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检索条件"任意字段=Conference on Next-Generation Robots and Systems"

共 424 条记录，以下是361-370 订阅

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A vision-guided object tracking and prediction algorithm for soccer robots

A vision-guided object tracking and prediction algorithm for...

引用

IEEE International conference on Robotics and Automation (ICRA)

作者： C.S. Hong S.M. Chun J.S. Lee K.S. Hong Department of Electronic and Electrical Engneering Pohang University of Science and Technology Pohang South Korea

This paper presents a fast and effective visual tracking and location prediction algorithm for cooperative multiple soccer robots playing a soccer game. The picture image is captured by the system and the motion parameters of each object are then computed from the captured image. Then, an image is selected as a template and 2D color image pattern is extracted from the incoming image and a sequence of images are generated by using a simple linear predictor that speeds up the processing time. Based on the computed tracking parameters, a heuristic path is generated. By using a vision-based command to line-of-sight (CLOS) guidance method that predicts and generates next robot motions. Monitoring the selected object using visual images, the vision system tracks the object and adjusts the velocities and directions of the robots to cope with sudden changes of direction such as bounded ball from an obstacle or expected position errors of the selected object. The simulation results as well as experimental results show that the presented algorithm works well for the soccer game.

关键词： Prediction algorithms Robot vision systems Computer vision Image generation Navigation Histograms Mobile robots Trajectory Tracking Object detection

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Behavior-based map representation for a sonar-based mobile robot by statistical methods

Behavior-based map representation for a sonar-based mobile r...

引用

1996 IEEE/RSJ International conference on Intelligent robots and systems - Robotic Intelligence Interacting with Dynamic Worlds (IROS 96)

作者： Nakamura, T Takamura, S Asada, M Osaka Univ Osaka Japan

ISBN: (纸本)0780332148

Many conventional methods for map generation by mobile robots have tried to reconstruct 3-D geometric representation of the environment which are time-consuming, error-prone and necessary to transform the map into the information available for the given task. This paper proposes a method to acquire a statistical map representation, robust to sensor noise and directly usable for navigation task. The robot is equipped with a ring of ultrasonic ranging sensors and a collision, avoidance behavior is embedded in it. First, the mobile robed explores in the environment in order to store a set of sequences of sonar data and the principle component analysis is applied to reduce the dimensionality of the sonar data. As a result, each sequence of sonar data cast be described as a score pattern of principal components. next, these patterns are classified into typical local structures of the environment in order for the robot to discriminate them. Finally, a graph representation of the environment is constructed in which nodes and arcs correspond to these local structures and the transition probabilities between them, respectively. The validity of the method is shown by computer simulations and real robot experiments.

关键词： Mobile robots

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Exponential stabilization problem of nonholonomic chained systems with specified transient response

Exponential stabilization problem of nonholonomic chained sy...

引用

Proceedings of the 35th IEEE conference on Decision and Control. Part 4 (of 4)

作者： Imura, Jun-ichi Kobayashi, Keigo Yoshikawa, Tsuneo Kyoto Univ Kyoto Japan

In this paper, we propose a control method for nonholonomic systems expressed by the chained form, where the exponential convergence to the desired final state is guaranteed and the desired transient response is achieved simultaneously. next, we propose a trajectory generation method for the chained system, which gives a systematic procedure to find a reference trajectory that passes several given points at each specified time and exponentially converges to the origin. Finally, our method is applied to control of a 4-wheeled car. In this case, to express all the state of the 4-wheeled car by the chained form the above method is extended to the case where several coordinate frames are needed.

关键词： Mobile robots

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Behaviour-based map representation for a sonar-based mobile robot by statistical methods

Behaviour-based map representation for a sonar-based mobile ...

引用

IEEE International Workshop on Intelligent robots and systems (IROS)

作者： T. Nakamura S. Takamura M. Asada Department of Mechanical Engineering for Computer-Controlled Machinery Osaka University Suita Osaka Japan

Many conventional methods for map generation by mobile robots have tried to reconstruct 3-D geometric representation of the environment, which are time-consuming, error-prone, and necessary to transform the map into the information available for the given task. This paper proposes a method to acquire a statistical map representation robust to sensor noise and directly usable for navigation task. The robot is equipped with a ring of ultrasonic ranging sensors and a collision avoidance behaviour is embedded in it. First, the mobile robot explores in the environment in order to store a set of sequences of sonar data, and the principle component analysis is applied to reduce the dimensionality of the sonar data. As a result, each sequence of sonar data can be described as a score pattern of principal components. next, these patterns are classified into typical local structures of the environment in order for the robot to discriminate them. Finally, a graph representation of the environment is constructed in which nodes and arcs correspond to these local structures and the transition probabilities between them, respectively. The validity of the method is shown by computer simulations and real robot experiments.

