By Topic

Robotics and Artificial Intelligence (ICRAI), 2012 International Conference on

Date 22-23 Oct. 2012

Filter Results

Displaying Results 1 - 25 of 47
  • [Front cover]

    Page(s): c1
    Save to Project icon | Request Permissions | PDF file iconPDF (1647 KB)  
    Freely Available from IEEE
  • [Copyright notice]

    Page(s): i
    Save to Project icon | Request Permissions | PDF file iconPDF (404 KB)  
    Freely Available from IEEE
  • International Conference on Robotics and Artificial Intelligence

    Page(s): 1
    Save to Project icon | Request Permissions | PDF file iconPDF (209 KB) |  | HTML iconHTML  
    Freely Available from IEEE
  • Organization committee

    Page(s): 1 - 2
    Save to Project icon | Request Permissions | PDF file iconPDF (230 KB)  
    Freely Available from IEEE
  • Sponsors

    Page(s): 1
    Save to Project icon | Request Permissions | PDF file iconPDF (272 KB)  
    Freely Available from IEEE
  • Table of contents

    Page(s): 1 - 3
    Save to Project icon | Request Permissions | PDF file iconPDF (409 KB)  
    Freely Available from IEEE
  • Control system design for a prosthetic leg using series damping actuator

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1652 KB) |  | HTML iconHTML  

    Bio-Mechatronics is the field that deals with passive and active prosthetic limb design. The passive conventional prosthesis carries constant mechanical properties so that the motion of joints motion is not similar to that of humans while the active type prosthesis more realistically represents human motion. The latter is however, more expensive than passive prosthesis and consumes more energy. Semi-active type prosthesis is less expensive but its results are very much similar to that of active type prosthesis and it is a better solution to control the human gait artificially. This research is based on the design of a prosthetic leg that can simulate a pattern similar to that of a normal person's gait. The research is divided into two parts: calculation of kinematics and design of control system. The forward and inverse kinematics is computed to analyze the position, orientation and workspace for the leg. Series damping actuator is used to control the swing phase of the leg and P-Controller is designed to control the swing and joint force on knee. This paper shows that a semi active prosthetic limb can emulate a real limb and in order to control a prosthetic leg Series Damping Actuator (SDA) can be used as a means to adapt the pattern of normal human gait and the walking pattern can be controlled accordingly. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • PID control behavior and sensor filtering for a self balancing personal vehicle

    Page(s): 7 - 10
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1650 KB) |  | HTML iconHTML  

    Simple self balancing vehicles require that a single physical input be sufficient for balancing as well as continuous movement. This paper discusses the control behavior of PID controller for such a vehicle named SubukRaftar which has a digital filter and controller running on an AVR microcontroller. Control variable, the tilt angle of platform, is plotted using MATLAB to study response of the controller. Response of two sensors used, gyroscope and accelerometer are also analyzed using MATLAB and possible complementary filtering solution is discussed. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Robust formation control for aerial refueling

    Page(s): 11 - 18
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (771 KB) |  | HTML iconHTML  

    This paper describes a robust formation control strategy for aerial refueling. Two types of control algorithms are designed and compared: first a conventional control system based on the Proportional Integral derivative (PID) controller is used for stability and control augmentation, and then a robust formation controller is designed to minimize the effect of disturbances and un-modeled dynamics. Both controllers are then compared for their performance under disturbance conditions. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Design of embedded motion control system based on Modified Fuzzy Logic Controller for intelligent cruise controlled Vehicles

    Page(s): 19 - 25
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1191 KB) |  | HTML iconHTML  

    Cruise control is an efficient and effective automotive system being used in numerous vehicles around the world. In this work, an intelligent cruise control system is designed and simulated. This embedded motion control system is based on Fuzzy logic control for closed loop speed control of DC motor which can be a part of any hybrid vehicle drive system. This Modified Fuzzy Logic Controller (MFLC) has less computational cost as compared to conventional Fuzzy Logic Controller so that an ordinary 8-bit/16-bit low cost Microcontroller can be used as its hardware platform. Analysis is done on the efficiency of intelligent control system over conventional control technique. Simulation results shows that intelligent systems can better reduce fuel economy, design and maintenance cost and processing time of microprocessor, so that, this intelligent cruise control can be easily incorporated in any type of vehicle requiring efficient, fast and low cost speed control. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Control strategies for robotic manipulators

