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检索条件"任意字段=2024 International Conference on Intelligent Robotics and Automatic Control"

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The role of sensing in motion stability of mobile robots

The role of sensing in motion stability of mobile robots

引用

international conference on Multisensor Fusion and Integration for intelligent Systems (MFI)

作者： Jindong Tan Ning Xi Wei Kang Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA Mathematics Department Naval Postgraduate School Monterrey CA USA

Generally, mobile robots are equipped with several kinds of sensors for locomotion environmental detection, etc. This paper presents a hybrid control system framework which considers a non-time based mobile robot controller and a discrete event controller combined with sensor fusion. The non-time based mobile robot controller supervised by the discrete event controller can track desired path while detecting and avoiding obstacles. This system structure has been implemented on a mobile robot. Experimental results demonstrate advantages of the proposed method.

关键词： Stability Mobile robots Robot control Robot sensing systems automatic control control systems Robot kinematics Sensor fusion Shape measurement robotics and automation

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Transfer of human control strategy based on similarity measure

Transfer of human control strategy based on similarity measu...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Jinyan Song Yangsheng Xu M.C. Nechyba Y. Yam Chinese University of Hong Kong New Territories HK The Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Mechanical and Automation Engineering Chinese University of Hong Kong New Territories Hong Kong China Department of Electrical and Computer Engineering University of Florida Gainesville FL USA

We address the problem of transferring human control strategies (HCS) from an expert model to an apprentice model. The proposed algorithm allows us to develop useful apprentice models that incorporate some of the robust aspects of the expert HCS models. We first describe our experimental platform, a real-time graphic driving simulator, for collecting and modeling human control strategies. Then, we discuss an adaptive neural network learning architecture for abstracting HCS models. Next, we define a hidden Markov model (HMM) based similarity measure which allows us to compare different human control strategies. This similarity measure is combined subsequently with simultaneously perturbed stochastic approximation to develop our proposed transfer learning algorithm. In this algorithm, an expert HCS model influences both the structure and the parametric representation of the eventual apprentice HCS model. Finally, we describe some experimental results of the proposed algorithm.

关键词： Humans Hidden Markov models Stochastic processes automatic control robotics and automation Neural networks Approximation algorithms intelligent robots Systems engineering and theory Research and development management

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Smart reconfigurable miniature vision system for mobile robots

Smart reconfigurable miniature vision system for mobile robo...

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international conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.B. Martinez E.X. Martin C. Torrens J.M. Ibanez Department of Automatic Control and Computer Engineering Universitat Poliltècnica de Catalunya Barcelona Spain Institute of Industrial Robotics Universitat Poliltècnica de Catalunya Barcelona Spain

The robot vision system presented consists of a PCB with a hardware-reconfigurable image processor, and a PCB with a standard commercial microprocessor. The microprocessor board interfaces with the host robot, configures the hardware of the image processor and runs the high-level image algorithms. Both boards occupy a volume of 10/spl times/10/spl times/3 cm/sup 3/ and consume less than 1A.

关键词： Machine vision Mobile robots intelligent sensors Service robots Robot vision systems Computer vision Microprocessors Hardware Robot sensing systems robotics and automation

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The path planning of mobile manipulator with genetic-fuzzy controller in flexible manufacturing cell

The path planning of mobile manipulator with genetic-fuzzy c...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Ma Xiaowei Yili Fu Yufei Yuan Wang Wei Ma Yulin Cai Hegao Robot Research Institute Harbin Institute of Technology Harbin China DeGroote School of bus. Mcmaster University Michael G. ONT Canada

This paper presents a new intelligent path planning method for motions of the mobile manipulator in flexible manufacturing cell. It simulates the way of human actions to control the mobile manipulator according to a master-slave hierarchical control strategy. The method can find path using the genetic fuzzy controller (GFC) while in moving, and switch to the collision-free path planner based on the critical collision joint angle (CCJA) and DA* algorithms when in requirement of performing the tasks such as load or unload. In this paper, the GFC is developed to automatically generate the fuzzy if-then rules from samples. In addition, a new modeling approach for manipulator is presented. It is called the c-space modeling based on CCJA. Using this technique, the computation time and memory space are greatly reduced. Moreover, a modified DA* algorithm with dynamic step-changeable and goal-visible-test is also used to accelerate the search process. Simulation results of the mobile manipulator performing object transporting task show the method presented is feasible.

关键词： Path planning Switches Manipulator dynamics Flexible manufacturing systems Pulp manufacturing Humans Master-slave Genetics Fuzzy control automatic control

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control of a multi-fingered robotic hand using a method of blocks

Control of a multi-fingered robotic hand using a method of b...

引用

international conference on Information Intelligence and Systems

作者： S.M. Spano N. Bourbakis Department Electrical Engineering Intelligent Robotic & Applied AI Research Laboratory Binghamton University Binghamton NY USA

The control of a mechanical robotic hand is plagued by an inability to derive accurate dynamic models of such a mechanism. The aspects of static and kinetic friction are major obstacles in the control of a mechanical hand. This paper presents a fuzzy-based controller which has the ability to automatically regenerate the member set during the translation of any arbitrary joint in such a mechanism. A series of simulations has been conducted which illustrate the effectiveness of this controller for providing smooth translation, independent of frictional forces. This controller is applied to a custom-designed hand mechanism and is capable of operating via an IBM compatible computer. A hand with a progressively linked finger structure is used for simplicity. An acquisition system has also been designed which allows bi-directional communication with the sensors and actuators of the hand.

