Papers by Kristin Pettersen
Bookmarks Related papers MentionsView impact
In this work, the open-source plugin OpenMRH is presented for the Open Robotics Automation Virtua... more In this work, the open-source plugin OpenMRH is presented for the Open Robotics Automation Virtual Environment (OpenRAVE), a simulation environment for testing, developing and deploying motion planning algorithms. The proposed plugin allows for a fast and automated generation of different modular hand models OpenMRH combines virtual-prototyping and modular concepts. Each modular model is generated by applying a dynamically generated code, which is consistent with the standard syntax expected by OpenRAVE for the simulated models. In this way, once the desired model is generated, an instance of OpenRAVE can be launched and the model can be visualised. Alternatively, the modular models can be generated from a user-defined input specified via a graphical user interface (GUI). The generated models can be used for testing, developing and deploying grasp or motion planning algorithms. Two case studies are considered to validate the efficiency of the proposed model generator. In the first case study, a modular robotic hand model is generated with OpenMRH by using user-defined input parameters. In the second case study, another hand model is generated with OpenMRH by using algorithmic defined input parameters.
Bookmarks Related papers MentionsView impact
IEEE Transactions on Control Systems Technology, 2000
Bookmarks Related papers MentionsView impact
Proceeding of the IEEE International Conference on Information and Automation (ICIA), Hailar, China. 2014, 1154–1159., Jul 2014
This paper introduces JOpenShowVar, a Java open-source cross-platform communication interface to ... more This paper introduces JOpenShowVar, a Java open-source cross-platform communication interface to Kuka robots that allows for reading and writing variables and data structures of the controlled manipulators. This interface, which is compatible with all Kuka robots that use KR C4 and previous versions, runs as a client on a remote computer connected with the Kuka controller via TCP/IP. JOpenShowVar opens up to a variety of possible applications making it possible to use different input devices, sensors and to develop alternative control methods. To show the potential of the proposed interface, two case studies are presented. In the first one, JOpenShowVar is used to control a Kuka KR 6 R900 SIXX (KR AGILUS) robot with an Android mobile device. In the second case study, the same manipulator is controlled with a Leap Motion Controller that supports hand and finger motions as input without requiring contact or touching. Related simulations are carried out to validate efficiency and flexibility of the proposed communication interface.
Bookmarks Related papers MentionsView impact
Proceeding of the 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), São Paulo, Brazil. 2014, 951–957., 2014
This paper introduces ModGrasp, an open-source virtual and physical rapid-prototyping framework t... more This paper introduces ModGrasp, an open-source virtual and physical rapid-prototyping framework that allows for the design, simulation and control of low-cost sensorised modular hands. By combining the rapid-prototyping approach with the modular concept, different manipulator configurations can be modelled. A real-time one-to-one correspondence between virtual and physical prototypes is established. Different control algorithms can be implemented for the models.
By using a low-cost sensing approach, functions for torque sensing at the joint level, sensitive collision detection and joint compliant control are possible. A 3-D visualization environment provides the user with an intuitive visual feedback.
As a case study, a three-fingered modular manipulator is presented. Related simulations are carried out to validate efficiency and flexibility of the proposed rapid-prototyping framework.
Bookmarks Related papers MentionsView impact
Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, China. 2013, 322–327., 2013
This paper introduces a flexible and general control system architecture that allows for modellin... more This paper introduces a flexible and general control system architecture that allows for modelling, simulation and control of different models of maritime cranes and, more generally, robotic arms by using the same universal input device regardless of their differences in size, kinematic structure, degrees of freedom, body morphology, constraints and affordances. The manipulators that are to be controlled can be added to the system simply by defining the corresponding Denavit-Hartenberg table and their joint limits. The models can be simulated in a 3D visualisation environment, which provides the user with an intuitive visual feedback. The presented architecture represents the base for the research of a flexible mapping procedure between a universal input device and the manipulators to be controlled. As a case study, our first attempt of implementing such a mapping algorithm is also presented. This method is bio-inspired and it is based on the use of Genetic Algorithms (GA). Using this approach, the system is able to automatically learn the inverse kinematic properties of different models. Related simulations were carried out to validate the efficiency of proposed architecture and mapping method.
