Visual servoing of nonholonomic cart

This paper presents a visual feedback control scheme for a nonholonomic cart without capabilities for dead reckoning. A camera is mounted on the cart and it observes cues attached on the environment. The dynamics of the cart are transformed into a coordinate system in the image plane. An image-based controller which linearizes the dynamics is proposed. Since the positions of the cues in the image plane are controlled directly, possibility of missing cues is reduced considerably. Simulations are carried out to evaluate the validity of the proposed scheme. Experiments on a radio controlled car with a CCD camera are also given</p

Static Qˉ\bar{Q}-QQ Potential from Nf=2N_f=2 Dynamical Domain-Wall QCD

We calculate the static quark and anti-quark potential both in quenched and two-flavor dynamical quark lattice QCD using DBW2 gauge and domain-wall quark actions. Lattice spacings from Sommer scale are determined. We find (i) mixing of excited states is different in between quenched and dynamical, (ii) lattice spacing $a_{r_0}\sim a_{m_{\rho}}$ in dynamical and (iii) coefficient of Coulomb term being $\alpha_{N_f=0}<\alpha_{N_f=2}$ at $a^{-1}\sim$ 2 GeV.Comment: Talk presented at Lattice2004(spectrum), Fermilab, June 21-26, 200

Dynamical Electroweak Symmetry Breaking from Extra Dimensions

We study the dynamical electroweak symmetry breaking (DEWSB) in the $D (=6,8,...)$-dimensional bulk with compactified extra dimensions. We identify the critical binding strength for triggering the DEWSB, based on the ladder Schwinger-Dyson equation. In the top mode standard model with extra dimensions, where the standard model gauge bosons and the third generation of quarks and leptons are put in the bulk, we analyze the most attractive channel (MAC) by using renormalization group equations (RGEs) of (dimensionless) bulk gauge couplings and determine the effective cutoff where the MAC coupling exceeds the critical value. We then find that the top-condensation can take place for D=8. Combining RGEs of top-Yukawa and Higgs-quartic couplings with compositeness conditions, we predict the top mass, $m_t=173-180$ GeV, and the Higgs mass, $m_H=181-211$ GeV, for D=8, where we took the universal compactification scale $1/R = 1-100$ TeV.Comment: 8 pages, Talk given at the 2002 International Workshop On "Strong Coupling Gauge Theories and Effective Field Theories" (SCGT 02), Nagoya, Japan, 10-13 December 200

Performance and sensitivity in visual servoing

Describes the relationship between the control performance and the number/configuration of the image features in feature-based visual servoing. The performance is evaluated by two ways: accuracy and speed. A quantitive definition of the sensitivity is given and the relationship among the sensitivity, the speed of convergence and the accuracy are discussed by using the image Jacobian. It is proved that these performance indices are increased effectively by using a point with different height. Experiments on Puma 560 are given to show the validity of these performance measures</p

Visual servoing with linearized observer

One of the most important problems in feature-based visual servoing is the slow sampling rate and the delay of the camera that can make the closed loop system oscillative or unstable easily. In the paper, a linearized observer that estimates the object velocity and updates the visual information with the joint sampling rate is proposed. Stability of the observer-based control system and effectiveness of the observer are verified by experiments on a PUMA 560 robot</p

Potential problems and switching control for visual servoing

This paper proposes a potential switching scheme that enlarges the stable region of feature-based visual servoing. Relay images that interpolate initial and reference image features are generated by using affine transformation. Artificial potentials defined by the relay images are patched around the reference point of the original potential to enlarge the stable region. Simulations with simplified configuration and experiments on a 6 DOF robot show the validity of the proposed control scheme</p

Visual servoing with nonlinear observer

Visual servo system is a robot control system which incorporates the vision sensor in the feedback loop. Since the robot controller is also in the visual servo loop, compensation of the robot dynamics is important for high speed tasks. Moreover estimation of the object motion is necessary for real time tracking because the visual information includes considerable delay. This paper proposes a nonlinear model-based controller and a nonlinear observer for visual servoing. The observer estimates the object motion and the nonlinear controller makes the closed loop system asymptotically stable based on the estimated object motion. The effectiveness of the observer-based controller is verified by simulations and experiments on a two link planar direct drive robot</p

Modeling and control of robotic yo-yo with visual feedback

Yo-yo is a toy made of two thick circular pieces of wood, plastic, etc., connected with a short axle that can be made to run up and down, by moving a string tied to it. Humans can play with a yo-yo without difficulty. However, developing a robot system that can play with a yo-yo presents a significant challenge to controller design, because the dynamics of the yo-yo are difficult to model precisely. Moreover, since the dynamics are not continuous and there are integral-type constraints on the hand trajectory, conventional continuous time feedback control theory does not work well. This paper present a model and a control scheme for robotic yo-yo with visual feedback. Experiments on a PUMA 560 are carried out to evaluate the validity of the discrete dime formulation and the controller design</p