersection-crossing scenario. The GCDC was set up as a competition and, hence, also involving assessment of the teams' individual performance in a cooperative setting. As a result, the hierarchical architecture proved to be a viable approach, whereas the GCDC appeared to be an effective instrument to advance the field of cooperative automated driving. © Copyright 2017 IEEE - All rights reserved.

  • 131.
    Renschtler, M.
    et al.
    University of Nebraska, Department of Mechanical Engineering, N104 Walter Scott Engineering Center, Lincoln, NE 68588, United States.
    Farritor, Shane M.
    University of Nebraska, Department of Mechanical Engineering, N104 Walter Scott Engineering Center, Lincoln, NE 68588, United States.
    Iagnemma, Karl D.
    MIT, USA.
    Mechanical Design of Robotic in vivo Wheeled Mobility2007Ingår i: Journal of mechanical design (1990), ISSN 1050-0472, E-ISSN 1528-9001, Vol. 129, nr 10, s. 1037-1045Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    A new approach to laparoscopic surgery involves placing a robot completely within the patient. These in vivo robots are then able to provide visual feedback and task assistance that would otherwise require additional incisions. Wheeled in vivo robots can provide a mobile plat form for cameras, graspers, and other sensory devices that assist in laparoscopy. Development of wheeled in vivo mobile robots was achieved through a design process that included modeling, finite element analysis (FEA), bench top testing, and animal tests. Laboratory testing using a wheel test platform identified a helical wheel design as the best candidate. Finite element simulations were then used to better undertand how changing the helical wheel geometric parameters affected drawbar force. Several prototype mobile robots were then developed based on these results. The drawbar forces of these robots were measured in the laboratory to confirm the FEA results. Finally, these robots were successfully tested during animal surgeries. Copyright © 2007 by ASME.

  • 132.
    Rentschler, M.
    et al.
    University of Colorado at Boulder, USA.
    Dumpert, J.
    University of Nebraska, USA.
    Platt, S. R.
    University of Illinois, USA.
    Iagnemma, Karl
    MIT, USA.
    Oleynikov, D.
    University of Nebraska, USA.
    Farritor, Shane M.
    University of Nebraska, USA.
    An in vivo Mobile Robot for Surgical Vision and Task Assistance2007Ingår i: Journal of Medical Devices, ISSN 1932-6181, Vol. 1, nr 1, s. 23-29Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Current laparoscopic surgical robots are expensive, bulky, and fundamentally constrained by the small entry incisions. A potential new approach to minimally invasive surgery is to place the robot completely within the patient. We have developed several such miniature mobile robots and conducted tests during animal surgeries. These robots can provide vision and task assistance to the surgeon without being constrained by the entry port. We used a mobile biopsy and camera robot to sample hepatic tissue from an anesthetized porcine animal model. This successful test demonstrated the capability of performing a single port laparoscopic biopsy procedure. In the future, a family of such robots could be remotely controlled and used to perform surgical procedures without the need for conventional laparoscopic tools. Copyright © 2007 by ASME.

  • 133.
    Rentschler, M. E.
    et al.
    University of Nebraska Medical Center, Omaha, NE 68198, United States.
    Dumpert, J.
    Mechanical Engineering Department, University of Nebraska, Lincoln, NE 68588, United States.
    Platt, S. R.
    Mechanical Engineering Department, University of Nebraska, Lincoln, NE 68588, United States.
    Iagnemma, Karl
    Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA 02139, United States.
    Oleynikov, D.
    University of Nebraska Medical Center, Omaha, NE 68198, United States.
    Farritor, S. M.
    Mechanical Engineering Department, University of Nebraska, Lincoln, NE 68588, United States.
    Modeling, analysis, and experimental study of in vivo wheeled robotic mobility2006Ingår i: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 22, nr 2, s. 308-321Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Laparoscopy is abdominal surgery performed with long tools inserted through small incisions. The use of small incisions reduces patient trauma, but also eliminates the surgeon's ability to view and touch the surgical environment directly. These limitations generally restrict the application of laparoscopy to procedures less complex than those performed during open surgery. This paper presents a theoretical and experimental analysis of miniature, wheeled, in vivo robots to support laparoscopy. The objective is to develop a wireless mobile imaging robot that can be placed inside the abdominal cavity during surgery. Such robots will allow the surgeon to view the surgical environment from multiple angles. The motion of these in vivo robots will not be constrained by the insertion incisions. Simulation and experimental analyses have led to a wheel design that can attain good mobility performance in in vivo conditions.

