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An electrorheological fluid damper for vibration control 15

An electrorheological fluid damper for vibration control

引用

15th IEEE international conference on robotics and automation, ICRA 1998

作者： Li, Jianjun Gruver, William A. Intelligent Robotics and Manufacturing System Laboratory School of Engineering Science Simon Fraser University BurnabyBCV5A 1S6 Canada

ISBN: (纸本)078034300X

A new electrorheological fluid joint damper based on orifice restriction has been developed for semi-active vibration control. the damper is capable of providing a continuously variable damping torque in response to an electric field. A mathematical model of the damper is developed and the influence of model parameters on the damping torque is analyzed. Performance tests show that the magnitude of the output torque increases 1.6 times within 10 milliseconds. ©1998 IEEE.

关键词： Damping

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A semi-autonomous robotic airship for environmental monitoring missions 15

A semi-autonomous robotic airship for environmental monitori...

引用

15th IEEE international conference on robotics and automation, ICRA 1998

作者： Elfes, A. Siqueira Bueno, S. Bergerman, M. Ramos, J.G. Automation Institute Informatics Technology Center Caixa Postal 6162 Campinas SP13083-970 Brazil

ISBN: (纸本)078034300X

this paper discusses Project AURORA (autonomous unmanned remote monitoring robotic airship) which focuses on the development of the control, navigation, sensing, and inference technologies required for substantially autonomous robotic airships. Our target application areas include the use of robotic airships for environmental, biodiversity, and climate research and monitoring. Based on typical mission requirements, we present arguments that favour airships over airplanes and helicopters as the ideal platforms for such missions. We outline the overall system architecture of the AURORA robotic airship, discuss its main subsystems, and mention the research and development issues involved. © 1998 IEEE.

关键词： Airships

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An open architecture for position and force control of robotic manipulators 5

An open architecture for position and force control of robot...

引用

5th IEEE international conference on Electronics, Circuits and Systems, ICECS 1998

作者： Baptista, Luis Martins, Jorge Cardeira, Carlos Costa, José Sá Da Technical University of Lisbon Instituto Superior Técnico Mechanical Engineering Department GCAR IDMEC Av. Rovisco Pais Lisboa Codex1096 Portugal

ISBN: (纸本)0780350081

In this paper a low cost open architecture PC-based axis controller for robotic applications is described. the system is based on an available low price commercial PC interface board and the controller software runs totally on a Pentium 100 MHz computer in order to control a robotic axis. the driving kernel of software for supervisory, management and control was developed in a high level language (C++) and enables the analysis of several position and force/position control strategies for research and practical applications. the experimental results for the given position and force trajectories reveal promising position and force tracking results for the experienced control algorithms. © 1998 IEEE.

关键词： robotics

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A robotics and computer vision virtual laboratory

A robotics and computer vision virtual laboratory

引用

international Workshop on Advanced Motion control (AMC)

作者： L.R. de Queiroz M. Bergerman R.C. Machado S.S. Bueno A. Elfes Informatics Technology Center Automation Institute Sao Paulo Brazil

Virtual laboratories are an important component of current and future distance education and research programs. In this article we present the current development status of the Brazilian robotics and Computer Vision Virtual Laboratory. this virtual laboratory was created in the aim to provide access to a mobile robot to researchers located anywhere in the world, for image processing and robot control and navigation methods testing and validation. the virtual laboratory is based on telepresence methods and the client-server architecture, and runs on any computer connected to the Internet. the work presented here is an important contribution that will help bring together geographically distant research groups and enhance the quality of the work done by researchers with scarce laboratorial resources.

关键词： Robot vision systems Computer vision Laboratories Distance learning Mobile robots Image processing Robot control Navigation Testing Computer architecture

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Hierarchical mechanisms for high-level modeling and simulation of digital systems

Hierarchical mechanisms for high-level modeling and simulati...

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5th IEEE international conference on Electronics, Circuits and Systems, ICECS 1998

作者： Machado, Ricardo Jorge Fernandes, João Miguel Proença, Alberto José Department of Informatics School of Engineering University of Minho Braga Codex4709 Portugal

ISBN: (纸本)0780350081

the main purpose of this paper is to present an useful set of hierarchical mechanisms of specification to model and simulate digital systems. the shobi-PN model (Synchronous, Hierarchical, Object-Oriented and Interpreted Petri Net), was developed to support the use of hierarchy to model both the control unit and the data path of the systems. Modeling of a pipelined architecture unit of a microprocessor is considered as a case study to illustrate the capabilities of the hierarchical mechanisms proposed. © 1998 IEEE.

关键词： Petri nets

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Force sensing in microrobotic systems - An overview

Force sensing in microrobotic systems - An overview

引用

5th IEEE international conference on Electronics, Circuits and Systems, ICECS 1998

作者： Fahlbusch, Stephan Fatikow, Sergej Institute for Process Control and Robotics University of Karlsruhe KarlsruheD-76128 Germany

ISBN: (纸本)0780350081

this paper describes methods of force sensing and gives a brief overview about applications of micro force sensors. Realisation of reliable force sensing during manipulation of microobjects is one of the important objectives of the current research activities. At present, the most common technique used for force sensing in micromanipulation is that of strain gauges;some of the proposed force sensors make use of the piezoelectric effect. Other promising methods for strain measurement are also explored, but in general, only few work is present in literature providing a basic and analytical description of force sensors for micromanipulation. However, these data are of fundamental importance for a proper functionality of microrobots capable of grasping with force feedback. © 1998 IEEE.

