This paper reviews the design and development of a human arm-like mechanical manipulator, which is the basis of research currently being undertaken at Lancaster University, in order to address the complex tasks found ...
详细信息
ISBN:
(纸本)9728865600
This paper reviews the design and development of a human arm-like mechanical manipulator, which is the basis of research currently being undertaken at Lancaster University, in order to address the complex tasks found in the rapidly expanding field of nuclear decommissioning. The requirements of multi-arm robot architecture for use in decommissioning tasks are discussed. The manipulators are integrated to work cooperatively and perform similar functions to humans in both scale and dexterity. The role that automation and robotics can play in enabling quicker demolition and at the same time reducing the exposure of workers to harmful radiation is examined. The key issues surrounding radioactive materials and safe dose levels are explained. The different stages of a particular system engineering process are outlined together with the essential physical steps. The paper will conclude by identifying the compliance of the system engineering used here with the requirements of designing a multi-arm robot.
The autonomous robot formation maintenance problem can be approached by considering local information only. This approach is more realistic than using global information, but presents a troop deformation drawback. Thi...
详细信息
ISBN:
(纸本)9728865600
The autonomous robot formation maintenance problem can be approached by considering local information only. This approach is more realistic than using global information, but presents a troop deformation drawback. This paper performs a step forward in local information usage for formation maintenance by analyzing a parameterization of different basic behaviors. Formation maintenance emerges from the combination of these simple behaviors, and its overall accuracy is empirically optimized by tuning behavior parameters. In particular, we study and characterize three different formations: queue or column (as for ants), inverted V or wedge (as for birds or planes) and rectangle (for manipulus antique roman troop formations). This paper describes simulated robots that incorporate a unique set of basic behaviors from which formation maintenance emerges. These simple behaviors provide formation robustness and are parameterized in order to minimize deformation while following a trajectory.
We present a distributed control architecture for the integration of an experimental robotic cell with 3D visual servoing. This architecture allows us to control a 6 DOF robot in hard Real-Time and the global experime...
详细信息
ISBN:
(纸本)9728865600
We present a distributed control architecture for the integration of an experimental robotic cell with 3D visual servoing. This architecture allows us to control a 6 DOF robot in hard Real-Time and the global experimental system in soft Real-Time. We have developed distributed applications, based on this architecture, for the robot control (whose characteristics permit us to teleoperate the robot), the 3D data acquisition and for an advanced simulation and visualization. These applications, together with the algorithms developed by our computer vision research group, allow a full intelligent robotic manipulation in complex scenes to be made. This can be useful in manufacturing environments where an automated piece manipulation is necessary.
There is ongoing research and development in the field of hybrid position and force control of the assembly robots at the Department of automation and Applied informatics and the Department of control Engineering and ...
详细信息
ISBN:
(纸本)9728865600
There is ongoing research and development in the field of hybrid position and force control of the assembly robots at the Department of automation and Applied informatics and the Department of control Engineering and Information Technology, Budapest University of Technology and Economics. As result, an Experimental Robot controller was built for the special needs of the project. Both the hardware and the software system of the controller are under continuous development. The most recent achievement is, a built in six-component force-torque sensor. The development of the software system is currently dealing with the extension of the programming environment with force-torque control possibilities. There are numerous industrial applications for force and torque control (i.e. screw driver, welder), but a flexible equipment can provide much more than just the possibility of solving a single task. This paper presents an overview of the robot controller hardware, separately detailing the force-torque sensor interface. The second part of this paper overviews the software system of the controller and the possibilities of its extensions for force control tasks.
Studies on human visual perception measurement for perceptual robotics are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual data from an environm...
详细信息
ISBN:
(纸本)9728865600
Studies on human visual perception measurement for perceptual robotics are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual data from an environment. The measurement involves visual openness perception in virtual reality, which has direct implications for navigation issues of actual autonomous robotics. The perception is quantified by means of a mapping function which converts a distance to an elemental perception estimate. The measurement is carried out with the averaging of the elemental perceptions in real time. This is accomplished by means of exponential averaging. The mapping function parameters are optimized uniquely by means of genetic algorithm approach where the data set for model development consists of a number of perception data samples. These are obtained from individuals who are confronted with a number of scenes and asked for their perceptual openness statements. Based on this data, a perception model is developed for a virtual robot where the simulated vision interaction of the robot with the environment is converted to visual openness estimation through the model output. The model outcome is essential visual information for the navigation of an autonomous perceptual robot.
Haar's Lemma (1918) provides the algebraic characterization of the inclusion of polyhedral sets. This Lemma has been involved many times in automatic control of linear dynamical systems when the constraint domains...