    Page(s): 26 - 33
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (744 KB) |  | HTML iconHTML  

    This survey is aimed at presenting the major robust control strategies for rigid robot manipulators. The techniques discussed are feedback linearization/Computed torque control, Variable structure compensator, Passivity based approach and Disturbance observer based control. The first one is based on complete dynamic model of a robot. It results in simple linear control which offers guaranteed stability. Variable structure compensator uses a switching/relay action to overcome dynamic uncertainties and disturbances. Passivity based controller make use of passive structure of a robot. If passivity of a feedback system is proved, nonlinearities and uncertainties will not affect the stability. Disturbance observer based controllers estimate disturbances, which can be cancelled out to achieve a nominal model, for which a simple controller can then be designed. This paper, after explaining each control strategy in detail, finally compares these strategies for their pros and cons. Possible solutions to cope with the drawbacks have also been presented in tabular form. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Segway electric vehicle

    Page(s): 34 - 39
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (828 KB) |  | HTML iconHTML  

    This paper presents the design, fabrication and control of the Segway human transporter; a two-wheeled, self-balancing electric vehicle. We aim at producing a fully-operational Segway vehicle with a compact design which caters for shock absorption on rough terrains and includes an improved control system. The vehicle has a top speed of 13 km/h, a load capacity of over 2000N and a balancing time of less than 2 seconds. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Real time localization of mobile robotic platform via fusion of Inertial and Visual Navigation System

    Page(s): 40 - 44
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1111 KB) |  | HTML iconHTML  

    Inertial Navigation System (INS) is one of the most important component of a mobile robotic platform, be it ground or air based. It is used to localize the mobile robotic platform in the real world and identify its location in terms of latitudes and longitudes or other related coordinate systems. Highly accurate and precise INS is quite expensive and is therefore not suitable for more general purpose applications. It is, therefore, a standard approach in mobile robotics to use a low grade commercial INS coupled with another navigation device to provide a more accurate triangulation. Generally, INS and Global Positioning System (GPS) are integrated using Kalman Filters to provide accurate localization information about the mobile robots. Although, in certain scenarios, the mobile robot is not able to acquire a GPS fix for long durations of time especially when navigating in indoor environments or in areas with inadequate GPS satellite coverage. In such cases, an additional source of location fix is required. This paper describes an accurate and stable data fusion filter which integrates the position of a mobile robot from a Visual Navigation System (VNS) with the position from an INS to accurately localize the robot in absence of GPS data. This research proposes a seven error states model and uses it in Kalman Filter for data fusion. The filter is tuned and tested using dynamic and static data from INS and VNS. Simulation and experimentation results show that the seven error states model based Kalman Filter provides a good balance between accuracy, robustness and processing efficiency for a real time implementation. Experiments also show that in absence of GPS data only a couple of fixes from the VNS are sufficient to quickly correct the position of the mobile robotic platform and three fixes at different times are sufficient for velocity correction of INS. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • GPS-based landmine detection system for multiple operating units

    Page(s): 45 - 48
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1406 KB) |  | HTML iconHTML  

    This paper presents the design of a landmine detection system capable of detecting landmines, IEDs and UXOs. The System has the capability to identify multiple scanner operating units and relays the landmines detected by them onto the base station via Zigbee modules. An algorithm has been designed and tested to detect mines and plot their respective positions on the map. The route followed by the operating units is also indicated. The developed system offers flexibility and support for integration with UGV and robotic manipulator for future innovations. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Modification of a toy helicopter into a highly cost effective, semi-autonomous, reconnaissance unmanned aerial vehicle

    Page(s): 49 - 54
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (518 KB) |  | HTML iconHTML  

    In this paper we discuss the design and development of highly cost effective, semi-autonomous reconnaissance Unmanned Aerial Vehicle (UAV) for safe flights in close environments, with real time video feedback. The design and development is based on the modifications/up gradations, (predicated on the results of several small experiments), of a very low cost, small sized - toy helicopter, and a simple non-linear control system designed for the intelligent UAV features. The developed UAV helicopter has been successfully test-flown at higher altitudes, with heavier payload, for longer period as compared to similar helicopters developed at much higher costs. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Brain controlled human robot interface