关键词： Mobile robots Statistical analysis Sonar navigation Robot kinematics Working environment noise Sonar applications Path planning Machinery Computer errors Noise robustness

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Application of semi-automatic robot technology on hot-line maintenance work

Application of semi-automatic robot technology on hot-line m...

引用

IEEE International conference on Robotics and Automation (ICRA)

作者： M. Nakashima H. Yakabe Y. Maruyama K. Yano K. Morita H. Nakagaki Distribution Department Kyushu Electric Power Company Inc. Fukuoka Japan

The next generation "Mobile Hot-Line Work Robot" has been developed by Kyushu Electric Power Co., Inc. (KEPCO). It functions semi-automatically, remote-controlled from the vehicle mounted cabin on the ground. The operator follows work through camera eyes and gives direction when necessary. This model is the first step toward a fully self-controlled robot. The authors have succeeded in introducing this technology to the electric utility construction work field. It has been commonly understood that it is extremely difficult to introduce robotic techniques into this field. The robot will pave the way for a better work environment in the industry In addition, this technology may serve for improved working conditions within and outside of Japan not only for the electric power industry but also other fields, such as track maintenance work in the railroad industry.

关键词： Robotics and automation Robot kinematics Mobile robots Service robots Robot sensing systems Insulation Manipulators Manuals Land vehicles Remotely operated vehicles

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Theoretical studies on neuro oscillator for application of biped locomotion

Theoretical studies on neuro oscillator for application of b...

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IEEE International conference on Robotics and Automation (ICRA)

作者： O. Katayama Y. Kurematsu S. Kitamura Faculty of Engineering Kobe University Kobe Japan College of Industrial Technology University Amagasaki Japan

A neuro oscillator is applied for the generation of biped locomotion. Dynamics of each neuron is described by a set of nonlinear differential equation, and the coupled system of four neurons is used. Two problems were solved in this study. The first problem is the stability analysis as nonlinear oscillator. It is shown that the system generates periodic solutions for appropriate set of free parameters in the nonlinear differential equations. The stability chart in the parameter plane, depicting the stable, unstable and walkable region, was obtained with various motion patterns corresponding to several parameter sets. next problem is a design aspect of the walking pattern. The harmonic balance method is successfully applied for this problem. It enables us to determine the free parameters in the oscillator's equations to satisfy a prescribed walking mode. The methods proposed here provide a theoretical issue for analysis and design problems encountered in the nonlinear neuro oscillators.

关键词： Oscillators Legged locomotion Neurons Differential equations Couplings robots Fatigue Nonlinear dynamical systems Nonlinear equations Pattern analysis

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generation of optimal routes in a neural network based AGV controller

Generation of optimal routes in a neural network based AGV c...

引用

Second International conference on Intelligent systems Engineering, 1994

作者： A.J. Bostel W.W. Gan V.K. Sagar C.H. See University of Essex UK

Due to the increasing complexity of factory floor environments coupled with the need for increased flexibility in automated guided vehicle (AGV) systems, it is becoming increasingly important to be able to dynamically alter both the AGV job queue and the AGV path. In a previous paper, a new method based on an artificial neural network model was presented for evaluating the best job assignment so as to achieve better system efficiency. This scheme generated the best set of workstations or loading points for a given AGV to visit, given the current status of both the AGV fleet and the waiting job requests. The next stage in the control strategy is to find the optimal route between the workstations on the list. In this paper, a new navigation technique for AGV's based on the A* search algorithm called 'forward-reverse search' is presented which fits into our neural network based control structure.< >

关键词： Vehicles Manufacturing automation Intelligent control Mobile robots Neural networks Motion-planning Search methods

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Genetic algorithm with age structure and its application to self-organizing manufacturing system

Genetic algorithm with age structure and its application to ...

