Shortcomings of commercial robot controllers are discussed from the perspective of several advanced robotic applications, in which there are specific needs for dynamic manipulator motion control based on sensor inputs...
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ISBN:
(纸本)0879425970
Shortcomings of commercial robot controllers are discussed from the perspective of several advanced robotic applications, in which there are specific needs for dynamic manipulator motion control based on sensor inputs. Experiences with systems using sensor-based control of process parameters, manipulator motions, and manipulator paths are described. Particular attention is given to the adaptive control of lightweight robot arms. Requirements for sensor integrated control are presented on the basis of these experiences, and features and capabilities that should be included in manipulator controllers for future applications are discussed. Some of the unexpected problems that come about due to sensor integration are examined.
Breakage of optical fibers during laser surgery procedures is a potential hazard for both the physician and the patient. An inexpensive, reliable system to detect fiber breakage and immediately shut down the laser has...
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ISBN:
(纸本)0879425598
Breakage of optical fibers during laser surgery procedures is a potential hazard for both the physician and the patient. An inexpensive, reliable system to detect fiber breakage and immediately shut down the laser has been developed. A piezoelectric sensor is adhesively bonded to the optical fiber. The signal produced by snapping the fiber is so great, that even with simple detection electronics, the signal developed by the breakage can shut off the laser reliably. Data on system operation and the results of testing the system in practical scenarios are presented.
An examination is made of the current approaches to sensor line supervision and their relative effectiveness against the range of easily available circumvention techniques is assessed, compared to encrypted line super...
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An examination is made of the current approaches to sensor line supervision and their relative effectiveness against the range of easily available circumvention techniques is assessed, compared to encrypted line supervision. Features of high security encrypted line supervision, including encryption techniques, interactive polling, the generation of random data, proprietary algorithms and keys, serial numbers and the processing of such an approach are discussed, including the flexibility offered by miniaturization of the microprocessor controlled circuits and modular system design. Highlighted are how an encryption module can be deployed within an overall high security system. Examples of practical applications provide insight into the effective and efficient use of this advanced security technology.
Three above ground traffic detection techniques are identified: microwave (e.g. Microwave Vehicle Detector, MVD), ultrasonic and optical. Both MVD and ultrasonic sensors have been found to have limitations in use. Opt...
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ISBN:
(纸本)085296398X
Three above ground traffic detection techniques are identified: microwave (e.g. Microwave Vehicle Detector, MVD), ultrasonic and optical. Both MVD and ultrasonic sensors have been found to have limitations in use. Optical sensors, discussed in this paper offer several advantages including well defined detection areas and true presence capability. These above ground sensors utilise the infrared wavelengths of the electromagnetic spectrum and in particular two sensor families have been developed based on passive and active technologies. applications include both vehicle and pedestrian detection. Results of experience from field trials are summed up. The infrared detectors described here are either commercialised or at an advanced stage of development. They have particular advantages in terms of ease of installation and maintainability. A world-wide assessment program has been undertaken. These trials are ongoing, but so far show that the units meet or exceed the required performance.
Shortcomings of commercial robot controllers are discussed from the perspective of several advanced robotic applications, in which there are specific needs for dynamic manipulator motion control based on sensor inputs...
详细信息
Shortcomings of commercial robot controllers are discussed from the perspective of several advanced robotic applications, in which there are specific needs for dynamic manipulator motion control based on sensor inputs. Experiences with systems using sensor-based control of process parameters, manipulator motions, and manipulator paths are described. Particular attention is given to the adaptive control of lightweight robot arms. Requirements for sensor integrated control are presented on the basis of these experiences, and features and capabilities that should be included in manipulator controllers for future applications are discussed. Some of the unexpected problems that come about due to sensor integration are examined.< >
An examination is made of the current approaches to sensor line supervision and their relative effectiveness against the range of easily available circumvention techniques is assessed, compared to encrypted line super...
详细信息
An examination is made of the current approaches to sensor line supervision and their relative effectiveness against the range of easily available circumvention techniques is assessed, compared to encrypted line supervision. Features of high security encrypted line supervision, including encryption techniques, interactive polling, the generation of random data, proprietary algorithms and keys, serial numbers and the processing of such an approach are discussed, including the flexibility offered by miniaturization of the microprocessor controlled circuits and modular system design. How an encryption module can be deployed within an overall high security system is highlighted. Examples of practical applications provide insight into the effective and efficient use of this advanced security technology.< >
An index of performance (IOP) designed to quantitatively express the match between a sensor-built map and a precisely measured reference map is introduced. The IOP computes a single value representing the correlation ...
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An index of performance (IOP) designed to quantitatively express the match between a sensor-built map and a precisely measured reference map is introduced. The IOP computes a single value representing the correlation between the sensed object positions in the grid and the actual object positions. With the IOP, it is easy to compare the accuracy of different map-building methods as well as the effect of different parameters within a certain method. Two grid-type map-building algorithms were compared by means of the proposed IOP. One algorithm takes panoramic snapshots while the mobile robot is standing and uses a probabilistic distribution to update the grid. The other algorithm, called histogramic in-motion mapping, is based on rapid sampling of the sensors during motion.< >
A validated fault-tolerant distributed computer system architecture for real-time aerospace applications, the advanced information processing system (AIPS), is discussed. AIPS consists of fault-tolerant data processor...
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A validated fault-tolerant distributed computer system architecture for real-time aerospace applications, the advanced information processing system (AIPS), is discussed. AIPS consists of fault-tolerant data processors, fault-tolerant networks which interconnect processors to each other and to sensors, actuators, displays and subsystems, and a set of system services embodied in the system software. A performability database is one part of the total knowledgebase that will aid in the validation of the building blocks. A performability knowledgebase will also enable the system designer to configure the building blocks to meet specific mission requirements with a high degree of confidence. The performability knowledgebase consists of analytical and empirical relationships between major domains: performance, reliability, and architectural parameters. A set of performance and reliability metrics that characterize real-time distributed fault-tolerant architectures is described. The performability data obtained empirically from an engineering model of AIPS are also presented.< >
For practical automated diagnostic systems to continue functioning after failure, they must not only be able to diagnose sensor failures but also be able to tolerate the absence of data from the faulty sensors. We sho...
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For practical automated diagnostic systems to continue functioning after failure, they must not only be able to diagnose sensor failures but also be able to tolerate the absence of data from the faulty sensors. We show that conventional (associational) diagnostic methods will have combinatoric problems when trying to isolate faulty sensors, even if they adequately diagnose other components. Moreover, attempts to extend the operation of diagnostic capability past sensor failure will necessarily compound those difficulties. By contrast, the algorithmic methods of model-based reasoning have no special problems diagnosing faulty sensors and can operate gracefully when sensor data is missing.
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