Guo Ben Yang

Bio: Guo Ben Yang is an academic researcher from University of Minnesota. The author has contributed to research in topics: Parallel manipulator & Mobile manipulator. The author has an hindex of 3, co-authored 4 publications receiving 1654 citations.

The Minnesota Scanner: a prototype sensor for three-dimensional tracking of moving body segments

Abstract: An advanced method for tracking the three-dimensional motion of bodies is presented This system, which is presently being used for human motion tracking, has the potential for dynamically characterizing robot motion and also provides a means for facilitating robot endpoint control Three rotating planes of laser light, fixed and moving photovoltaic diode targets, and a pipelined architecture composed of analog and digital electronics are used to locate multiple targets whose number is only limited by available computer memory Data collection rates are a function of the laser scan rotation speed and are selectable up to 480 Hz The tested performance on a preliminary prototype designed for 01-in accuracy at a 480-Hz data rate includes a resolution of 08 mm, a repeatability of +or-0636 mm, and an absolute accuracy of +or-20 mm within an eight cubic meter volume with all results applicable at the 95% level of confidence along each coordinate direction The system can be used to reduce XYZ target position data to body angular orientation which, for this first prototype, ranges in accuracy from +or-05 degrees to +or-1 degrees Moving targets can be tracked at speeds exceeding 1 m/s with signal integrity tested but not limited to 25-Hz motions >

Dynamic model of two-link robot manipulator with both structural and joint flexibility

Abstract: Equations were developed which describe the motion of a robot manipulator which incorporates both structural and joint flexibility. The emphasis was on the dynamic model of a one-link flexible manipulator to show how critical it is to incorporate joint flexibility and to demonstrate the significance of cross coupling among state variables for small deflection. A set of decoupled dynamic equations was obtained based on the assumed-mode method and on orthogonality relations. By comparison to a model which incorporates cross coupling, it was shown that it is sufficiently accurate to use the decoupled dynamic equations for small joint and structural deflections. Simulations of varying joint stiffness characteristics indicates that there is no rigid mode for the flexible joint system. As such, both structural and joint flexibility must be considered in the analysis and control of such systems.<>

PEFU?(IRM?+N(E aF THE MTNNESdA SCANNER: A PROTOTYPE FOR 3-D TPACKING OF M2VING BODY SEWNl'S

Abstract: An advanced method of tracking the threedimensional motion of bodies has been developed. This system has the potential of dynamically characterizing robot motion and facilitating their end-point control. Three rotating planes of laser light, fixed and moving photowltaic diode targets , and a pipe-lined architecture of analog and digital electronics are used to locate multiple targets whose number is only limited by available canputer memory. Data collection rates are a function of the laser scan rotation speed and are currently selectable up to 480 hz. The tested performance on a preliminary prototype designed for 0.1 in accuracy (for tracking human motion) at a 480 hz data rate includes a resolution of 0.8 mm (0.03 inches), a repeatability of 50. 635 mm (3.025 inches) , and an absolute accuracy of +2. Onnn (40.08 inches) within an eight cubic meter wlume with all results applicable at

Turbulence, Coherent Structures, Dynamical Systems and Symmetry

Abstract: Preface Part I. Turbulence: 1. Introduction 2. Coherent structures 3. Proper orthogonal decomposition 4. Galerkin projection Part II. Dynamical Systems: 5. Qualitative theory 6. Symmetry 7. One-dimensional 'turbulence' 8. Randomly perturbed systems Part III. 9. Low-dimensional Models: 10. Behaviour of the models Part IV. Other Applications and Related Work: 11. Some other fluid problems 12. Review: prospects for rigor Bibliography.

A new location technique for the active office

Abstract: Configuration of the computing and communications systems found at home and in the workplace is a complex task that currently requires the attention of the user. Researchers have begun to examine computers that would autonomously change their functionality based on observations of who or what was around them. By determining their context, using input from sensor systems distributed throughout the environment, computing devices could personalize themselves to their current user, adapt their behaviour according to their location, or react to their surroundings. The authors present a novel sensor system, suitable for large-scale deployment in indoor environments, which allows the locations of people and equipment to be accurately determined. We also describe some of the context-aware applications that might make use of this fine-grained location information.

Fog Computing: A Platform for Internet of Things and Analytics

Abstract: Internet of Things (IoT) brings more than an explosive proliferation of endpoints. It is disruptive in several ways. In this chapter we examine those disruptions, and propose a hierarchical distributed architecture that extends from the edge of the network to the core nicknamed Fog Computing. In particular, we pay attention to a new dimension that IoT adds to Big Data and Analytics: a massively distributed number of sources at the edge.

Recent Research in Cooperative Control of Multivehicle Systems

Abstract: This paper presents a survey of recent research in cooperative control of multivehicle systems, using a common mathematical framework to allow different methods to be described in a unified way. The survey has three primary parts: an overview of current applications of cooperative control, a summary of some of the key technical approaches that have been explored, and a description of some possible future directions for research. Specific technical areas that are discussed include formation control, cooperative tasking, spatiotemporal planning, and consensus.

A survey on motion prediction and risk assessment for intelligent vehicles

Abstract: With the objective to improve road safety, the automotive industry is moving toward more “intelligent” vehicles. One of the major challenges is to detect dangerous situations and react accordingly in order to avoid or mitigate accidents. This requires predicting the likely evolution of the current traffic situation, and assessing how dangerous that future situation might be. This paper is a survey of existing methods for motion prediction and risk assessment for intelligent vehicles. The proposed classification is based on the semantics used to define motion and risk. We point out the tradeoff between model completeness and real-time constraints, and the fact that the choice of a risk assessment method is influenced by the selected motion model.