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Fault detection for robot manipulators with parametric uncertainty: a prediction-error-based approach

W.E. Dixon, I.D. Walker, D.M. Dawson, J.P. Hartranft
2000 IEEE Transactions on Robotics and Automation  
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

Luis Gracia, Fabricio Garelli, Antonio Sala
2013 Robotics and Computer-Integrated Manufacturing  
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]

Seiji Aoyagi
2012 Genetic Algorithms in Applications  
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]

Tirthankar Bandyophadyay, Lynn Sarcione, Franz S. Hover
2010 Springer Tracts in Advanced Robotics  
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

Shulei Zhu, Dejan Pangercic, Michael Beetz
2011 2011 11th IEEE-RAS International Conference on Humanoid Robots  
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]

Robert Oates, Julie Greensmith, Uwe Aickelin, Jonathan Garibaldi, Graham Kendall
2007 Lecture Notes in Computer Science  
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]

Carlos Rodriguez
2011 Advances in Robot Navigation  
Because of 68 Advances in Robot Navigation 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 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

Jiwu Wang, Shunkai Zheng, Yao Du, Sugisaka Masanori
2015 Journal of Robotics, Networking and Artificial Life (JRNAL)  
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

Shouyi Wang, Wanpracha Chaovalitwongse, Robert Babuska
2012 IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews)  
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

E. Garcia, N. Montes, J. Llopis, A. Lacasa
2020 Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics  
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]

Victor Ayala-Ramirez, Raul E., Carlos H., Francisco J.
2007 Scene Reconstruction Pose Estimation and Tracking  
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

Min RajNepali, Amar Mani Aryal, Ashutosh Ashutosh, Kamal Lamichhane
2014 International Journal of Computer Applications  
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

Krittin Pachtrachai, Francisco Vasconcelos, François Chadebecq, Max Allan, Stephen Hailes, Vijay Pawar, Danail Stoyanov
2018 Annals of Biomedical Engineering  
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

Rui Zeng, Yuhui Wen, Wang Zhao, Yong-Jin Liu
2020 Computational Visual Media  
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

Janusz Będkowski, Andrzej Masłowski
2012 International Journal on Electrical Engineering and Informatics  
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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