  • 134.
    Rentschler, M. E.
    et al.
    University of Nebraska, Lincoln, NE, United States.
    Dumpert, J.
    University of Nebraska, Lincoln, NE, United States.
    Platt, S. R.
    University of Nebraska, Lincoln, NE, United States.
    Oleynikov, D.
    University of Nebraska, Lincoln, NE, United States.
    Farritor, S. M.
    University of Nebraska, Lincoln, NE, United States.
    Iagnemma, Karl
    Massachusetts Institute of Technology, Cambridge, MA, United States.
    Mobile in vivo biopsy robot2006Ingår i: Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, Piscataway: IEEE Press, 2006, s. 4155-4160Konferensbidrag (Refereegranskat)
    Abstract [en]

    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.

  • 135.
    Rohde, Mitchell M.
    et al.
    Quantum Signal LLC, 3741 Plaza Drive, Ann Arbor, MI 48108, United States.
    Crawford, Justin
    Quantum Signal LLC, 3741 Plaza Drive, Ann Arbor, MI 48108, United States.
    Toschlog, Matthew
    Quantum Signal LLC, 3741 Plaza Drive, Ann Arbor, MI 48108, United States.
    Iagnemma, Karl
    MIT, USA.
    Kewlani, Gaurav
    MIT, USA.
    Cummins, Christopher L.
    US Army ERDC, 3909 Halls Ferry Road, Vicksburg, MS 39180, United States.
    Jones, Randolph A.
    US Army ERDC, 3909 Halls Ferry Road, Vicksburg, MS 39180, United States.
    Horner, David A.
    US Army ERDC, 3909 Halls Ferry Road, Vicksburg, MS 39180, United States.
    An Interactive, physics-based unmanned ground vehicle simulator leveraging open source gaming technology: Progress in the development and application of the virtual autonomous navigation environment (VANE) desktop2009Ingår i: Unmanned Systems Technology XI, Bellingham, WA: SPIE - International Society for Optical Engineering, 2009, s. Article number 73321C-Konferensbidrag (Refereegranskat)
    Abstract [en]

    It is widely recognized that simulation is pivotal to vehicle development, whether manned or unmanned. There are few dedicated choices, however, for those wishing to perform realistic, end-to-end simulations of unmanned ground vehicles (UGVs). The Virtual Autonomous Navigation Environment (VANE), under development by US Army Engineer Research and Development Center (ERDC), provides such capabilities but utilizes a High Performance Computing (HPC) Computational Testbed (CTB) and is not intended for on-line, real-time performance. A product of the VANE HPC research is a real-time desktop simulation application under development by the authors that provides a portal into the HPC environment as well as interaction with wider-scope semi-automated force simulations (e.g. OneSAF). This VANE desktop application, dubbed the Autonomous Navigation Virtual Environment Laboratory (ANVEL), enables analysis and testing of autonomous vehicle dynamics and terrain/obstacle interaction in real-time with the capability to interact within the HPC constructive geo-environmental CTB for high fidelity sensor evaluations. ANVEL leverages rigorous physics-based vehicle and vehicle-terrain interaction models in conjunction with high-quality, multimedia visualization techniques to form an intuitive, accurate engineering tool. The system provides an adaptable and customizable simulation platform that allows developers a controlled, repeatable testbed for advanced simulations. ANVEL leverages several key technologies not common to traditional engineering simulators, including techniques from the commercial video-game industry. These enable ANVEL to run on inexpensive commercial, off-the-shelf (COTS) hardware. In this paper, the authors d escribe key aspects of ANVEL and its development, as well as several initial applications of the system. © 2009 SPIE.

