Towards Autonomous Robotic Systems

Name: Towards Autonomous Robotic Systems | 16th Annual Conference, TAROS 2015, Liverpool, UK, September 8-10, 2015, Proceedings
Brand: Springer
Price: 53.49 EUR
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16th Annual Conference, TAROS 2015, Liverpool, UK, September 8-10, 2015, Proceedings

Clare Dixon Karl Tuyls(Editor)

Springer (Publisher)

Published on 17. July 2015

XIII, 312 pages

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978-3-319-22416-9 (ISBN)

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Content

Intro
Preface
Organization
Contents
Endurance Optimisation of Battery-Powered Rotorcraft
1 Introduction
2 Rotorcraft Endurance Model
3 Benchmark: Rotorcraft Endurance Upper Bound
4 Endurance Optimisation with Practical Batteries
4.1 Optimisation Technique
4.2 ARDrone Optimisation Predictions
4.3 Experimental Validation and Verification
5 Quadrotor Endurance Improvement with Scale
6 Conclusion
References
An Overview of Anthropomorphic Robot Hand and Mechanical Design of the Anthropomorphic Red Hand - A Preliminary Work
1 Introduction
2 Design of the Red Hand
2.1 Mechanical Description
2.2 Motor Selection
2.3 Mechanism Description (Index, Middle, Ring and Small Fingers)
2.4 Mechanism Description (Thumb Finger)
2.5 The Palm
2.6 Fingertip Sensor for Active Compliance Control
3 Conclusion
References
An Interactive Approach to Monocular SLAM
1 Introduction and Related Works
2 Methodology
2.1 Active Contours, Feature Selection
2.2 Image Forces and Gradient Vector Flow
2.3 Monocular SLAM
3 Results
References
Symmetry Reduction Enables Model Checking of More Complex Emergent Behaviours of Swarm Navigation Algorithms
1 Introduction
2 Swarms in Grids
3 Model Checking and the State-Space Explosion Problem
4 Relative Encoding of a Swarm in a Grid
5 Alpha Algorithm
6 Results
7 Conclusions
References
Inertia Properties of a Prosthetic Knee Mechanism
1 Introduction
2 Kinematics Analysis of the Proposed Prosthetic Knee Mechanism
3 Sources of Inertia and Impedance Torques in the Mechanism
4 Conclusions
References
Development and Characterisation of a Multi-material 3D Printed Torsion Spring
1 Introduction
2 Methods
2.1 Manufacture
2.2 Testing
2.3 Characterization
3 Results
4 Conclusion
References
Robotic Pseudo-Dynamic Testing (RPsDT) of Contact-Impact Scenarios
1 Introduction
2 Application of the Pseudo Dynamic Test Methodto Robots and Contact Scenarios
3 RPsDT Drop Test Investigation and Validation
3.1 Experimental Setup and Procedure
3.2 Results and Discussion
4 Conclusions
References
Hybrid Insect-Inspired Multi-Robot Coverage in Complex Environments
1 Introduction
2 Related Work
3 Background: Comparison Between StiCo and BeePCo
3.1 StiCo Principle
3.2 BeePCo Principle
3.3 Comparison Between StiCo and BeePCo
4 HybaCo: Hybrid Bee-Ant Coverage Algorithm
5 Experimental Evaluation
6 Conclusions
References
From AgentSpeak to C for Safety Considerations in Unmanned Aerial Vehicles
1 Introduction
2 The Autopilot
3 AgentSpeak
4 Translation
5 Experimental Setup
6 Conclusions and Future Work
References
Joint Torques and Velocities in a 3-mass Linear Inverted Pendulum Model of Bipedal Gait
1 Introduction
2 Forces and Torques in Multi-mass LIPM Models
2.1 The 1-mass LIPM Equation
2.2 Force and Torques in a Simple Robot Structure
2.3 A 2-mass System
3 A Three-Mass Robot Model
3.1 Forward Motion: Equation and Solution
3.2 Lateral Motion: Equation and Solution
4 Effects of Gait Parameters on Joint Torques and Velocities
5 Conclusion
References
Limits and Potential of an Experience Metric Space in a Mobile Domestic Robot