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International conference on Emerging Technologies and Factory Automation (ETFA)

作者： N. Kubota T. Fukuda F. Arai K. Shimojima Department of Micro System Engineering University of Nagoya Nagoya Japan

The genetic algorithm has recently been demonstrated its effectiveness in optimization issues, but it has two major problems: a premature local convergence and a bias by the genetic drift. In order to solve these problems, we propose a new genetic algorithm with an age structure of a continuous generation model. The new genetic algorithm is applied to a self-organizing manufacturing system-a process which self-organizes to other processes in a flexible manufacturing system environment. The effectiveness of the genetic algorithm with age structure is demonstrated through numerical simulations of the reorganization of a press machining line as an example of the self-organizing manufacturing system.< >

关键词： Genetic algorithms Manufacturing systems Flexible manufacturing systems Optimal scheduling Job shop scheduling Machining Convergence Organizing Metalworking machines robots

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Health management of machines, mechanisms, and robots featuring macroscopically smart composite materials with ebedded fiber optic sensors

Health management of machines, mechanisms, and robots featur...

引用

22nd Biennial Mechanisms conference

作者： Hansknecht, B.P. Thompson, B.S. Gandhi, M.V. Foiles, C. Michigan State Univ East Lansing United States

The embryonic discipline of macroscopically smart materials featuring polymeric fiberous composite laminates with embedded optical fibers provides significant technological advantages if they are incorporated in the next generation of the machines, mechanisms, and robotic systems. These technological advantages can be exploited during the manufacture, the service life, and the failure prediction phases of the part life-cycle. The embedded optical fibers permit the manufacture of the part to be optimized during autoclave processing, for example, by controlling the state of cure and temperature using a new generation of manufacturing techniques involving closed-loop control algorithms. Subsequently, the optical fibers permit the vibrational response, stresses, strains, and deflections to be continuously monitored during the service of the mechanical system, and where appropriate, embedded actuator materials can be activated to develop a more desirable response as part of a health management philosophy. Finally the optical sensing system enables the failure of the part to be predicted, because the propagation of a crack through the structure will results in the fracturing of the embedded optical fibers, and hence, the serving of the optical light paths which can be detected by this class of photonic system. This paper introduces this potentially powerful health management philosophy to the field of mechanism design by presenting for the first time experimental results from an investigation of the dynamic response of a slider-crank mechanism with a smart graphite-epoxy laminated connecting-rod featuring a polarimetric fiber optic sensor. This investigation examines one facet of this new philosophy;namely, a health monitoring activity in which the vibrational response of a flexible machine element is monitored using a fiber optic sensor.

关键词： robots

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The health management of machines, mechanisms, and robots featuring macroscopically smart composite materials with ebedded fiber optic sensors

The health management of machines, mechanisms, and robots fe...

引用

ASME 1992 Design Technical conferences, DETC 1992

作者： Hansknecht, B.P. Thompson, B.S. Gandhi, M.V. Foiles, C. Department of Mechanical Engineering Intelligent Materials and Structures Laboratory Machinery Elastodynamics Laboratory Michigan State University East LansingMI United States Department of Physics and Astronomy Optics Laboratory Michigan State University East LansingMI United States

ISBN: (纸本)9780791809396

The embryonic discipline of macroscopically smart materials featuring polymeric fiberous composite laminates with embedded optical fibers provides significant technological advantages if they are incorporated in the next generation of the machines, mechanisms, and robotic systems. These technological advantages can be exploited during the manufacture, the service life, and the failure prediction phases of the part life-cycle. The embedded optical fibers permit the manufacture of the part to be optimized during autoclave processing, for example, by controlling the state of cure and temperature using a new generation of manufacturing techniques involving closed-loop control algorithms. Subsequently, the optical fibers permit the vibrational response, stresses, strains, and deflections to be continuously monitored during the service of the mechanical system, and where appropriate, embedded actuator materials can be activated to develop a more desirable response as part of a health management philosophy. Finally, the optical sensing system enables the failure of the part to be predicted, because the propagation of a crack through the structure will result in the fracturing of the embedded optical fibers, and hence, the severing of the optical light paths which can be detected by this class of photonic system. This paper introduces this potentially powerful health management philosophy to the field of mechanism design by presenting for the first time experimental results from an investigation of the dynamic response of a slider-crank mechanism with a smart graphite-epoxy laminated connecting-rod featuring a polarimetric fiber optic sensor. This investigation examines one facet of this new philosophy;namely, a health monitoring activity in which the vibrational response of a flexible machine element is monitored using a fiber optic season © 1992 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Machine design

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