详细信息
ISBN:
(纸本)9728865619
Haar's Lemma (1918) provides the algebraic characterization of the inclusion of polyhedral sets. This Lemma has been involved many times in automatic control of linear dynamical systems when the constraint domains (state and/or control) are polyhedrons. More recently, this Lemma has been used to characterize stochastic comparison w.r.t linear orderings of Markov chains with different state spaces. Stochastic comparison is involved in the simplification of complex stochastic systems in order to control the approximation error made. In this paper we study the positive invariance of a max-plus ellipsoid by a max-plus linear dynamical system. We remark that to derive sufficient condition for the positive invariance. As an application we propose a method to compute a static state feedback control.
Reinforcement learning is an extremely useful paradigm which is able to solve problems in those domains where it is difficult to get a set of examples of how the system should work. Nevertheless, there are important p...
详细信息
ISBN:
(纸本)9728865600
Reinforcement learning is an extremely useful paradigm which is able to solve problems in those domains where it is difficult to get a set of examples of how the system should work. Nevertheless, there are important problems associated with this paradigm which make the learning process more unstable and its convergence slower. In our case, to overcome one of the main problems (exploration versus exploitation trade off), we propose a combination of reinforcement learning with genetic algorithms, where both paradigms influence each other in such a way that the drawbacks of each paradigm are balanced with the benefits of the other. The application of our proposal to solve a problem in mobile robotics shows its usefulness and high performance, as it is able to find a stable solution in a short period of time. The usefulness of our approach is highlighted through the application of the system learnt through our proposal to control the real robot.
In this paper, we present the design and implementation of a multi-robot cooperation framework to collectively execute inter-dependent tasks of an overall complex mission requiring diverse capabilities. Given a hetero...
详细信息
ISBN:
(纸本)9728865600
In this paper, we present the design and implementation of a multi-robot cooperation framework to collectively execute inter-dependent tasks of an overall complex mission requiring diverse capabilities. Given a heterogeneous team of robots and task dependencies, the proposed framework provides a distributed mechanism for assigning tasks to robots in an order that efficiently completes the mission. The approach is robust to unreliable communication and robot failures. It is a distributed auction-based approach, and therefore scalable. In order to obtain optimal allocations, effective bid evaluations are needed. Additionally to maintain optimality in noisy environments, dynamic re-allocations of tasks are needed as implemented in dynamic task selection and coalition maintenance scheme that we propose. Real-time contingencies are handled by recovery routines, called Plan B precautions in our framework. Here, in this paper, we present performance results of our framework for robustness in simulations that include variable message loss rates and robot failures. Experiments illustrate robustness of our approach against several contingencies.
A person usually does not consider the car sitting in their driveway to be on the leading edge of new technology. However, for most people, the personal automobile has now become their initial exposure to new intellig...
详细信息
ISBN:
(纸本)9728865600
A person usually does not consider the car sitting in their driveway to be on the leading edge of new technology. However, for most people, the personal automobile has now become their initial exposure to new intelligent computational technologies such as fuzzy logic, neural networks, adaptive computing, voice recognition and others. In this paper we will discuss the various intelligent vehicle systems that are now being deployed into motor vehicles. These intelligent system applications impact every facet of the driver experience and improve both vehicle safety and performance. We will also describe recent developments in autonomous vehicle design and demonstrate that this type of technology is not that far away from deployment. Other applications of intelligent system design apply to adapting the vehicle to the driver's preferences and helping the driver stay aware. The automobile industry is very competitive and there are many other new advances in vehicle technology that cannot be discussed yet. However, this paper provides an introduction into those technologies that have already been announced or deployed and shows how the automobile has evolved from a basic transportation device into an advanced vehicle with a host of on-board computational technologies.
A radically new approach will be described for the fully distributed and dynamic management of advanced crisis relief operations and missions. It is based on the installation of a universal "social" module i...
详细信息
ISBN:
(纸本)9728865597
A radically new approach will be described for the fully distributed and dynamic management of advanced crisis relief operations and missions. It is based on the installation of a universal "social" module in many existing and massively used data processing and control devices, including (but not limited to) internet hosts, laptops, mobile robots and mobile phones. These modules can collectively interpret a special scenario language while exchanging higher-level program code with accompanying data and control in parallel. This can dynamically integrate any scattered post-disaster human and technical resources into an operable distributed system which, from one side, is effectively supervised externally, and from the other side, is capable of solving complex self-analysis, coordination, survivability, relief, and reconstruction problems autonomously.
暂无评论