关键词： Piezoelectricity

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Intelligent robotic systems-from a single robot to multiple robotic system

Intelligent robotic systems-from a single robot to multiple ...

引用

international Workshop on Advanced Motion control (AMC)

作者： T. Fukuda N. Kubota Center for Cooperative Research in Advanced Science and Technology Department of Mechano-Informatics and Systems & Department of Mechano-Informatics and Systems &Department of Micro System Engineering University of Nagoya Nagoya Japan Department of Mechanical Engineering Osaka Institute of Technology Asahi Osaka Japan

there have been a lot of works on the improvement of the robotic performance. Nowadays a robot can work well under given constraints and environments. But the performance of a single robot might be limited and some needs more complex performance. To cope with the complex works, there are several approaches, such as more sophistication of a single robot and multiple robotics with different levels of capacities. In this paper, the multiple robotic system approach will show more flexibility and adaptability to various tasks and environments. the robots with different capacities, such as Cellular Robotic System (CEBOT), are one of the distributed autonomous robotic systems and consist of the heterogeneous system, thus can create intelligence for wider tasks. this paper describes these characteristics of the robotic system depending on the level.

关键词： Intelligent robots Intelligent systems Intelligent structures Robot sensing systems Orbital robotics Intelligent sensors Humans Path planning Artificial intelligence Trajectory

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Design and development of a legged robot research platform JROB-1

Design and development of a legged robot research platform J...

引用

IEEE international conference on robotics and automation (ICRA)

作者： S. Kagami M. Kabasawa K. Okada T. Matsuki Y. Matsumoto A. Konno M. Inaba H. Inoue Department of Mechano Informatics University of Tokyo Bunkyo Tokyo Japan

A legged robot "JROB-1" is developed for a robotics research platform as a result of inter-university research program on intelligent robotics supported by the Ministry of Education Grant-in-Aid for Scientific Research on Priority Areas in Japan. the JROB-1 features: 1) self-contained, 2) RT-Linux running on PG/AT processes vision and sensor processing, motion planning and control, 3) connected to a network via radio Ethernet as to utilize networked resources, 4) Fujitsu color tracking vision board and Hitachi general purpose vision processing board, 5) all parts are commercially available, and 6) it is extensible with respect to sensor, sensor processing hardware and software. JROB-1 is expected to be a common testbed for experiment and intelligent robotics research by integrating perception and motion.

关键词： Legged locomotion Intelligent robots Intelligent sensors Robot sensing systems Educational robots Sensor phenomena and characterization Educational programs Motion planning Process planning Motion control

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A generalised software control system for industrial robots

A generalised software control system for industrial robots

引用

international Workshop on Advanced Motion control (AMC)

作者： E.R. Morales M. Ricci A. Dosio Ec-Joint Research Centre Institute for Systems Informatics and Safety Varese Italy ERXA s. r. 1. Torino Italy

this paper presents an overview of the main features and the software architectural design of a generalised software control system for industrial robots, named GENERIS. After an introduction explaining the project history and its current development and exploitation state, the authors analyse the required capability and quality attributes for a modern motion control system for robotics workcells. this paper explains the functional model and the architectural design approach. Finally, the authors conclude with the GENERIS product organisation and the current and planned development activities.

关键词： Software systems control systems Computer industry Electrical equipment industry Industrial control Service robots Application software Motion control Hardware Software safety

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ATM network management with distributed transactional agents 5th

引用

5th international conference on Intelligence in Services and Networks, ISandN 1998

作者： Bjanger, Bjørn W. Solhaug, Anders Sintef Telecom and Informatics Norway

ISBN: (纸本)3540645985

this paper presents the ANTS (ATM Networking Transactional Society) architecture, the result of a study into the application of transactional semantics in ATM, performed by Sintef Telecom & informatics in the ACTS project ACTranS. With a centralised approach like the one taken in TINA-C, we see a scalability problem in the inherent bottlenecks of this architecture. To address this, we have defined and described a society of cooperating agents, ANTS, with each agent governing an ATM switch. the distributed agents share among them the control of the network, delivering a scalable and flexible architecture as a basis for connection management and intelligent network services. While the introduction of distributed agents alone offer a mean to introduce services in the network, using transactions to define units of work and keep a consistent picture of the world further facilitates releasing their potential. But, while our evaluation concludes that transactions offer some conceptual relief in connection management, the transactional agent society would better serve as a useful platform for higher level services like user profiles and accounting, seamless networks and Virtual Private Networks. OMG’s OTS can mostly take care of the transactional mechanisms, but we see the need for a minimalised, relaxed variant to serve its purpose in the connection management. While the concepts seem promising, a software implementation would in reality be too slow to handle the traffic. Due to the relatively high latency in CORBA and OTS, the transactional aspects will face performance trouble in the connection management, but used in higher level services we see immediate gains. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Semantics

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