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Fault detection for robot manipulators with parametric uncertainty: a prediction-error-based approach
2000
IEEE Transactions on Robotics and Automation
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In this paper, we introduce a new approach to fault detection for robot manipulators. ...
Furthermore, an adaptive version of the algorithm is introduced, and shown to both improve coverage and significantly reduce detection times. ...
PREDICTION-ERROR-BASED FAULT DETECTION The objective of this paper is to design an algorithm that can detect actuator faults in -DOF robotic manipulators despite uncertainty in the mechanical parameters ...
doi:10.1109/70.897780
fatcat:jvl3ppipifb73bbrw7lkz5fvue
Integrated sliding-mode algorithms in robot tracking applications
2013
Robotics and Computer-Integrated Manufacturing
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The proposal includes three sliding-mode algorithms for speed auto-regulation, path conditioning and redundancy resolution in order to fulfill velocity, workspace and C-space constraints, respectively. ...
The proposed method only requires a few program lines and simplifies the robot user interface since it directly deals with the fulfillment of the constraints to find a feasible solution for the robot trajectory ...
robots and applications. ...
doi:10.1016/j.rcim.2012.07.007
fatcat:apof6xdmjnailajqlbf6btuzla
Selection of Optimal Measuring Points Using Genetic Algorithm in the Process to Calibrate Robot Kinematic Parameters
[chapter]
2012
Genetic Algorithms in Applications
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Therefore, the used laser tracking system, whose error is several tens micrometer order at the most, is much effective for the application of robot calibration. ...
Algorithm in the Process to Calibrate Robot Kinematic ParametersIn the learning of NN, measured data of robot arm's tip(,,) XYZ X is adopted as the input data to NN. ...
Selection of Optimal Measuring Points Using Genetic Algorithm in the Process to Calibrate Robot Kinematic Parameters, Genetic Algorithms in Applications, Dr. ...
doi:10.5772/38318
fatcat:6tddmhfo7jgkpf2nictx2ttxgm
A Simple Reactive Obstacle Avoidance Algorithm and Its Application in Singapore Harbor
[chapter]
2010
Springer Tracts in Advanced Robotics
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In order to move autonomously in such conditions, ASC's must be capable of detecting stationary and moving objects and plan their paths accordingly. ...
We deployed ASC's in the Selat Pauh region of Singapore Harbor to test the technique, using a short-range 2D laser sensor; detection in the rough waters we encountered was quite poor. ...
Acknowledgements The research described in this project was funded in whole or in part by the Singapore National Research Foundation (NRF) through the Singapore-MIT Alliance for Research and Technology ...
doi:10.1007/978-3-642-13408-1_41
fatcat:em7j5tcqjnfydlhdseeqhbuaqe
Contracting curve density algorithm for applications in personal robotics
2011
2011 11th IEEE-RAS International Conference on Humanoid Robots
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In particular, we investigate its application in the field of personal robotics for the tasks such as the mobile manipulation which requires a segmentation of objects in clutter and the tracking of them ...
We demonstrate algorithm's working in various scenes using handheld camera and the cameras from the Personal Robot 2 (PR2). ...
Mesh Model-based Initialization We used CCD in order to detect and localize a spreadout T-shirt in the application of robotic folding. ...
doi:10.1109/humanoids.2011.6100884
dblp:conf/humanoids/ZhuPB11
fatcat:x46y7plgezf7ritulqdswjvmay
The Application of a Dendritic Cell Algorithm to a Robotic Classifier
[chapter]
2007
Lecture Notes in Computer Science
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The dendritic cell algorithm is implemented on a real robot and an investigation is performed into the effects of varying the migration threshold median for the cell population. ...
The dendritic cell algorithm is an immune-inspired technique for processing time-dependant data. Here we propose it as a possible solution for a robotic classification problem. ...
Acknowledgements Many thanks to William Wilson for his input to the software architecture and to Daniel Bardsley for his advice on image processing. ...
doi:10.1007/978-3-540-73922-7_18
fatcat:waeqkivsrre53fslef7fy2xz4m
Application of Streaming Algorithms and DFA Learning for Approximating Solutions to Problems in Robot Navigation
[chapter]
2011
Advances in Robot Navigation
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Because of 68 Advances in Robot Navigation
www.intechopen.com Application of Streaming Algorithms and DFA Learning for Approximating Solutions to Problems in Robot Navigation 15 that we proposed in ...
The motion planning 56 Advances in Robot Navigation www.intechopen.com Application of Streaming Algorithms and DFA Learning for Approximating Solutions to Problems in Robot Navigation 3 Fig. 2 . ...