Bookmarks Related papers MentionsView impact
Proceeding of the IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China. 2014, 594–599., 2014
A flexible and general control system architecture that allows for modelling, simulation and cont... more A flexible and general control system architecture that allows for modelling, simulation and control of different models of maritime cranes and, more generally, robotic arms was previously presented by our research group. Each manipulator can be controlled by using the same universal input device regardless of differences in size, kinematic structure, degrees of freedom (DOFs), body morphology, constraints and affordances. The architecture presented establishes the base for the research of a flexible mapping procedure between a universal input device and the manipulators to be controlled, which is the topic of this paper. Based on the same architecture, as a validating case study, a new method for implementing such a mapping algorithm is introduced in this paper. This method is based on the use of Artificial Neural Networks. Using this approach, the system is able to automatically learn the inverse kinematic properties of different models. Learning is done iteratively based only on observation of input-output relationship, unlike most other control schemes. Related simulations are carried out to validate the efficiency of the proposed mapping method.
Bookmarks Related papers MentionsView impact
A haptic feedback device is a device that establishes a kinaesthetic link between a human operato... more A haptic feedback device is a device that establishes a kinaesthetic link between a human operator and a computer-generated environment. This paper addresses the bidirectional coupling between a commercial off-the-shelf (COTS) haptic feedback device and a general-purpose modelling and simulation environment. In particular, an open-source library is developed to couple the Force Dimension omega.7 haptic device with the 20-sim modelling and simulation environment. The presented coupling interface is also compatible with all the different haptic devices produced by Force Dimension. The proposed integrated haptic interface makes it possible to track the user’s motion, detect collisions between the user-controlled probe and virtual objects, compute reaction forces in response to motion or contacts and exert an intuitive force feedback on the user. A real-time one-to-one correspondence between reality and virtual reality can be transparently created. This allows for a variety of possible applications. Stability issues, performance issues, design and virtual prototyping challenges can be addressed and investigated for research purposes. In addition, design and virtual prototyping are also of interest to industry. Realistic training environments can be developed for the user considering different possible operations and stressing the importance of usability and user experience. Experiments based on using haptics technology in the field of education can also be easily performed. To demonstrate the potential of the proposed coupling, a case study is presented. Related simulations and experimental results are carried out.
Bookmarks Related papers MentionsView impact
A wearable integrated health-monitoring system is presented in this paper. The system is based on... more A wearable integrated health-monitoring system is presented in this paper. The system is based on a multi-sensor fusion approach. It consists of a chest-worn device that embeds a controller board, an electrocardiogram (ECG) sensor, a temperature sensor, an accelerometer, a vibration motor, a colour-changing light-emitting diode (LED) and a push-button. This multi-sensor device allows for performing biometric and medical monitoring applications. Distinctive haptic feedback patterns can be actuated by means of the embedded vibration motor according to the user’s health state. The embedded colour-changing LED is employed to provide the wearer with an additional intuitive visual feedback of the current health state. The push-button provided can be pushed by the user to report a potential emergency condition. The collected biometric information can be used to monitor the health state of the person involved in real-time or to get sensitive data to be subsequently analysed for medical diagnosis. In this preliminary work, the system architecture is presented. As a possible application scenario, the health-monitoring of offshore operators is considered. Related initial simulations and experiments are carried out to validate the efficiency of the proposed technology. In particular, the system reduces risk, taking into consideration assessments based on the individual and on overall potentially-harmful situations.
Bookmarks Related papers MentionsView impact
This paper presents the development of an open-source low-cost framework for a fully-immersive ha... more This paper presents the development of an open-source low-cost framework for a fully-immersive haptic, audio and visual experience. This framework is realised by exclusively adopting commercial off-the-shelf (COTS) components and tools. In particular, vibration actuators and open-source electronics are employed in the design of a pair of novel and inexpensive haptic gloves. These gloves allow for establishing a kinesthetic link between a human operator interacting with a computer-generated environment. Remote touch applications are possible. In the context of Smart Cities, this technology may be adopted to enhance the interface between nature and culture by stimulating the senses or as a complement to the landscape.
Bookmarks Related papers MentionsView impact
The Offshore Simulator Centre AS (OSC) is the world's most advanced provider of simulators for de... more The Offshore Simulator Centre AS (OSC) is the world's most advanced provider of simulators for demanding offshore operations. However, even though the OSC provides very powerful simulation tools, it is mainly designed for training purposes and it does not inherently offer any flexible methods concerning the control methodology. In fact, each crane model is controlled with a dedicated control algorithm that cannot be modified, accessed, or replaced at runtime. As a result, it is not possible to dynamically switch between different control methods, nor is it possible to easily investigate alternative control approaches. To overcome these problems, a flexible and general control system architecture that allows for modelling flexible control algorithms of maritime cranes and more generally, robotic arms, was previously presented by our research group. However, in the previous work, a generic game engine was used to visualise the different models. In this work, the flexible and general control system architecture is integrated with a crane simulator developed by the OSC taking full advantage of the provided domain-consistent simulation tools. The Google Protocol Buffers protocol is adopted to realise the communication protocol. This integration establishes the base for the research of alternative control algorithms, which can be efficiently tested in a realistic maritime simulation environment. As a validating case study, an alternative control method based on particle swarm optimisation (PSO) is also presented. Related simulations are carried out to validate the efficiency of the proposed integration.
