326 research outputs found
End-to-end congestion control protocols for remote programming of robots, using heterogeneous networks: A comparative analysis
There are many interesting aspects of Internet Telerobotics within the network robotics context, such as variable bandwidth and time-delays. Some of these aspects have been treated in the literature from the control point of view. Moreover, only a little work is related to the way Internet protocols can help to minimize the effect of delay and bandwidth fluctuation on network robotics. In this paper, we present the capabilities of TCP, UDP, TCP Las Vegas, TEAR, and Trinomial protocols, when performing a remote experiment within a network robotics application, the UJI Industrial Telelaboratory. Comparative analysis is presented through simulations within the NS2 platform. Results show how these protocols perform in two significant situations within the network robotics context, using heterogeneous wired networks: (1) an asymmetric network when controlling the system through a ADSL connection, and (2) a symmetric network using the system on Campus. Conclusions show a set of characteristics the authors of this paper consider very important when designing an End-to-End Congestion Control transport protocol for Internet Telerobotics
Effective Target Aware Visual Navigation for UAVs
In this paper we propose an effective vision-based navigation method that
allows a multirotor vehicle to simultaneously reach a desired goal pose in the
environment while constantly facing a target object or landmark. Standard
techniques such as Position-Based Visual Servoing (PBVS) and Image-Based Visual
Servoing (IBVS) in some cases (e.g., while the multirotor is performing fast
maneuvers) do not allow to constantly maintain the line of sight with a target
of interest. Instead, we compute the optimal trajectory by solving a non-linear
optimization problem that minimizes the target re-projection error while
meeting the UAV's dynamic constraints. The desired trajectory is then tracked
by means of a real-time Non-linear Model Predictive Controller (NMPC): this
implicitly allows the multirotor to satisfy both the required constraints. We
successfully evaluate the proposed approach in many real and simulated
experiments, making an exhaustive comparison with a standard approach.Comment: Conference paper at "European Conference on Mobile Robotics" (ECMR)
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Survey of Visual and Force/Tactile Control of Robots for Physical Interaction in Spain
Sensors provide robotic systems with the information required to perceive the changes that happen in unstructured environments and modify their actions accordingly. The robotic controllers which process and analyze this sensory information are usually based on three types of sensors (visual, force/torque and tactile) which identify the most widespread robotic control strategies: visual servoing control, force control and tactile control. This paper presents a detailed review on the sensor architectures, algorithmic techniques and applications which have been developed by Spanish researchers in order to implement these mono-sensor and multi-sensor controllers which combine several sensors
A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems
Small-scale rotorcraft unmanned robotic systems (SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years (2008–2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem, trends, and challenges are described from three aspects. Conclusions of the paper are presented, and the future of SRURSs is discussed to enable further research interests
FPGA-based module for SURF extraction
We present a complete hardware and software solution of an FPGA-based computer vision embedded module capable of carrying out SURF image features extraction algorithm. Aside from image analysis, the module embeds a Linux distribution that allows to run programs specifically tailored for particular applications. The module is based on a Virtex-5 FXT FPGA which features powerful configurable logic and an embedded PowerPC processor. We describe the module hardware as well as the custom FPGA image processing cores that implement the algorithm's most computationally expensive process, the interest point detection. The module's overall performance is evaluated and compared to CPU and GPU based solutions. Results show that the embedded module achieves comparable disctinctiveness to the SURF software implementation running in a standard CPU while being faster and consuming significantly less power and space. Thus, it allows to use the SURF algorithm in applications with power and spatial constraints, such as autonomous navigation of small mobile robots
Single chip solution for stabilization control & monocular visual servoing of small-scale quadrotor helicopter
This thesis documents the research undertaken to develop a high-performing design
of a small-scale quadrotor (four-rotor) helicopter capable of delivering the speed and
robustness required for agile motion while also featuring an autonomous visual servoing
capability within the size, weight, and power (SWaP) constraint package. The
state of the art research was reviewed, and the areas in the existing design methodologies
that can potentially be improved were identified, which included development
of a comprehensive dynamics model of quadrotor, design and construction of a performance
optimized prototype vehicle, high-performance actuator design, design of a
robust attitude stabilization controller, and a single chip solution for autonomous vision
based position control. The gaps in the current art of designing each component
were addressed individually. The outcomes of the corresponding development activities
include a high-fidelity dynamics and control model of the vehicle. The model
was developed using multi-body bond graph modeling approach to incorporate the
dynamic interactions between the frame body and propulsion system. Using an algorithmic
size, payload capacity, and flight endurance optimization approach, a quadrotor
prototype was designed and constructed. In order to conform to the optimized
geometric and performance parameters, the frame of the prototype was constructed
using printed circuit board (PCB) technology and processing power was integrated
using a single chip field programmable gate array (FPGA) technology. Furthermore, to actuate the quadrotor at a high update rate while also improving the power efficiency
of the actuation system, a ground up FPGA based brushless direct current
(BLDC) motor driver was designed using a low-loss commutation scheme and hall
effect sensors. A proportional-integral-derivative (PID) technology based closed loop
motor speed controller was also implemented in the same FPGA hardware for precise
speed control of the motors. In addition, a novel control law was formulated for robust
attitude stabilization by adopting a cascaded architecture of active disturbance rejection
control (ADRC) technology and PID control technology. Using the same single
FPGA chip to drive an on-board downward looking camera, a monocular visual servoing
solution was developed to integrate an autonomous position control feature with
the quadrotor. Accordingly, a numerically simple relative position estimation technique
was implemented in FPGA hardware that relies on a passive landmark/target
for 3-D position estimation.
The functionality and effectiveness of the synthesized design were evaluated by
performance benchmarking experiments conducted on each individual component as
well as on the complete system constructed from these components. It was observed
that the proposed small-scale quadrotor, even though just 43 cm in diameter, can lift
434 gm of payload while operating for 18 min. Among the ground up designed components,
the FPGA based motor driver demonstrated a maximum of 4% improvement in
the power consumption and at the same time can handle a command update at a rate
of 16 kHz. The cascaded attitude stabilization controller can asymptotically stabilize
the vehicle within 426 ms of the command update. Robust control performance under
stochastic wind gusts is also observed from the stabilization controller. Finally, the
single chip FPGA based monocular visual servoing solution can estimate pose information
at the camera rate of 37 fps and accordingly the quadrotor can autonomously
climb/descend and/or hover over a passive target
Uncalibrated Dynamic Mechanical System Controller
An apparatus and method for enabling an uncalibrated, model independent controller for a mechanical system using a dynamic quasi-Newton algorithm which incorporates velocity components of any moving system parameter(s) is provided. In the preferred embodiment, tracking of a moving target by a robot having multiple degrees of freedom is achieved using an uncalibrated model independent visual servo control. Model independent visual servo control is defined as using visual feedback to control a robot's servomotors without a precisely calibrated kinematic robot model or camera model. A processor updates a Jacobian and a controller provides control signals such that the robot's end effector is directed to a desired location relative to a target on a workpiece.Georgia Tech Research Corporatio
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