Human-assistance robotic system based on distributed computing technology

Population aging is becoming an increasingly pressing problem for society. Thus, the timely development of supporting systems to improve care cost and the quality of life of the elderly is becoming particularly important. Because of the dispersal of the elderly and disabled, a standard software architecture that can implement network-distributed software sharing and improve the cost of writing and maintaining software is in high demand. This paper proposes using distributing computing technology CORBA to integrate network-distributed software and robotic systems for supporting the aged or disabled. Using CORBA as a communication architecture, we implemented a networkdistributed human-assistance robotic system. We developed a hardware base including a robot arm and an omnidirectional mobile robot, developed key technologies such as localization of a mobile robot, real-time recognition, real-time multimedia, and implemented several CORBA servers including a Web user management server, a task-level robot arm control server, a live image and video feedback server, a mobile robot control server, and an indoor Global Positioning System server. With the user controlling a robot arm with 5 d.o.f. to cooperate with an omnidirectional mobile robot, the developed system can provide basic services to support the aged and disabled.     

Network Distributed Multi-Functional Robotic System Supporting the Elderly and Disabled People

We have been developing a network distributed Human-Assistance Robotic System in order to improve care cost and the QoL (Quality of Life) of the elderly people in the population-aging society. We developed multi-functional robotic system and implemented several CORBA application servers to provide some basic services to aid the aged or disabled. A novel method of localization of mobile robot with a camera and RFID (Radio Frequency Identification) technology is proposed as it is inexpensive, flexible and easy to use in practical environment. A video/audio conference system is also developed to improve the interaction among the users, switch robot manipulating privilege with the help of a centralized user management server, and enable a web-user to get a better understanding of what is going on in the local environment. Considering multi-type user of the developed, we have implemented multiple HRIs (Human Robot Interfaces) that enable different user to control robot systems easily.     

Internet-Based Robotic System Using CORBA as Communication Architecture

In this paper, we propose the Internet-based robotic system that uses Common Object Request Broker Architecture (CORBA) to implement networking connections between a client and a remote robotic system. The client can transparently invoke a method on a server across the network without any need to know where the application servers are located, or what programming language and operating system are used. This lets the system overcome the shortcomings of the other typical Internet robotic system. To cope with time delays on the communication path, we have implemented the robot control server, which allows the user to control the telerobotic system at a task-level. We have also implemented the live image feedback server, which provides live image feedback for a remote user. The proposed system gives the users the ability to operate the remote robotic system to retrieve and manipulate the desired tableware or other things to support the aged and disabled over the Internet by using the intuitive user interface.     

基于中间件的工业机器人软件框架的研究和应用

在国内首次使用中间件技术,面向机车维护工业机器人,设计开发可扩展、升级和移植的软件应用框架。详细介绍了软件框架的设计和实现,包括采用两层结构实现服务器、框架的技术指标、系统CORBA IDL的具体设计和定义。最后规划了今后的研究工作。     

Motion coordination and reactive control of autonomous multi-manipulator systems

The emerging field of service robots demands new systems with increased flexibility. The flexibility of a robot system can be increased in many different ways. Mobile manipulation—the coordinated use of manipulation capabilities and mobility—is an approach to increase robots flexibility with regard to their motion capabilities. Most mobile manipulators that are currently under development use a single arm on a mobile platform. The use of a two-arm manipulator system allows increased manipulation capabilities, especially when large, heavy, or non-rigid objects must be manipulated. This article is concerned with motion control for mobile two-arm systems. These systems require new schemes for motion coordination and control. A coordination scheme called transparent coordination is presented that allows for an arbitrary number of manipulators on a mobile platform. Furthermore, a reactive control scheme is proposed to enable the platform to support sensor-guided manipulator motion. Finally, this article introduces a collision avoidance scheme for mobile two-arm robots. This scheme surveys the vehicle motion to avoid platform collisions and arm collisions caused by self-motion of the robot. © 1996 John Wiley & Sons, Inc.     

Walking-support robot system for walking rehabilitation: design and control

An intelligent walking-assistance robot system has been developed to help the elderly or the disabled in rehabilitation programs. From the design viewpoint, several different mechanisms to satisfy the strict requirements for use in a rehabilitation program were considered and studied. A two-wheel mobile mechanism was developed to provide motions to follow the patient's walking trajectory, and also to make the patient follow a specified trajectory. Equations of motion were derived for the unloading control, and a force control algorithm was developed. For motion control of the mobile base, virtual trajectory planning by the B-spline method and PID control were used. Sensing the motion of the patient is performed by a linear potentiometer and a rotating encoder attached to the robot manipulator. The system was tested on patients in hospital and the experimental results are reported.     