1 Introduction
2 Motivation
3 Interaction History Architecture
3.1 Information Distance
3.2 Metric Space of Experience
3.3 Action Selection
3.4 Rewards
4 Methods
5 Results and Conclusions
5.1 The Importance of Entropy
5.2 Time-Series Within an Experience
6 Discussion and Conclusion
References
A Novel Approach to Environment Mapping Using Sonar Sensors and Inverse Problems
1 Introduction
2 Image Reconstruction
2.1 Beamforming
2.2 Inverse Problems
3 Experimental Setup
3.1 Data Collection
4 Experimental Results
4.1 Image Reconstruction
5 Conclusions
References
Applying Energy Autonomous Robots for Dike Inspection
1 Introduction
2 Theoretical Background
2.1 Harvested Energy per Day
2.2 Average Power Consumption
2.3 An Analytic Expression for the Operational Time per Day
3 Parameter Identification
3.1 Solar Energy Harvesting
3.2 Wind Energy Harvesting
3.3 Locomotion Energy Consumption
3.4 Temporary Energy Storage
4 Exploratory Study
5 Generalisation of the Results
5.1 Discussion of the Results
6 Conclusion
References
Advancing Evolutionary Coordination for Fixed-Wing Communications UAVs
1 Introduction
2 Methods
2.1 Communication Model and Obstacle Representation
2.2 Chromosome Codification and Time Synchronisation
2.3 Packing Mechanism for Energy Efficiency
3 Experiments and Results
4 Conclusion
References
A Generic Approach to Self-localization and Mapping of Mobile Robots Without Using a Kinematic Model
1 Introduction
2 Materials and Methods
3 Experiments and Results
4 Conclusion
References
Improving Active Vision System Categorization Capability Through Histogram of Oriented Gradients
1 Introduction
2 Experimental Details
The Neural Network and the Evolutionary Task.
2.1 The Proposed Histogram of Oriented Gradients Method
3 Results
4 Conclusion
References
ROBO-GUIDE: Towards Safe, Reliable, Trustworthy, and Natural Behaviours in Robotic Assistants
1 Introduction
2 Floor Determination
2.1 Vision
2.2 Automatic Speech Recognition of Lift Announcements
2.3 Mapping
2.4 Combined Floor Estimation
3 Conclusion
References
Mechanical Design of Long Reach Super Thin Discrete Manipulator for Inspections in Fragile Historical Environments
1 Introduction
2 Description of the Basic Snake Arm
3 Discrete Snake Arm Kinematics and Statics
4 Cable Tension Experiment
5 Maximum Working Length
6 Conclusion and Future Work
References
Robot Mapping and Localisation for Feature Sparse Water Pipes Using Voids as Landmarks
1 Introduction
2 Methods
2.1 Robot Navigation Algorithm
Problem Statement.
Robot Dynamics and Measurement Model.
Estimation of Robot Location.
2.2 Experimental Setup
3 Results
4 Summary
References
Standardized Field Testing of Assistant Robots in a Mars-Like Environment
1 Introduction
2 The Test Program
2.1 Selected DHS-NIST-ASTM Tests
2.2 Operational Tests
3 Results
4 Analysis and Design Implications
5 Conclusions
References
Towards Intelligent Lower Limb Prostheses with Activity Recognition
1 Introduction
2 Control Architecture for Lower Limb Prostheses
2.1 High Level Control
2.2 Middle Level Control
3 Preliminary Work
3.1 Subjects and Experimental Protocol
3.2 Real-Time Gait Event Detection Algorithm Description and Validation
3.3 Data Analysis and Results
4 Conclusion and Future Works
References
Discretizing the State Space of Multiple Moving Robots to Verify Visibility Properties
1 Introduction
2 Problem Definition
3 Constructing the Discrete State Space
3.1 System States
3.2 Transitions Events
4 Analysis
5 Conclusion
References
Design of a Continuously Varying Electro-Permanent Magnet Adhesion Mechanism for Climbing Robots
1 Introduction
