Advanced sensing and control in service robotics with wave energy application

在这项提案中，申请人旨在探索新的想法，为波浪能应用的服务机器人开发先进的传感和控制技术。基于传感的控制技术在服务机器人、电力系统、工业环境、战场监视、勘探和康复领域中是高度期望的。服务机器人应用面临的主要挑战是如何系统地融合所有传感器数据，以及如何在传感器不确定性下控制服务机器人。为了解决这些问题，申请人和其他人已经应用了各种不同的方法来合成由多个传感器提供的丰富信息，并且已经应用了自适应控制方法来有效地控制机器人。 与硕士生，博士生，申请人计划集中在机器人传感和自适应控制领域的移动的机器人和机器人机械手的研究工作。目标如下： 对于短期目标，申请人和他的研究伙伴将对多个 传感器，即，云台摄像机，超声波传感器，GPS传感器，IMU导航传感器，红外传感器，力 传感器和激光扫描仪开发有效的融合算法，用于移动的机器人定位和机器人 机械手轨迹跟踪的一般，并制定自适应控制方案的服务机器人， 特别是，并将开发的算法应用于具有已知或未知动态的实际系统，即，波浪能发电系统。 我们的长期目标是为移动的机器人和使用多个传感器的机器人操作器开发统一的鲁棒传感和控制技术，该技术将在我们的B21 r移动的机器人、PA 10机械臂和新开发的用于波浪能应用的发电机原型上实现。与工业和国际合作相结合，拟议研究的结果将证明手术机器人，轮式机器人和发电机等真实的物理系统工作的重要性。

In this proposal, the applicant aims to explore novel ideas, develop advanced sensing and control techniques for service robots with wave energy applications. Sensing based control techniques are highly desired in the field of service robotics, power systems, industrial environment, battlefield surveillance, exploration, and rehabilitation. Major challenges facing service robotics applications are how to systematically fuse all the sensor data together, and how to control the service robots under sensor uncertainty. To deal with those issues, the applicant and others have applied various different approaches to synthesis the rich information provided by multiple sensors and have applied adaptive control method to effectively control the robots. With master students, PhD candidates, the applicant plans to focus research work in the area of robotics sensing and adaptive control for mobile robot and robotic manipulators. The objectives are given as follows: For short-term objectives, the applicant and his research associates are going to do modeling of multiple sensors, i.e., pan-tilt camera, ultrasonic sensor, GPS sensor, IMU navigation sensor, infrared sensor, force sensor and laser scanners to develop efficient fusion algorithms for mobile robot localization and robotic manipulator trajectory tracking in general, and to develop adaptive control schemes for service robots in particular and to apply developed algorithms to practical system with either known or unknown dynamics , i.e., power system for wave energy application. Our long-term objective is to develop a unified robust sensing and control technology for both mobile robots and robot manipulator using multiple sensors, which will be implemented onto our B21r mobile robot, PA10 robotic arm and newly developed power generator prototype for wave energy application. In conjunction with the industrial and international collaboration, results of proposed research will demonstrate the significance of the work on real physical systems such as surgical robots, wheeled robots, and power generators.