关键词： Robots automatic control Communication system control robotics and automation Kinetic theory Friction Computational modeling Force control Fingers Bidirectional control

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Development of a user-friendly polishing robot system

Development of a user-friendly polishing robot system

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Proceedings 1999 IEEE/RSJ international conference on intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： Min Cheol Lee Seok Jo Go Jin Young Jung Man Hyung Lee Research Institute of Mechanical Technology Mechanical Engineering Pusan National University busan South Korea

Polishing work of a freely-curved surface die demands simple and repetitive operations but requires a considerable amount of time for high precision. Some workers tend to gradually avoid the polishing work because of the poor environment caused by dust and noise. In order to reduce the polishing time and solve the problem of the shortage of skilled workers, an automatic polishing system should be developed. In this study, a user-friendly automatic polishing system was developed. It is composed of two different systems: a three-axis machining center and a two-axis polishing robot. The developed polishing system with five degrees of freedom is able to keep the polishing tool normal to the die surface. In order to operate the polishing system, the host computer should transmit the polishing data to the FANUC controller of the machining center and DSP controller of the polishing robot, respectively. A driving program (P-PROS: Pusan National University-polishing robot operating system) in the Windows environment was developed to easily operate the polishing robot system. A communication program was developed for transmitting the polishing data to each controller. To evaluate the performance of the P-PROS and the developed DSP (digital signal processing) controller, a polishing experiment on the shadow-mask die was done.

关键词： Robots Communication system control Digital signal processing Milling machines control systems Working environment noise robotics and automation Operating systems Digital control Process control

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Hybrid drive parallel arm for heavy material handling

Hybrid drive parallel arm for heavy material handling

引用

IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： K. Yuasa T. Arai Y. Mae K. Inoue K. Miyawaki N. Koyachi Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan Hitachi Zosen Company Limited Japan Mechanical Engineering Laboratory Japan

A new hybrid cylinder/wire drive parallel arm (simply called "a hybrid arm") for manipulating heavy materials in construction and ship building works is proposed. Various hybrid arms with different combination of cylinders and wires are compared with the conventional Stewart platform and a multiwire drive mechanism. Their workspaces considering orientation are evaluated. The most suitable hybrid arm for heavy material handling is the mechanism with three cylinders, four wires, and one connecting rod between the cylinders and the end plate. This hybrid arm is modified into a mechanism with a variable length rod for the application of manipulating a precasting concrete board with a size of 3/spl times/6/spl times/0.2 m/sup 3/ and a weight of 10 t which is used in automatic building construction systems; a prototype of this arm has been designed and developed.

关键词： Materials handling Wire Cranes Engine cylinders Robot kinematics robotics and automation Buildings Humans automatic control Couplings

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A model for the organization level of intelligent machines 15

A model for the organization level of intelligent machines

引用

IEEE international conference on robotics and Automation

作者： Varvatsoulakis, MN Saridis, G Paraskevopoulos, PN Natl Tech Univ Athens Dept Elect Engn GR-15773 Athens Greece

ISBN: (纸本)078034300X

A model for the Organization level of a class of intelligent Machines suitable for industrial applications is established. This model based on the theory of Hierarchically intelligent control Systems developed by Saridis combines the powerful high level decision making with advanced mathematical modeling and synthesis techniques of system theory and methods of dealing with imprecise or incomplete environment information.

关键词： Artificial intelligence automatic control control systems Decision making Entropy intelligent control intelligent robots Machine intelligence Mathematical model Power system modeling

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Analysis of linguistic fuzzy control for curved-path-following autonomous vehicles 15

Analysis of linguistic fuzzy control for curved-path-followi...

引用

IEEE international conference on robotics and Automation

作者： Fung, YH Tso, SK City Univ Hong Kong Ctr Intelligent Design Automat & Mfg Hong Kong Hong Kong

ISBN: (纸本)078034300X

Linear controllers perform well for straight-line path-following autonomous vehicles. For curved paths, significant large errors may result. These can be improved using two linguistic fuzzy-logic controllers (FI;Cs) even in the presence of inaccurate measurement of path curvature. One of the FLCs is used for accounting for the path curvature. Using a recently developed linear-to-fuzzy (LIN2FUZ) algorithm, the synthesis of the linguistic FLCs is readily achieved. Also using another recently-developed equivalent transformation (ET) algorithm, the stability analysis of the linguistic FLCs can be carried out based on a Lyapunov function which is obtained using the linear-matrix-inequality (LMI) method. Experimental results are presented to illustrate the effectiveness of the proposed FLCs.

关键词： automatic control Design automation Fuzzy control Fuzzy logic intelligent vehicles Manufacturing automation Mercury (metals) Mobile robots Remotely operated vehicles Stability analysis

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Robot driver for guidance of automatic Durability Road (ADR) test vehicles 15

Robot driver for guidance of Automatic Durability Road (ADR)...

引用

IEEE international conference on robotics and Automation

作者： Shoval, S Zyburt, JP Grimaudo, DW Technion Israel Inst Technol Fac Ind Engn & Management IL-32000 Haifa Israel

ISBN: (纸本)078034300X

A robot driver system that controls passenger vehicles and trucks in automatic Durability Road tests is presented. The robot controls the vehicle's speed, gears and steering according to a durability test protocol. Durability testing can be harsh on test drivers, while requiring consistent driving patterns. Automating the test by using a robot driver eliminates the need for an on-board driver and provides better test control. Up to 20 vehicles can travel simultaneously along the track, increasing the efficiency of the facility and reducing the overall test time. The robots perform the mechanical operations normally done by the human driver, with no intervention in the vehicle's internal systems. A radio network provides communication between the vehicles and the base station, while a traffic control manager synchronizes the vehicles' travel and transmits an updated path to each vehicle. The system has been successfully implemented and is operating at Chrysler Proofing Ground at Chelsea Michigan.

关键词： intelligent vehicle highway systems

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