  • 136.
    Rohde, Mitchell
    et al.
    Quantum Signal LLC, 3741 Plaza Drive, Ann Arbor, MI 48108, United States.
    Perlin, Victor
    Quantum Signal LLC, 3741 Plaza Drive, Ann Arbor, MI 48108, United States.
    Iagnemma, Karl
    Robotic Mobility Group, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, MA 02139, United States.
    Lupa, Robert
    Quantum Signal LLC, 3741 Plaza Drive, Ann Arbor, MI 48108, United States.
    Rohde, Steven
    Quantum Signal LLC, 3741 Plaza Drive, Ann Arbor, MI 48108, United States.
    Overholt, James
    US Army TARDEC Joint Center for Robotics, AMSRD-TAR-R, MS#263, 6501 E. 11 Mile Rd, Warren, MI 48397-5000, United States.
    Fiorani, Graham
    US Army TARDEC Intelligent Ground Systems, AMSRD-TAR-R, MS#264, 6501 E. 11 Mile Rd, Warren, MI 48397, United States.
    PointCom: Semi-Autonomous UGV Control with Intuitive Interface2008Ingår i: Unmanned systems technology X: 17-20 March 2008, Orlando, Florida, USA / [ed] Grant R. Gerhart, Douglas W. Gage, Charles M. Shoemaker, Bellingham: SPIE - International Society for Optical Engineering, 2008, s. 69620G-Konferensbidrag (Refereegranskat)
    Abstract [en]

    Unmanned ground vehicles (UGVs) will play an important role in the nation's next-generation ground force. Advances in sensing, control, and computing have enabled a new generation of technologies that bridge the gap between manual UGV teleoperation and full autonomy. In this paper, we present current research on a unique command and control system for UGVs named PointCom (Point-and-Go Command). PointCom is a semi-autonomous command system for one or multiple UGVs. The system, when complete, will be easy to operate and will enable significant reduction in operator workload by utilizing an intuitive image-based control framework for UGV navigation and allowing a single operator to command multiple UGVs. The project leverages new image processing algorithms for monocular visual servoing and odometry to yield a unique, high-performance fused navigation system. Human Computer Interface (HCI) techniques from the entertainment software industry are being used to develop video-game style interfaces that require little training and build upon the navigation capabilities. By combining an advanced navigation system with an intuitive interface, a semi-autonomous control and navigation system is being created that is robust, user friendly, and less burdensome than many current generation systems.

  • 137.
    Rosenstatter, Thomas
    et al.
    Chalmers University, Gothenburg, Sweden.
    Englund, Cristofer
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab). RISE Viktoria, Gothenburg, Sweden.
    Modelling the Level of Trust in a Cooperative Automated Vehicle Control System2018Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 19, nr 4, s. 1237-1247Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Vehicle-to-vehicle communication is a key technology for achieving increased perception for automated vehicles, where the communication enables virtual sensing by means of sensors in other vehicles. In addition, this technology also allows detection and recognition of objects that are out-of-sight. This paper presents a trust system that allows a cooperative and automated vehicle to make more reliable and safe decisions. The system evaluates the current situation and generates a trust index indicating the level of trust in the environment, the ego vehicle, and the surrounding vehicles. This research goes beyond secure communication and concerns the verification of the received data on a system level. The results show that the proposed method is capable of correctly identifying various traffic situations and how the trust index is used while manoeuvring in a platoon merge scenario. © Copyright 2017 IEEE - All rights reserved.