Bookmarks Related papers MentionsView impact
The problem of identification and isolation of dangerous zones in offshore installations is inves... more The problem of identification and isolation of dangerous zones in offshore installations is investigated in this preliminary work. A node positioning algorithm is implemented in order to track and identify the operational movements on board the vessel. This implementation is realised with an XBee network that uses a trilateration method, making it possible to actively monitor and dynamically identify several on board zones in different operational scenarios. The crew members can be given varying degrees of access permissions in accordance with their job duties. In this way, access to dangerous areas can be easily controlled in a modular fashion.
Subsequently, the user’s risk perception is considered. Traditionally, the responsibility of proper hazard identification is placed on the operators. For this reason, more attention is being given to the way that people think, feel and behave in response to risk. Risk is perceived differently by different people, and in this sense, the user’s experience and therefore ability to perceive risk can be greatly improved with the use of haptics. Haptic feedback, also known as haptics, is the use of the sense of touch in a user interface designed in such a way as to provide the user (operator) with additional information. In this work, a vibration motor is embedded in the operator’s helmet, thus providing intuitive haptic feedback. The operator perceives different types of risks according to the surrounding areas due to the integration of this technology with the XBee-based positioning algorithm and by using distinctive feedback patterns.
Related experiments are carried out to validate the efficiency of the proposed technology. In particular, the presented approach demonstrates a great potential for an effective risk reduction from both an individual as well as an overall evaluation of the potential harm.
Bookmarks Related papers MentionsView impact
Proceeding of the IEEE Canadian Conference on Electrical and Computer Engineering (CCECE 2015), Halifax, Canada. 2015, 1588–1593., May 6, 2015
In this work, a framework is presented that makes it possible to reproduce the challenging operat... more In this work, a framework is presented that makes it possible to reproduce the challenging operational scenario of controlling offshore cranes via a laboratory setup. This framework can be used for testing different control methods and for training purposes. The system consists of an industrial robot, the Kuka KR 6 R900 SIXX (KR AGILUS) manipulator and a motion platform with three degrees of freedom. This work focuses on the system integration. The motion platform is used to simulate the wave effects, while the robotic arm is controlled by the user with a joystick. The wave contribution is monitored by means of an accelerometer mounted on the platform and it is used as a negative input to the manipulator’s control algorithm so that active heave compensation methods can be achieved. Concerning the system architecture, the presented framework is built on open-source software and hardware. The control software is realised by applying strict multi-threading criteria to meet demanding real-time requirements.
Related simulations and experimental results are carried out to validate the efficiency of the proposed framework. In particular, it can be certified that this approach allows for an effective risk reduction from both an individual as well as an overall evaluation of the potential harm.
Bookmarks Related papers MentionsView impact
Proceeding of the IEEE International Conference on Industrial Technology (ICIT), Seville, Spain. 2015, 524–529., Mar 2015
ModGrasp, an open-source virtual and physical rapid-prototyping framework that allows for the des... more ModGrasp, an open-source virtual and physical rapid-prototyping framework that allows for the design, simulation and control of low-cost sensorised modular hands, was previously introduced by our research group. ModGrasp combines the rapid-prototyping approach with the modular concept, making it possible to model different manipulator configurations. Virtual and physical prototypes can be linked in a real-time one-to-one correspondence. In this work, the ModGrasp communication pattern is improved, becoming more modular, reliable and robust. In the previous version of the framework, each finger of the prototype was controlled by a separate controller board. In this work, each module, or finger link, is independent, being controlled by a self-reliant slave controller board. In addition, a newly redesigned multi-threading and multi-level software architecture with a hierarchical logical organisation is presented. In this regard, a new programming paradigm is delineated. The new architecture opens up to a variety of possible applications. As a case study, a mind-controlled, low-cost modular manipulator is presented. In detail, the user's levels of attention and meditation are monitored by using an electroencephalography (EEG) headset, the NeuroSky MindWave. These levels are used as inputs to control the hand. Since the manipulator features 11 DOFs, a synergistic control approach is chosen to map inputs with outputs with such a different dimensionality. Related simulations and experimental results are carried out.