Application of Streaming Algorithms and DFA Learning for Approximating Solutions to Problems in Robot Navigation, Advances in Robot Navigation, Prof. ...
doi:10.5772/17366
fatcat:rd4kyuzaurfpfo5melvhxlfkfm
Study on the ORB algorithm in the application of Monocular SLAM
2015
Journal of Robotics, Networking and Artificial Life (JRNAL)
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In order to reduce the accumulative errors in our monocular SLAM (simultaneous localization and mapping), the loop closing (detection + correction) method based on PTAM (Parallel Tracking and Mapping) ...
Here natural environment features are necessary to be extracted efficiently, so the ORB (Oriented FAST and Rotated BRIEF (Binary Robust Independent Elementary Features)) algorithm is used for the feature ...
Loop closing is the detecting task when a robot is revisiting a previously mapped place, in order to correct the error accumulated in the robot trajectory during exploration. 5 Tracking data association ...
doi:10.2991/jrnal.2015.2.3.11
fatcat:qcygon6bq5hwdf3h43nnmsivay
Machine Learning Algorithms in Bipedal Robot Control
2012
IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews)
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This paper gives a review of recent advances on the stateof-the-art learning algorithms and their applications to bipedal robot control. ...
Various learning algorithms have been developed to achieve autonomous operation and intelligent decision making for many complex and challenging control problems. ...
[53] applied SVM to detect the falling of a bipedal robot based accelerometer and force sensor data. Ferreira et al. ...
doi:10.1109/tsmcc.2012.2186565
fatcat:tchoesxg6rc2vkuh7gtlxxfosa
Evaluation of Change Point Detection Algorithms for Application in Big Data Mini-term 4.0
2020
Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics
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The present study analyses in depth the algorithms of change point detection in time series for the prediction of failures through the monitoring of mini-terms in real time. ...
For the present study, 10 representative real cases of the different change points that have been detected up to the present were selected and, these cases were analysed by using the change point algorithms ...
ACKNOWLEDGEMENTS The authors wish to thank Ford España S.L. and in particular the Factory at Almussafes for the support in the present research.The authors also wish to thank Joan Camps Soria for his support ...
doi:10.5220/0009594001170124
dblp:conf/icinco/GarciaMLL20
fatcat:4xmddj4twbddjfrvfxjja4i54a
Soft Computing Applications in Robotic Vision Systems
[chapter]
2007
Scene Reconstruction Pose Estimation and Tracking
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Other GA-based applications in robotics are in visual landmark detection tasks (Hao and Yang, 2003, Mata et al., 2003) . In our work, we present a GA-based circle detector. ...
Application to Robotic Vision Tasks We applied the circle detection method for a robotic task. We have used it for the detection of artificial landmarks containing circular forms. ...
Scene Reconstruction Pose Estimation and Tracking This book reports recent advances in the use of pattern recognition techniques for computer and robot vision. ...
doi:10.5772/4928
fatcat:vgk3wojh5jf6heugh7pmxvmere
Implementation and Comparative Study of Algorithms to Avoid Obstacles in Mobile Robot Navigation
2014
International Journal of Computer Applications
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It is sure that, just path planning algorithm will not be able to guide the robot to the desired goal in such environment. ...
It is a challenging task to make a mobile robot navigate to a desired goal in an environment with obstacles. ...
Given r r , r l , l, θ and the spinning speed of each wheel, φ r and φ l , a forward kinematic model would predict the robot's overall speed in the global reference frame. ...
doi:10.5120/17051-7228
fatcat:h3w2hdn74neihls2oeidgso7zq
Adjoint Transformation Algorithm for Hand–Eye Calibration with Applications in Robotic Assisted Surgery
2018
Annals of Biomedical Engineering
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Existing hand-eye algorithms using closed-form solutions followed by iterative non-linear refinement provide accurate calibration results within a broad range of robotic applications. ...
cameras and the robot end-effector. ...
reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. ...
doi:10.1007/s10439-018-2097-4
pmid:30051249
fatcat:i64s4tjsxvdahgkxj34qz4galy
View planning in robot active vision: A survey of systems, algorithms, and applications
2020
Computational Visual Media
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In this paper, we first summarize some basic concepts of active robot vision, and then review representative work on systems, algorithms and applications from four perspectives: object reconstruction, ...
In many robotic applications, robots are required to make planning decisions based on perceptual information to achieve diverse goals in an efficient and effective way. ...
View planning by application View planning algorithms use different data structures and strategies for different applications; different robots and sensors may also be involved. ...
doi:10.1007/s41095-020-0179-3
fatcat:uxttepsgf5b4hewz2gupwjhlwq
GPGPU computation in mobile robot applications
2012
International Journal on Electrical Engineering and Informatics
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The paper concerns the results related with GPGPU computing applied for mobile robotics applications. ...
We show parallel vector computation that is used for semantic objects identifications and for loop closing detection. ...
We have shown the applications of the loop closing and the vegetation detection based on normal vector computation. ...
doi:10.15676/ijeei.2012.4.1.2
fatcat:ul6q2g3aefdtvhbttplfgjloym
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