  • 138.
    Rothfuss, Jonas
    et al.
    Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany.
    Ferreira, Fabio
    Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany.
    Aksoy, Eren
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab). Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany.
    Zhou, You
    Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany.
    Asfour, Tamim
    Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany.
    Deep Episodic Memory: Encoding, Recalling, and Predicting Episodic Experiences for Robot Action Execution2018Ingår i: IEEE Robotics and Automation Letters, ISSN 2377-3766, E-ISSN 1949-3045, Vol. 3, nr 4, s. 4007-4014Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    We present a novel deep neural network architecture for representing robot experiences in an episodic-like memory that facilitates encoding, recalling, and predicting action experiences. Our proposed unsupervised deep episodic memory model as follows: First, encodes observed actions in a latent vector space and, based on this latent encoding, second, infers most similar episodes previously experienced, third, reconstructs original episodes, and finally, predicts future frames in an end-to-end fashion. Results show that conceptually similar actions are mapped into the same region of the latent vector space. Based on these results, we introduce an action matching and retrieval mechanism, benchmark its performance on two large-scale action datasets, 20BN-something-something and ActivityNet and evaluate its generalization capability in a real-world scenario on a humanoid robot.

  • 139.
    Schöndorfer, Sebastian
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Design and implementation of robotic end-effectors for a prototype precision assembly system2016Självständigt arbete på avancerad nivå (masterexamen), 20 poäng / 30 hpStudentuppsats (Examensarbete)
    Abstract [en]

    Manufacturers are facing increasing pressure to reduce the development costs and deployment times for automated assembly systems. This is especially true for a variety of precision mechatronic products. To meet new and changing market needs, the difficulties of integrating their systems must be significantly reduced. Since 1994, the Microdynamic Systems Laboratory at Carnegie Mellon University has been developing an automation framework, called Agile Assembly Architecture (AAA). Additionally to the concept, a prototype instantiation, in the form of a modular tabletop precision assembly system termed Minifactory, has been developed. The platform, provided by the Minifactory and AAA, is able to support and integrate various precision manufacturing processes. These are needed to assemble a large variety of small mechatronic products.

    In this thesis various enhancements for a second generation agent-based micro assembly system are designed, implemented, tested and improved. The project includes devising methods for tray feeding of precision high-value parts, micro fastening techniques and additional work on visual- and force-servoing. To help achieving these functions, modular and reconfigurable robot end-effectors for handling millimeter sized parts have been designed and built for the existing robotic agents. New concepts for robot end effectors to grasp and release tiny parts, including image processing and intelligent control software, were required and needed to be implemented in the prototype setup. These concepts need to distinguish themselves largely from traditional handling paradigms, in order to solve problems introduced by electrostatic and surface tension forces, that are dominant in manipulating parts that are millimeter and less in size. In order to have a modular system, the factory the main part of this project was the initialization and auto calibration of the different agents.

    The main focus, of this research, is on improving the design, deployment and reconfiguration capabilities of automated assembly systems for precision mechatronic products. This helps to shorten the development process as well as the assembly of factory systems.  A strategic application for this approach is the automated assembly of small sensors, actuators, medical devices and chip-scale atomic systems such as atomic clocks, magnetometers and gyroscopes.

  • 140.
    Senatore, C.
    et al.
    MIT.
    Iagnemma, Karl
    MIT.
    Direct shear behaviour of dry, granular soils for low normal stress with application to lightweight robotic vehicle modelling2011Ingår i: Proceedings of the International Symposium of the International Society of Terrain-Vehicle Systems, 2011, Rwed Hook, NY: Curran Associates, Inc., 2011, s. 1-11Konferensbidrag (Refereegranskat)
    Abstract [en]