Bookmarks Related papers MentionsView impact
In this paper we present a controller for under-actuated underwater vehicles with current estimat... more In this paper we present a controller for under-actuated underwater vehicles with current estimation. A new approach is proposed where the complete model of the vehicle is split into two separate control plant models. The main design objective behind this strategy is to reduce the effect of the destabilizing Coriolis and centripetal forces and moments, which represent a significant challenge
Bookmarks Related papers MentionsView impact
In this paper we present a six-DOF output-feedback control system for high-speed maneuvering of a... more In this paper we present a six-DOF output-feedback control system for high-speed maneuvering of an underwater vehicle with position and angle measurements only. The observer is designed and analyzed using a passivity-based control method. The main idea of this strategy, which has been commonly applied in electronics and robot applications, is to construct the closed loop system according to a desired energy function, and in addition add damping to assure asymptotic stability. Furthermore, by using backstepping technique in the controller design, simple solutions to the output-feedback control problem has been shown to exist. The case study is the Minesniper MkII, a low cost, torpedo shaped ROV developed by Kongsberg ASA. Simulations show that the control system is robust to external disturbances and measurement noise and provides satisfactory tracking results
Bookmarks Related papers MentionsView impact
IEEE Transactions on Control Systems Technology, 2000
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
This paper presents a model of the kinematics and dynamics of a planar, wheelless snake robot aim... more This paper presents a model of the kinematics and dynamics of a planar, wheelless snake robot aimed at control design and stability analysis purposes. The proposed model is significantly less complex than existing models of planar snake robot locomotion. The paper presents an analysis of an existing complex snake robot model which reveals a set of essential properties that characterize the overall motion of a planar snake robot. The proposed model is developed to capture only these essential properties of snake locomotion, thereby significantly reducing the complexity compared to the original model used in the analysis. The paper presents simulation results that indicate that the qualitative behaviour of the proposed model and the original complex model are similar, and that a quantitative similarity is achieved with a proper choice of numerical values of the friction coefficients in the two models.
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
Uploads
Papers by Kristin Pettersen
By using a low-cost sensing approach, functions for torque sensing at the joint level, sensitive collision detection and joint compliant control are possible. A 3-D visualization environment provides the user with an intuitive visual feedback.
As a case study, a three-fingered modular manipulator is presented. Related simulations are carried out to validate efficiency and flexibility of the proposed rapid-prototyping framework.
Subsequently, the user’s risk perception is considered. Traditionally, the responsibility of proper hazard identification is placed on the operators. For this reason, more attention is being given to the way that people think, feel and behave in response to risk. Risk is perceived differently by different people, and in this sense, the user’s experience and therefore ability to perceive risk can be greatly improved with the use of haptics. Haptic feedback, also known as haptics, is the use of the sense of touch in a user interface designed in such a way as to provide the user (operator) with additional information. In this work, a vibration motor is embedded in the operator’s helmet, thus providing intuitive haptic feedback. The operator perceives different types of risks according to the surrounding areas due to the integration of this technology with the XBee-based positioning algorithm and by using distinctive feedback patterns.
Related experiments are carried out to validate the efficiency of the proposed technology. In particular, the presented approach demonstrates a great potential for an effective risk reduction from both an individual as well as an overall evaluation of the potential harm.
Related simulations and experimental results are carried out to validate the efficiency of the proposed framework. In particular, it can be certified that this approach allows for an effective risk reduction from both an individual as well as an overall evaluation of the potential harm.
By using a low-cost sensing approach, functions for torque sensing at the joint level, sensitive collision detection and joint compliant control are possible. A 3-D visualization environment provides the user with an intuitive visual feedback.
As a case study, a three-fingered modular manipulator is presented. Related simulations are carried out to validate efficiency and flexibility of the proposed rapid-prototyping framework.
Subsequently, the user’s risk perception is considered. Traditionally, the responsibility of proper hazard identification is placed on the operators. For this reason, more attention is being given to the way that people think, feel and behave in response to risk. Risk is perceived differently by different people, and in this sense, the user’s experience and therefore ability to perceive risk can be greatly improved with the use of haptics. Haptic feedback, also known as haptics, is the use of the sense of touch in a user interface designed in such a way as to provide the user (operator) with additional information. In this work, a vibration motor is embedded in the operator’s helmet, thus providing intuitive haptic feedback. The operator perceives different types of risks according to the surrounding areas due to the integration of this technology with the XBee-based positioning algorithm and by using distinctive feedback patterns.
Related experiments are carried out to validate the efficiency of the proposed technology. In particular, the presented approach demonstrates a great potential for an effective risk reduction from both an individual as well as an overall evaluation of the potential harm.
Related simulations and experimental results are carried out to validate the efficiency of the proposed framework. In particular, it can be certified that this approach allows for an effective risk reduction from both an individual as well as an overall evaluation of the potential harm.