    Page(s): 55 - 60
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1080 KB) |  | HTML iconHTML  

    This Paper emphasizes on the ever increasing need of better communication medium between a human and a robot in order to control it precisely. Brain Computer Interface (BCI) is the most suitable mean of communication between them, especially for the rehabilitation of disabled people and for accomplishment of sophisticated tasks like surgery, rehabilitation and operations etc. This paper in depth reviews the state of-the-art of BCI systems for robotics which can be named as Brain Robot Interface (BRI). Various BRIs reported in the literature have been presented by categorizing them. The past, present and future of the subject area has been discussed in detail. Finally, the paper comments on contribution of BCI in the area of robotics. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Mobile robot navigation with distance control

    Page(s): 61 - 67
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1956 KB) |  | HTML iconHTML  

    Intelligent systems to increase the road safety have been widely applied in the automotive sector; similarly, they have critical importance in the robotics to navigate the robot safely. Automatic distance control system helps to avoid collision between vehicles. In this paper, we present an algorithm to maintain a distance between the robot and the object. It keeps the autonomous mobile robot at a safe distance from the object. It is implemented in a wheeled mobile robot to track the moving object. The surrounding information is obtained through the range sensors that are mounted at the front side of the robot. The central sensor gives instructions for the forward and backward motion, and the other sensors help for the left and right motion. To avoid collision, safety distance, which makes the movement easy in the out of range, stop, and forward and backward modes, is predefined in the mobile robot. Each time the range data is compared with the predefined distance measurements, and the respected function is activated. The robot is characterized due to low cost and simple control architecture. Different experiments were carried out in the indoor and outdoor environments with different objects. The results have shown that the robot tracks the object correctly by maintaining a constant distance from the followed object. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Integrated collision avoidance and tracking system for mobile robot

    Page(s): 68 - 74
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1559 KB) |  | HTML iconHTML  

    In the intelligent transportation system, various accident avoidance techniques have been applied. Among them, one of the most common issues is the collision, which is yet unsolved problem. To this end, we develop collision warning and avoidance system (CWAS), which is implemented in the wheeled mobile robot. Likewise, path planning is a crucial problem in the mobile robots to perform a given task correctly. Here, a tracking system is presented for the mobile robot, which follows an object. Thus, we have implemented an integrated CWAS and tracking system in the mobile robot. Both systems can be activated independently. In the CWAS, the robot is controlled through a remotely controlled device, and collision prediction and avoidance functions are performed. In the tracking system, the robot performs tasks autonomously, where the robot maintains a constant distance from the followed object. The surrounding information is obtained through the range sensors, and the control functions are performed through the microcontroller. The front, left, and right sensors are activated to track the object, and all the sensors are used for the CWAS. Two algorithms based on the sensory information are developed with the distance control approach. The proposed system is tested using the binary logic controller and the fuzzy logic controller (FLC). The comparison of both controllers is also described by preferring time delay and complexity. The efficiency of the robot is improved by increasing smoothness in motion using the FLC, achieving accuracy in tracking, and advancements in the CWAS. Finally, simulation and experimental outcomes have displayed the authenticity of the system. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Real-time obstacle avoidance and Path planning of a self-navigated autonomous biped robot using RugBat sonar sensors and modular digital image processing

    Page(s): 75 - 80
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1019 KB) |  | HTML iconHTML  

    This paper introduces a method for integrating real-time obstacle avoidance capability in two-legged walking robots i.e. Biped using Sonar and Ultrasonic sensors embedded within the super-structure of the robot. The main objective of this paper is to elaborate the method involving the use of sonar and ultrasonic sensors for computing and analyzing path in real-time and avoiding obstacles based-on the computational algorithm embedded on the micro-controller. The Biped under consideration for this paper works on a 4-bar mechanism (4-DOF) and fulfills the Grubler/Kutzbach Mobility equation. The Biped is equipped with two-linear DC actuators fitted in the foot, providing effective turning radius and tilting of the Biped structure based on the obstacle avoidance algorithm. This paper also focuses on the design of a modular wireless segment that provides navigational control to the operator for In-Plane Path planning using Digital image processing filters and limiters embedded within the MATLAB environment. All the experimental results are directly compared with the simulated ones to prove the Sonar's and ultrasonic sensors effectiveness for In-Plane path planning. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Collision-free navigation of wheeled vehicles by gain switching