    Modelling of soil shearing behaviour under wheeled or tracked vehicles requires the knowledge of three soil properties: cohesion, angle of internal friction, and shear modulus. For lightweight robots it is necessary to characterize the soil for small normal stress (<15kPa) while most of the data collected in the literature regards higher stress testing conditions. Soil failure at low stress may diverge from Mohr-Coulomb envelope invalidating the fundamental assumptions behind classical terramechanics approach. Through the analysis of direct shearing performance of a dry, granular, soil, this paper address several issues related to off-road traction mechanics (not necessarily limited to low stress cases). We present an improved approach for shear modulus calculation that overcome the inaccuracies introduced by Wong method. We analyze the importance of density in modifying terrain response. Moreover, we show how erroneous estimation of soil cohesion and angle of internal friction may limit the applicability of Bekker/Wong theory to lightweight tracked vehicles.

  • 141.
    Senatore, C.
    et al.
    MIT.
    Wulfmeier, M.
    Gottfried Wilhelm Leibniz Universität Hannover Hannover, Germany.
    Jayakumar, P.
    MIT.
    Maclennan, J.
    U.S. Army TARDEC, Warren, MI, USA.
    Iagnemma, Karl
    MIT.
    Investigation of Stress and Failure in Granular Soils For Lightweight Robotic Vehicle Applications2012Ingår i: Proceedings of the 2012 Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), 2012, s. 1-12Konferensbidrag (Refereegranskat)
    Abstract [en]

    This paper describes novel experimental methods aimed at understanding the fundamental phenomena governing the motion of lightweight vehicles on dry, granular soils. A single-wheel test rig is used to empirically investigate wheel motion under controlled wheel slip and loading conditions on sandy, dry soil. Test conditions can be designed to replicate typical field scenarios for lightweight robots, while key operational parameters such as drawbar force, torque, and sinkage are measured. This test rig enables imposition of velocities, or application of loads, to interchangeable running gears within a confined soil bin of dimensions 1.5 m long, 0.7 m wide, and 0.4 m deep. This allows testing of small-scale wheels, tracks, and cone or plate penetrators. Aside from standard wheel experiments (i.e., measurements of drawbar force, applied torque, and sinkage during controlled slip runs) two additional experimental methodologies have been developed. The first relies on high-speed imaging of the wheel-soil interface and the use of particle image velocimetry (PIV) to measure micro-scale terrain kinematics. The second experimental methodology consists of a custom force sensor array located at the wheel-terrain interface. The sensors allow explicit measurement of normal and shear forces (and, therefore, estimation of normal and shear stresses) at numerous discrete points along the wheel-soil interface. Experimental measurements gathered by these test methodologies are to be compared against well-established semi-empirical models, to validate and understand limitations of the models and propose improvements.

  • 142.
    Shibly, H.
    et al.
    Mechanical Engineering Department, Birzeit University, Palestinian Territories, via Israel.
    Iagnemma, Karl
    Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA 02139, USA.
    Dubowsky, S.
    Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA 02139, USA.
    An equivalent soil mechanics formulation for rigid wheels in deformable terrain, with application to planetary exploration rovers2005Ingår i: Journal of terramechanics, ISSN 0022-4898, E-ISSN 1879-1204, Vol. 42, nr 1, s. 1-13Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    A simplified, closed-form version of the basic mechanics of a driven rigid wheel on low-cohesion deformable terrain is presented. This approach allows the formulation of an on-line terrain parameter estimation algorithm, which has important applications for planetary exploration rovers. Analytical comparisons of the original and simplified equations are presented, and are shown to closely agree. Experimental results from a single-wheel testbed operating in dry sand shows that the simplified equations can be used for mobility prediction with good accuracy. Methods for incorporating the simplified equations into an on-line terrain parameter algorithm are discussed.

