Compact Modeling Technique for Outdoor Navigation

16 pages, 46 figures.In this paper, a new methodology to build compact local maps in real time for outdoor robot navigation is presented. The environment information is obtained from a 3-D scanner laser. The navigation model, which is called traversable region model, is based on a Voronoi diagram technique, but adapted to large outdoor environments. The model obtained with this methodology allows a definition of safe trajectories that depend on the robot's capabilities and the terrain properties, and it will represent, in a topogeometric way, the environment as local and global maps. The application presented is validated in real outdoor environments with the robot called GOLIAT.This work was supported by the Spanish Government through the MICYT project DPI2003-01170.Publicad

Cooperative control of multi-robot system with force reflecting via internet

Lo Wang Tai.Thesis (M.Phil.)--Chinese University of Hong Kong, 2002.Includes bibliographical references (leaves 58-63).Abstracts in English and Chinese.Abstract --- p.iAcknowledgement --- p.iiiTables of Content --- p.ivList of Figures --- p.viiList of Tables --- p.viiiChapter Chapter1 --- Introduction --- p.1Chapter 1.1 --- Internet-based Tele-cooperation --- p.1Chapter 1.1.1 --- Cooperative Control of Multiple Robot --- p.1Chapter 1.1.2 --- Internet-based Teleoperation --- p.3Chapter 1.1.3 --- Time Delay of Internet Communication --- p.4Chapter 1.2 --- Related Work --- p.5Chapter 1.3 --- Motivation and Contribution --- p.6Chapter 1.3.1 --- Motivation --- p.6Chapter 1.3.2 --- Contribution --- p.7Chapter 1.4 --- Outline of the thesis --- p.8Chapter Chapter2 --- The Internet Robotic System --- p.9Chapter 2.1 --- System Architecture --- p.9Chapter 2.2 --- The Hardware --- p.12Chapter 2.2.1 --- Operator System --- p.12Chapter 2.2.2 --- Mobile Robot System --- p.13Chapter 2.2.3 --- Multi-fingered Robot Hand System --- p.17Chapter 2.2.4 --- Visual Tracking System --- p.19Chapter 2.3 --- Software Design --- p.21Chapter 2.3.1 --- Robot Client and Arm Client --- p.22Chapter 2.3.2 --- Robot Server --- p.23Chapter 2.3.3 --- Image Server --- p.25Chapter 2.3.4 --- Arm Server --- p.75Chapter 2.3.5 --- Arm Controller --- p.27Chapter 2.3.6 --- Finger Server --- p.27Chapter 2.3.7 --- Finger Controller --- p.27Chapter 2.3.8 --- Robot Tracker --- p.28Chapter 2.3.9 --- Interaction Forwarder --- p.28Chapter Chapter3 --- Event-based Control for Force Reflecting Teleoperation --- p.29Chapter 3.1 --- Modeling and Control --- p.29Chapter 3.1.1 --- Model of Operator System --- p.31Chapter 3.1.2 --- Model of Mobile Robot System --- p.33Chapter 3.1.3 --- Model of Multi-fingered Hand System --- p.34Chapter 3.2 --- Force Feedback Generation --- p.35Chapter 3.2.1 --- Obstacle Avoidance --- p.35Chapter 3.2.2 --- Singularity Avoidance --- p.38Chapter 3.2.3 --- Interaction Rendering --- p.40Chapter Chapter4 --- Experiments --- p.42Chapter 4.1 --- Experiment1 --- p.42Chapter 4.2 --- Experiment2 --- p.47Chapter 4.3 --- Experiment3 --- p.52Chapter Chapter5 --- Future Wok --- p.54Chapter Chapter6 --- Conclusions --- p.56Bibliography --- p.5

Modelling of Human Control and Performance Evaluation using Artificial Neural Network and Brainwave

Conventionally, a human has to learn to operate a machine by himself / herself. Human Adaptive Mechatronics (HAM) aims to investigate a machine that has the capability to learn its operator skills in order to provide assistance and guidance appropriately. Therefore, the understanding of human behaviour during the human-machine interaction (HMI) from the machine’s side is essential. The focus of this research is to propose a model of human-machine control strategy and performance evaluation from the machine’s point of view. Various HAM simulation scenarios are developed for the investigations of the HMI. The first case study that utilises the classic pendulum-driven capsule system reveals that a human can learn to control the unfamiliar system and summarise the control strategy as a set of rules. Further investigation of the case study is conducted with nine participants to explore the performance differences and control characteristics among them. High performers tend to control the pendulum at high frequency in the right portion of the angle range while the low performers perform inconsistent control behaviour. This control information is used to develop a human-machine control model by adopting an Artificial Neural Network (ANN) and 10-time- 10-fold cross-validation. Two models of capsule direction and position predictions are obtained with 88.3% and 79.1% accuracies, respectively. An Electroencephalogram (EEG) headset is integrated into the platform for monitoring brain activity during HMI. A number of preliminary studies reveal that the brain has a specific response pattern to particular stimuli compared to normal brainwaves. A novel human-machine performance evaluation based on the EEG brainwaves is developed by utilising a classical target hitting task as a case study of HMI. Six models are obtained for the evaluation of the corresponding performance aspects including the Fitts index of performance. The averaged evaluation accuracy of the models is 72.35%. However, the accuracy drops to 65.81% when the models are applied to unseen data. In general, it can be claimed that the accuracy is satisfactory since it is very challenging to evaluate the HMI performance based only on the EEG brainwave activity