    Page(s): 81 - 85
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (737 KB) |  | HTML iconHTML  

    In this paper, a collision-free navigation method for multiple wheeled vehicles is investigated. For individual vehicle three navigation variables are transformed from the position and orientation of respective vehicle. These navigation variables are distance of the vehicle from the goal position, angle between the vehicle's orientation and the vehicle to goal (v-to-g) vector, and the angle between the goal orientation and vehicle to goal (v-to-g) vector. The path tracking control utilizes kinematic representation. Moreover, a switching algorithm is implemented to attack the problem of obstacle avoidance. As the center point of the vehicle is used to navigate the vehicle to the goal position, two more points are used for the obstacle avoidance. These points are on the left front, and right front of the vehicle. Depending upon the position of the obstacle with respect to these points, the closest point to the obstacle gets activated and control design takes the parameters according to that point. The main advantage of this approach is the obstacle avoidance by keeping the safe distance from the closest point of the vehicle to the obstacle. The effectiveness of the proposed control algorithm is demonstrated by simulations. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Design and performance of magnetic gears using rare-earth permanent magnets

    Page(s): 86 - 90
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (903 KB) |  | HTML iconHTML  

    Magnetic gears can offer many advantages such as improved reliability, overload protection and physical isolation and non-contact transmission. Rare-Earth permanent magnets have been employed in the design of magnetic gears. This paper deals with the use of rare-earth magnets in the design of magnet gears. The paper describes analysis, design of magnetic gears and their performance. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Sampled data dynamic surface control for inertia wheel pendulum

    Page(s): 91 - 95
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (685 KB) |  | HTML iconHTML  

    We present sampled-data version of dynamic surface control for a benchmark underactuated mechanical system in strict feedback form. Continuous time control law has been discretized in the first place and then applied to control inertia wheel pendulum. Performance comparison has also been made between sampled data and continuous time versions. Simulation results illustrate that sampled data version recovers the performance of continuous time dynamic surface control for reasonably small sampling time. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Residual force based optimization of 8 DOF haptic master device

    Page(s): 96 - 102
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1576 KB) |  | HTML iconHTML  

    This paper discusses optimization of the 4 links of an 8 DOF haptic master device in order to minimize dynamics effects of the device on human hand during minimally invasive surgical operation. In minimally invasive surgery, because of limited information from surgical scene, sensation of feedback force and manipulability of device are important factors to be accounted. Therefore, optimization of the device is required for improved efficiency of surgical procedures. To achieve this purpose, physical meaning of a new global performance index is introduced. That index is responsible to minimize the residual force on human hand after implementing the dynamics compensation of the device by a controller. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Design of non-conventional chain drive mechanism for a mini-robot

    Page(s): 103 - 107
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1090 KB) |  | HTML iconHTML  

    This paper describes the design of a non-conventional chain drive mechanism for a mini-robot. A mini-robot named RUDYCUDY™ was designed. Chain drives are normally used when power or motion or both of them are to be transferred over a short distance. Various systems were available in the markets that had certain standards. To drive small scale robots no standard chain was available. In this study a roller chain was designed because of its simplicity, strength, ability to work in harsh environment and little requirement for lubrication. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Prefabrication design of an actuated exoskeleton for traumatized and paralytic hands

    Page(s): 108 - 111
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1081 KB) |  | HTML iconHTML  

    Partial Paralysis often occurs due to spinal cord injuries, which generally means some functionality loss in the hands of the affected. This paper covers a novel model design of an exoskeleton which will restore hand use for basic daily activities such as gripping and pinching. This also has applications for individuals who may be physically weaker such as the elderly or those with neuromuscular diseases. The design is economical to manufacture and hence affordable to the commoner. The structure is made of lightweight materials and the design is based closely on tendon actuation, which is how the human hand functions. Four servo motors are used to close and open the grip, with the thumb fixed in a specific position, which can be adjusted manually. Threads are used to actuate the exoskeleton structure by the servo motors. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.