  • 143.
    Shimoda, S.
    et al.
    MIT, USA.
    Kuroda, Y.
    MIT, USA.
    Iagnemma, Karl
    MIT, USA.
    Potential Field Navigation of High Speed Vehicles on Rough Terrain2007Ingår i: Robotica (Cambridge. Print), ISSN 0263-5747, E-ISSN 1469-8668, Vol. 25, nr 4, s. 409-424Artikel i tidskrift (Refereegranskat)
  • 144.
    Shimoda, Shingo
    et al.
    MIT, USA.
    Kuroda, Yoji
    MIT, USA.
    Iagnemma, Karl
    MIT, USA.
    High-speed navigation of unmanned ground vehicles on uneven terrain using potential fields2007Ingår i: Robotica (Cambridge. Print), ISSN 0263-5747, E-ISSN 1469-8668, Vol. 25, nr 4, s. 409-424Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Many applications require unmanned ground vehicles (UGVs) to travel at high speeds on sloped, natural terrain. In this paper, a potential field-based method is proposed for UGV navigation in such scenarios. In the proposed approach, a potential field is generated in the twodimensional "trajectory space" of the UGV path curvature and longitudinal velocity. In contrast to traditional potential field methods, dynamic constraints and the effect of changing terrain conditions can be easily expressed in the proposed framework. A maneuver is chosen within a set of performance bounds, based on the local potential field gradient. It is shown that the proposed method is subject to local maxima problems, rather than local minima. A simple randomization technique is proposed to address this problem. Simulation and experimental results show that the proposed method can successfully navigate a small UGV between predefined waypoints at speeds up to 7.0 m/s, while avoiding static hazards. Further, vehicle curvature and velocity are controlled during vehicle motion to avoid rollover and excessive side slip. The method is computationally efficient, and thus suitable for onboard real-time implementation. © 2007 Cambridge University Press.

  • 145.
    Shimoda, Shingo
    et al.
    Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States.
    Kuroda, Yoji
    Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States.
    Iagnemma, Karl
    Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States.
    Potential Field Navigation of High Speed Unmanned Ground Vehicles on Uneven Terrain2005Ingår i: Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, Washington, DC: IEEE Computer Society, 2005, s. 2828-2833Konferensbidrag (Refereegranskat)
    Abstract [en]

    This paper proposes a potential field-based method for high speed navigation of unmanned ground vehicles (UGVs) on uneven terrain. A potential field is generated in the two-dimensional “trajectory space” of the UGV path curvature and longitudinal velocity. Dynamic constraints, terrain conditions, and navigation conditions can be expressed in this space. A maneuver is chosen within a set of performance bounds, based on the potential field gradient. In contrast to traditional potential field methods, the proposed method is subject to local maximum problems, rather than local minimum. It is shown that a simple randomization technique can be employed to address this problem. Simulation and experimental results show that the proposed method can successfully navigate a UGV between pre-defined waypoints at high speed, while avoiding unknown hazards. Further, vehicle velocity and curvature are controlled to avoid rollover and excessive side slip. The method is computationally efficient, and thus suitable for on-board real-time implementation.

  • 146.
    Shoop, Sally
    et al.
    US Army Engineering Research and Development Center, Cold Region Research and Engineering Laboratory, Hanover, NH, USA.
    Iagnemma, Karl
    Massachusetts Institute of Technology, Department of Mechanical Engineering, Cambridge, MA, USA.
    Richter, Lutz
    German Aerospace Center (DLR), Institute of Space Systems, Bremen, Germany.
    Special issue on terrain interaction for small robotic vehicles2009Ingår i: Journal of terramechanics, ISSN 0022-4898, E-ISSN 1879-1204, Vol. 46, nr 3, s. 65-66Artikel i tidskrift (Refereegranskat)
  • 147.
    Siddiqi, Afreen
    et al.
    MIT, USA.
    de Weck, Olivier L.
    MIT, USA.
    Iagnemma, Karl
    MIT, USA.
    Reconfigurability in planetary surface vehicles: Modelling approaches and case study2006Ingår i: JBIS - Journal of the British Interplanetary Society, ISSN 0007-084X, Vol. 59, nr 12, s. 450-460Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Reconfigurability is being recognized as increasingly important for space systems for reasons of efficiency, extensibility and mission robustness. Planetary Surface Vehicles (PSVs), that may be used in future manned exploration missions, can especially benefit from reconfigurability. Two frameworks for studying reconfigurable systems are proposed that allow for analyzing systems that undergo changes over time. The first framework, using Non-Homogeneous Markov Models (NHMM), allows for identifying useful configurations or states. The second framework, based on control theory, enables issues such as reconfiguration time, and dynamics of the reconfiguration process to be assessed. The application of these models is shown for a PS V in a future human exploration mission that can reconfigure to respond to changing terrain conditions. The results for the specific case considered show that reconfigurability improves the performance of the vehicle over the course of a simulated sortie by approximately 30%.