2 Theory and Principles of Electro-Permanent Magnets
3 Design, Simulations and Experiments
3.1 Proposed Wheel Design
3.2 Simulations for the Off and On Initial States
3.3 Simulations of the Continuous Varying State
3.4 Experiments
4 Conclusions
References
An Approach to Supervisory Control of Multi-Robot Teams in Dynamic Domains
1 Introduction
2 Methodology
3 User Study
4 Results
5 Summary
References
Robotic Garment Folding: Precision Improvement and Workspace Enlargement
1 Introduction
2 Improvement of the Gravity Based Folding
3 Closed Chain Garment Folding
3.1 Grasping and Folding
3.2 Azimuth Relaxation
3.3 Elevation Relaxation
3.4 Fold Planning by Solving the Inverse Kinematics
3.5 Fold Planning in Joint Space
4 Experiments
4.1 Minimizing Folding Misalignment
4.2 Workspace Enlargement
5 Conclusions
References
Computing Time-Optimal Clearing Strategies for Pursuit-Evasion Problems with Linear Programming
1 Introduction
2 Pursuit-Evasion Problem
3 Strategy with Global Minimal Execution Time
3.1 General Constraints
3.2 Constraints for Graph-Clear Strategies
4 Optimisation Heuristics
5 Executing a Predefined Strategy with Minimal Execution Time
6 Experiment
7 Conclusion
References
The Benefits of Explicit Ontological Knowledge-Bases for Robotic Systems
1 Introduction
2 Ontologies Background
3 System and Ontology
4 Evaluation
5 Conclusions
References
Task-Based Variation of Active Compliance of Arm/Hand Robots in Physical Human Robot Interactions
1 Introduction
2 Robot Control Method Preliminaries
3 The Proposed Control Strategy
4 Experimental Set-up and Results
5 Conclusion
References
Auction-Based Task Allocation for Multi-robot Teams in Dynamic Environments
1 Introduction
2 Methodology
2.1 System Architecture
2.2 Metrics
3 Experiments
3.1 Experimental Setup
3.2 Mechanisms Tested
3.3 Results
3.4 Discussion
4 Related Work
5 Summary
References
UAV Guidance: A Stereo-Based Technique for Interception of Stationary or Moving Targets
1 Introduction
2 Flight Platform
3 Target Detection Method
4 Stereo Calibration
5 Relative Position and Velocity to Object
6 Method Validation
7 Control of Interception
8 Results: Closed-Loop Interception
9 Discussion
10 Conclusion
References
A Novel Path Planning Approach for Robotic Navigation Using Consideration Within Crowds
1 Introduction
2 Related Work
2.1 Modelling Crowd Dynamics and Behaviours
2.2 Path Planning Techniques
2.3 Applied Systems
3 Problem Formulation
3.1 The Robot
3.2 The Crowd (Pedestrians)
4 Moving Considerately
5 A Voronoi Diagram for Ellipses
6 Algorithm
6.1 Pedestrians in the Environment
6.2 Planning a Path
7 Results
7.1 Comparison to `Cooperative' Navigation
7.2 Demonstrating Consideration when Cutting Across a Crowd
8 Evaluation
References
Adaptive Sampling-Based Motion Planning for Mobile Robots with Differential Constraints
1 Introduction
2 Related Work
3 Problem Formulation
4 Method
4.1 Workspace Decomposition
4.2 Guided Motion-Tree Search
5 Experiments and Results
6 Discussion
References
Collaborating Low Cost Micro Aerial Vehicles: A Demonstration
1 Introduction and Motivation
1.1 Related Work
2 System Overview
3 Hardware Platforms
4 Experimental Evaluation
5 Demonstration
References
Vision-Based Trajectories Planning for Four Wheels Independently Steered Mobile Robots with Maximum Allowable Velocities
1 Introduction
2 Vision-Based Trajectories Planning
3 Kinematic Model
4 Bounded Velocities Planning
5 Experiment Results
6 Conclusion and Future Work
References
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Towards Autonomous Robotic Systems

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