Strategy of approach for seizure of an assistive mobile manipulator

In assistive robotics, a manipulator arm constitutes one possible solution for restoring some manipulation functions to victims of upper limb disabilities. The aim of this paper is to present a global strategy of approach of an assistive mobile manipulator (manipulator arm mounted on a mobile base). A manipulability criterion is defined to deal with the redundancy of the system. The aim is to keep the arm manipulable, i.e. capable of moving by itself. The strategy is based on human-like behaviour to help the disabled operator to understand the action of the robot. When the robot is far from its objective, only the mobile base moves, thus avoiding obstacles if necessary. When the objective is close to the robot, both mobile base and arm move and redundancy can be used to maximise a manipulability criterion. All the situations are tested separately and a global mission is realised in which all the previous situations are encountered. The partial results obtained with the real robot consolidate the results of simulation. This paper does not propose an autonomous path planning and navigation of the mobile arm but an assistance to the user for remote controlling it.     

基于JAVA-互联网环境的移动机器人远程操作接口

以互联网为应用环境,开发了一个基于B／S模式的移动机器人远程操作控制接口,系统包括浏览器接口管理和服务器端操作接口管理两部分,采用JAVA Applet的技术,通过合理设计服务器端网页控制和JAVA程序,实现机器人状态、图像监视和直接行为控制以及路径设定控制。     

Motion planning for mobile robots using a laser range finder

We have designed a mobile robot with a distribution structure for intelligent life space. The mobile robot was constructed using an aluminum frame. The mobile robot has the shape of a cylinder, and its diameter, height, and weight are 40 cm, 80 cm, and 40 kg, respectively. There are six systems in the mobile robot, including structure, an obstacle avoidance and driving system, a software development system, a detection module system, a remote supervision system, and others. In the obstacle avoidance and driving system, we use an NI motion control card to drive two DC servomotors in the mobile robot, and detect obstacles using a laser range finder and a laser positioning system. Finally, we control the mobile robot using an NI motion control card and a MAXON driver according to the programmed trajectory. The mobile robot can avoid obstacles using the laser range finder, and follow the programmed trajectory. We developed the user interface with four functions for the mobile robot. In the security system, we designed module-based security devices to detect dangerous events and transmit the detection results to the mobile robot using a wireless RF interface. The mobile robot can move to the event position using the laser positioning system.     

基于移动Agent的双向CORBA系统

CORBA技术和移动Agent技术都是目前国内外研发的热点。将以上两种流行技术融合,使CORBA中的对象(服务器方以及客户方)具有移动Agent的特点是本文的设计思想。基于以上思想,本文给出了一种基于移动Agent的双向CORBA系统体系结构及其原型系统(称之为agentCORBA),并重点解决了在CORBA服务器方对象(如servant)移动的情况下对象命名服务的透明性问题。本文最后给出了一个基于该体系结构的简单应用实例,用以检测该体系结构及其原型系统的正确性和可用性。     

基于CORBA的工业机器人软件框架的研究和应用

在国内首次使用中间件技术,面向机车维护机器人生产线,设计开发可扩展,可升级和可移植的软件应用框架。软件框架的核心是C++ CORBA。试验环境包括2台Motoman UP6机械手和一台Pioneer移动机器人。详细介绍了软件框架的设计和实现,包括采用两层结构实现服务器,框架的技术指标,系统CORBA IDL的具体设计和定义。结论部分规划了今后的研究工作。     

Catadioptric Visual Servoing From 3-D Straight Lines

In this paper, we consider the problem of controlling a 6 DOF holonomic robot and a nonholonomic mobile robot from the projection of 3-D straight lines in the image plane of central catadioptric systems. A generic central catadioptric interaction matrix for the projection of 3-D straight lines is derived using an unifying imaging model valid for an entire class of cameras. This result is exploited to design an image-based control law that allows us to control the 6 DOF of a robotic arm. Then, the projected lines are exploited to control a nonholonomic robot. We show that as when considering a robotic arm, the control objectives are mainly based on catadioptric image feature and that local asymptotic convergence is guaranteed. Simulation results and real experiments with a 6 DOF eye-to-hand system and a mobile robot illustrate the control strategy.     

A CORBA-based Internet robotic system

The elderly population is growing while the number of people to take care of them is declining. Here, we describe an Internet telerobotic system to assist the aged or disabled in their homes when their caregivers are away. In this paper we analyze typical teleoperation robotic systems and design an Internet telerobotic system using Common Object Request Broker Architecture (CORBA). We detail the system's features, architecture and implementation. The proposed system gives users the ability to control the robotic system remotely by an intuitive user interface. The client can transparently invoke methods on the application servers across the network and does not have to know where the application servers are located, what programming language the application is written in or what operating system is being used. This is because, in developing and implementing the system, CORBA for the distributed, object-oriented applications was selected.     

Mobile Robot Command by Man–Machine Co-Operation – Application to Disabled and Elderly People Assistance

Disabled people assistance is developing thanks to progress of new technologies. A manipulator arm mounted on a mobile robot can assist a disabled person for a partial restoration of the manipulative function. A user pilots the robot via a control station, using enhanced reality techniques. To be affordable such a system must be cost-effective. That constraint limits perception means: ultrasonic ring, dead reckoning, and low-cost camera. The development of the project has followed two stages. The first one consists of giving maximum autonomy capacities to the robot for planning, navigation, and localisation. The second stage is the study of the Man–Machine Co-operation (MMC) for the command of the robot system. Indeed, the aim is to perform a mission (mobile robot displacement), using the robot capacities and man possibilities. Users build their own strategies to carry out a mission successively. The strategy can be seen as a succession of control modes, which can be manual, automatic, or shared. In the latter case, the control of the robot is shared between a human operator and machine. The main problem is then task allocation between both intelligent entities. Each one has planification, navigation, and localisation abilities. The paper presents our approach for planning and navigation and develops a more specific study about robot localisation.     

基于无线局域网的移动机器人远程控制系统

针对Pioneer3-AT移动机器人的特点,基于无线局域网设计并实现了一种移动机器人远程控制系统。简要介绍了系统的工作原理及移动机器人的体系结构,给出系统服务器和客户端程序的实现流程,最后,通过实际客户端操作实现了移动机器人的远程运动控制、轨迹跟踪以及现场图像信息实时传输显示。     

Upper-Limb EMG-Based Robot Motion Governing Using Empirical Mode Decomposition and Adaptive Neural Fuzzy Inference System

To improve the quality of life for the disabled and elderly, this paper develops an upper-limb, EMG-based robot control system to provide natural, intuitive manipulation for robot arm motions. Considering the non-stationary and nonlinear characteristics of the Electromyography (EMG) signals, especially when multi-DOF movements are involved, an empirical mode decomposition method is introduced to break down the EMG signals into a set of intrinsic mode functions, each of which represents different physical characteristics of muscular movement. We then integrate this new system with an initial point detection method previously proposed to establish the mapping between the EMG signals and corresponding robot arm movements in real-time. Meanwhile, as the selection of critical values in the initial point detection method is user-dependent, we employ the adaptive neuro-fuzzy inference system to find proper parameters that are better suited for individual users. Experiments are performed to demonstrate the effectiveness of the proposed upper-limb EMG-based robot control system.     

多元统计过程状态监测分布式系统的实现

过程监测与故障诊断是工业过程工程中的一项重要任务,是保证生产过程安全运行、提高生产率的重要环节。本文在分析各种监控系统的基础上,结合多元统计过程控制方法,提出并开发了一个基于CORBA技术的多客户端工业过程实时监测软件系统。该系统由数据采集、多元统计数据分析服务端、监测界面客户端三部分组成,采用开放式结构具有良好的易维护性和扩充性。     

KhepOnTheWeb: open access to a mobile robot on the Internet

For years research has focused on ways to allow remote access via standard communication networks to unique or expensive structures. With the growth of the Internet, one finds more and more devices connected to it. Despite the fact that one may spy on other people with hundreds of cameras, it is currently possible to interact only with a few robots, which often have restricted access. To use a camera over the web, the user usually just sits and watches or sometimes has the ability to choose different camera orientation/views. With a robot, you have strong interaction. For instance, with a mobile robot equipped with an arm you can move along the floor and grasp objects. Discovering the control interface, the user has to understand rapidly the goal of the site and what the possibilities of the robot are in order to achieve them. The article analyses one year of netsurfer behavior regarding the use of KhepOnTheWeb, which was realized to demonstrate some possibilities of remote control of a Khepera mobile robot. After one year of access, we performed an analysis of the log files in order to understand the behavior of the public facing such an installation. This analysis was rather difficult because of the large amount of data involved, and specific software was developed in order to extract and present the relevant information. The goal of the project is presented, the hardware and software components of our robot installation are described, and the analysis of the web server log files is discussed. We also introduce another concept of a remote-controlled robot on the web     

一种基于总线的移动探测机器人控制系统设计与实现

针对机械臂定位相关的控制算法缺乏合适验证平台的问题,将移动机器人技术和机械臂控制技术相结合,在分布式控制系统结构的基础上设计并实现了移动探测机器人原型样机。该系统由一个中央主控单元和多个从控制单元构成,单元之间通过总线相连,以实现探测机械臂各部分的模块化。该控制系统已经成功应用于实验室的探测机器人中。该设计能够完成对机械臂运动控制任务,可以用于移动探测机器人平台的建立以及相关算法的实现。