  • 148.
    Song, Meng
    et al.
    Nankai University, Tianjin, China.
    Sun, Fengchi
    Nankai University, Tianjin, China.
    Iagnemma, Karl
    MIT.
    Natural feature based localization in forested environments2012Ingår i: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, Piscataway, N.J.: IEEE Press, 2012, s. 3384-3390Konferensbidrag (Refereegranskat)
    Abstract [en]

    This paper presents a new feature based scan matching method for solving 6D localization problem in forested environments. The proposed registration process includes two steps. First, the largest group of approximately parallel tree trunk features is utilized to align successive scans along the five dimensions except z direction. Tree correspondences are established by matching point patterns which are abstracted from the position relationships of trees. The optimal 5D transformation is thus determined based on the axes of two key tree pairs which are selected by evaluating their ability of tree alignment. Second, we assign the ground points of two scans into a grid of cells, and minimize z-direction difference of points in shared cells. The experimental results on data collected in real forested environments have demonstrated the effectiveness of this method. © 2012 IEEE.

  • 149.
    Song, Meng
    et al.
    Nankai University, Tianjin, China.
    Sun, Fengchi
    Nankai University, Tianjin, China.
    Iagnemma, Karl
    MIT.
    Natural landmark extraction in cluttered forested environments2012Ingår i: Proceedings - IEEE International Conference on Robotics and Automation, Piscataway, N.J.: IEEE Press, 2012, s. 4836-4843Konferensbidrag (Refereegranskat)
    Abstract [en]

    In this paper, a new systematical method for extracting tree trunk landmarks from 3D point clouds of cluttered forested environments is proposed. This purely geometric method is established on scene understanding and automatic analysis of trees. The pipeline of our method includes three steps. First, the raw point clouds are segmented by utilizing the circular shape of trees, and segments are grouped into tree sections based on the principle of spatial proximity. Second, circles and axes are extracted from tree sections which are subject to loss of shape information. Third, by clustering and integrating the tree sections resulted from various space inconsistencies, straight tree trunk landmarks are finally formed for future localization. The experimental results from real forested environments are presented. © 2012 IEEE.

  • 150.
    Spenko, M.
    et al.
    Stanford University.
    Overholt, J.
    U.S. Army Tank Automotive Research Development and Engineering Center .
    Iagnemma, Karl
    MIT.
    High Speed Hazard Avoidance for Unmanned Ground Vehicles in Emergency Situations2006Ingår i: Proceedings of the 25th Annual Army Science Conference, 2006, s. 1-8Konferensbidrag (Refereegranskat)
    Abstract [en]

    Rapid hazard avoidance maneuvers will be required for unmanned ground vehicles operating at high speeds in rough changing terrain. Without rapidly decreasing speed in every situation, there is limited time to perform navigation calculations based on detailed vehicle and terrain models. This paper presents a novel method for high speed navigation and hazard avoidance based on the two dimensional “trajectory space,” which is a compact model-based representation of a robot’s dynamic performance limits on natural terrain. Simulation and experimental results on a small high-speed UGV demonstrate the method’s effectivenes.

1234 101 - 150 av 179
RefereraExporteraLänk till träfflistan
Permanent länk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf