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A unique sensor fusion system for coordinate measuring machine tasks

A unique sensor fusion system for coordinate measuring machi...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Nashman, M Yoshimi, B Hong, TH Rippey, WG Herman, M National Institute of Standards and Technology Bldg. 220B124 Gaithersburg MD 20899 United States

ISBN: (纸本)0819426415

This paper describes a real-time hierarchical system that fuses data from vision and touch sensors to improve the performance of a coordinate measuring machine (CMM) used for dimensional inspection tasks. The system consists of sensory processing, world modeling, and task decomposition modules. It uses the strengths of each sensor-the precision of the CMM scales and the analog touch probe and the global information provided by the low resolution camera-to improve the speed and flexibility of the inspection task. In the experiment described, the vision module performs all computations in image coordinate space. The part's boundaries' are extracted during an initialization process and then the probe's position is continuously updated as it scans and measures the part surface. The system fuses the estimated probe velocity and distance to the part boundary in image coordinates with the estimated velocity and probe position provided by the CMM controller. The fused information provides feedback to the motion controller as it guides the touch probe to scan the part. We also discuss integrating information from the vision system and the probe to autonomously collect data for 2-D to 3-D calibration, and work to register Computer Aided Design (CAD) models with images of parts in the workplace.

关键词： computer aided design (CAD) calibration computer vision coordinate measuring machine (CMM) real-time control system (RCS) sensor fusion touch probe

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An Extended Kalman Filter for frequent local and infrequent global sensor data fusion

An Extended Kalman Filter for frequent local and infrequent ...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Roumeliotis, SI Bekey, GA Department of Electrical Engineering Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)0819426415

In this paper we compare the performance of a dead-reckoning system for robot navigation to a system using an Extended Kalman Filter (EKF). Dead-reckoning systems are able to approximate position and orientation by feeding data (provided usually by local sensors) to the kinematic model of the vehicle. These systems are subject to many different sources of error. EKFs have the ability to combine the same information and compensate for most of these errors to yield a better estimate. Our simulation results using a simplified kinematic model of Rocky 7 (an experimental rover used in the Mars exploration program at Jet Propulsion Laboratory (JPL)) show that an improvement in performance up to 40% (position error) can be achieved. The local sensors used are: wheel encoders, steering angle potentiometer and gyroscope. Involvement of global sensor measurements can drastically increase the accuracy of the estimate. The lack of GPS or magnetic field on Mars narrows our choices for global localization. Landmarks, such as the sun can be used as natural beacons (reference point for absolute measurements). A sun sensor (SS) that measures the absolute orientation of the rover has been built by Lockheed Martin and now is part of the sensor suite of Rocky 7. The SS measurement is crucial for the estimation filter and we show that the accuracy of the estimation decreases exponentially as the frequency of the SS data fed to the EKF decreases.

关键词： robot localization sun sensor Extended Kalman Filter

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A modular planning/control architecture for the semi-autonomous control of telerobots in a hazardous environment

A modular planning/control architecture for the semi-autonom...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Tarn, TJ Brady, K Xi, N Love, L Lloyd, P Burks, B Davis, H Department of Systems Science and Mathematics Washington University St. Louis MO 63130 United States Oak Ridge National Laboratory Robotics and Process Systems Division Oak Ridge TN 37831-6304 United States

ISBN: (纸本)0819426415

The Oak Ridge National Laboratory (ORNL) has demonstrated, evaluated, and deployed a telerobotic approach for the remote retrieval of hazardous and radioactive wastes from underground storage tanks. The telerobotic system, built by Spar Aerospace Ltd., is capable of dislodging and removing sludge and gravel-like wastes without endangering the human operators through contact with the environment. Working in partnership with Washington University, ORNL has implemented an Event Based Planner/Function Based Sharing control (FBSC) as an integral part of their overall telerobotic architecture. These aspects of the system enable the seamless union of the human operator and an autonomous controller in such a way to emphasize safety without any loss of performance. The cooperation between ORNL, Spar, and Washington University requires an open and modular control software architecture to enable the parallel development of various components of the system. controlShell has been used as the underlying software architecture to help meet these criteria of generality and modularity.

关键词： intelligent control semi-autonomous control teleoperation control systems

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A Java-based decentralised tracking simulator

A Java-based decentralised tracking simulator

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Sutcliffe, JH Nicholson, D Deaves, RH Advanced Information Processing Department Sower by Research Centre British Aerospace Filton Bristol BS12 7QW PO Box 5 United Kingdom

ISBN: (纸本)0819426415

The potential of the new language of Java is explored in the development of a decentralised target tracking simulator. Three particular features of the Java language prompted this initial investigation, namely that it is fully object-oriented, graphical user interfaces (GUIs) may be simply constructed, and it, is Internet compatible. In the context of this paper, the full power of Java's object-oriented design is harnessed to reflect the inherent modularity of decentralised tracking systems. This enables, for example, tracks with their associated information structures, and platforms with their associated tracks, to be encapsulated within advanced data structures, or classes. An easy-to-build GUI, based on Java's Abstract Windowing Toolkit (AWT), permits the end-user to rapidly configure a test scenario by selecting simulation variables from pop-up menus, such as the number of sensor platforms, the number of targets, and the type of target trajectory. Additionally, Java's Internet compatibility allows the simulation, in principle, to be accessed remotely. Development work on the Java tracking simulator is described, and illustrated in terms of pseudo-code and screen snapshots. We conclude that in terms of our long-range goal of constructing a simulator that can aid the investigation of decentralised systems under a range of world scenarios and operating conditions, Java shows considerable promise.

关键词： Java target tracking simulator decentralised data-fusion Kalman filter

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Virtual reality hardware for use in interactive 3D data fusion and visualization

Virtual reality hardware for use in interactive 3D data fusi...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Gourley, CS Abidi, MA Univ. of Tennessee/Knoxville (United States)

ISBN: (纸本)0819426415

Virtual Reality has become a tool for use in many areas of research. We have designed and built a VR system for use in range data fusion and visualization. One major VR tool is the CAVE. This is the ultimate visualization tool, but comes with a large price tag. Our design uses a unique CAVE whose graphics are powered by a desktop computer instead of a larger rack machine making it much less costly. The system consists of a screen eight feet tall by twenty-seven feet wide giving a variable field-of-view currently set at 160 degrees. A Silicon Graphics Indigo2 MaxImpact with the Impact Channel Option is used for display. This gives the capability to drive three projectors at a resolution of 640x480 for use in displaying the virtual environment and one 640x480 display for a user control interface. This machine is also the first desktop package which has built-in hardware texture mapping. This feature allows us to quickly fuse the range and intensity data and other multi-sensory data. The final goal is a complete 3D texture mapped model of the environment. A dataglove, magnetic tracker, and spaceball are to be used for manipulation of the data and navigation through the virtual environment. This system gives several users the ability to interactively create 3D models from multiple range images.

关键词： virtual reality laser range scanner CAVE visualization

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A vision-guided, semi-autonomous system applied to a robotic coating application

A vision-guided, semi-autonomous system applied to a robotic...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Seelinger, MJ Robinson, M Dieck, Z Skaar, SB University of Notre Dame Department of Aerospace and Mechanical Engineering Fitzpatrick Hall of Engineering Notre Dame IN 46556 United States

ISBN: (纸本)0819426415

This paper describes a new semi-autonomous, calibration-free system which integrates a user-friendly graphical interface, several cameras, a laser pointer mounted on a two-axis pan/tilt unit, and a six degree-of-freedom robot. The details of the system will be discussed in reference to the problem of coating a workpiece of unknown geometry that is positioned arbitrarily with respect to the robot and the vision sensors. The remote user specifies the region of the workpiece that is to be coated simply by ''pointing'' and ''clicking'' on the region of interest as it appears in a single image on the user's computer monitor. By means of a simple and robust control strategy, the laser pointer mounted on the pan/tilt unit is autonomously actuated to a user-specified number of approximate positions in the region of the surface of interest. This is used to create compatible maneuver objectives in the participating vision sensors. Then, using the method of camera-space manipulation, the robot is controlled to make several passes across the region. Regardless of the geometry of the workpiece, the manipulated nozzle always remains perpendicular to the surface at a user-specified distance from the surface, Upon completion of the coating process, the laser pointer is again actuated to pass through a specified number of points on the :new surface. This information is used to make a very precise inference of the thickness of the build-up of the coat that has been applied. If the coat is not sufficiently thick, the robot makes more passes as required. The paper also presents experimental results of the high accuracy of position and orientation control of the manipulated tool, as well as the depth inference of the surface coat applied.

关键词： camera-space manipulation robot vision supervisory control inspection graphical user interface

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A modified reactive control framework for cooperative mobile robots

A modified reactive control framework for cooperative mobile...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Salido, J Dolan, JM Hampshire, J Khosla, P Robotics Institute Carnegie Mellon Univ. Pittsburgh PA 15213-3891 United States Dept. of Electrical and Computer Engineering Carnegie Mellon Univ. Pittsburgh PA 15213-3890 United States Castilla-La Mancha Univ.

ISBN: (纸本)0819426415

An important class of robotic applications potentially involves multiple, cooperating robots: security or military surveillance, rescue, mining, etc. One of the main challenges in this area is effective cooperative control: how does one determine and orchestrate individual robot behaviors which result in a desired group behavior? Cognitive (planning) approaches allow for explicit coordination between robots, but suffer from high computational demands and a need for a priori, detailed world models. Purely reactive approaches such as that of Brooks are efficient, but lack a mechanism for global control and learning. Neither approach by itself provides a formalism capable of a sufficiently rapid and rich range of cooperative behaviors. Although we accept the usefulness of the reactive paradigm in building up complex behaviors from simple ones, we seek to extend and modify it in several ways. First, rather than restricting primitive behaviors to fixed input-output relationships, we include memory and learning through feedback adaptation of behaviors. Second, rather than a fixed priority of behaviors, our priorities are implicity they vary depending on environmental stimuli. Finally, we scale this modified reactive architecture to apply not only for an individual robot, but also at the level of multiple cooperating robots: at this level, individual robots are like individual behaviors which combine to achieve a desired aggregate behavior. In this paper, we describe our proposed architecture and its current implementation. The application of particular interest to us is the control of a team of mobile robots cooperating to perform area surveillance and target acquisition and tracking.

关键词： cooperative mobile robots social behavior reinforcement learning intelligence

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Application of a model of instrumental conditioning to mobile robot control

Application of a model of instrumental conditioning to mobil...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Saksida, LM Touretzky, DS Carnegie Mellon Univ. (United States)

ISBN: (纸本)0819426415

Instrumental conditioning is a psychological process whereby an animal learns to associate its actions with their consequences. This type of learning is exploited in animal training techniques such as ''shaping by successive approximations'', which enables trainers to gradually adjust the animal's behavior by giving strategically timed reinforcements. While this is similar in principle to reinforcement learning, the real phenomenon includes many subtle effects not considered in the machine learning literature, In addition, a good deal of domain information is utilized by an animal learning a new task;it does not start from scratch every time it learns a new behavior. For these reasons, it is not surprising that mobile robot learning algorithms have yet to approach the sophistication and robustness of animal learning. A serious attempt to model instrumental learning could prove fruitful for improving machine learning techniques. In the present paper, we develop a computational theory of shaping at a level appropriate for controlling mobile robots. The theory is based on a series of mechanisms for ''behavior editing'', in which pre-existing behaviors, either innate or previously learned, can be dramatically changed in magnitude, shifted in direction, or otherwise manipulated so as to produce new behavioral routines. We have implemented our theory on Amelia, an RWI B21 mobile robot equipped with a gripper and color video camera. We provide results from training Amelia on several tasks, all of which were constructed as variations of one innate behavior, object-pursuit.

关键词： autonomous mobile robots instrumental learning operant conditioning reinforcement learning shaping

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Discrete time neural network synthesis using interaction activation functions

Discrete time neural network synthesis using interaction act...

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conference on sensor fusion and Distributed robotic Agents

作者： Novakovic, BM Univ. of Zagreb (Croatia)

ISBN: (纸本)0819423076

A new very fast algorithm for synthesis of discrete-time neural networks (DTNN) is proposed. For this purpose the following concepts are employed: (i) introduction of interaction activation functions, (ii) time-varying DTNN weights distribution, (iii) time-discrete domain synthesis and (iiii) one-step learning iteration approach.. The proposed DTNN synthesis procedure is useful for applications to identification and control of nonlinear, very fast, dynamical systems. In this sense a DTNN for a nonlinear robot control is designed. As the contributions of the paper, the following items can be cited. A nonlinear, discrete-time state representation of a neural structure was proposed for one-step learning. Within the structure, interaction activation functions are introduced which can be combined with input and output activation functions. A new very fast algorithm for one step learning of DTNN is introduced, where interaction activation functions are employed. The functionality of the proposed DTNN structure was demonstrated with the numerical example where a DTNN model for a nonlinear robot control is designed. This DTNN model is trained to imitate a nonlinear robot control algorithm, based on the dynamics of the full robot model of RRTR-structure. The simulation results show the satisfactory performances of the trained DTNN model.

关键词： recurrent neural networks interaction activation functions time-discrete domain synthesis one-step learning nonlinear dynamical systems nonlinear robot control

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robotic heterogeneous multi-sensor fusion with spatial and temporal alignment

Robotic heterogeneous multi-sensor fusion with spatial and t...

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IEEE conference on Decision and control

作者： S. Bruder M. Farooq M. Bayoumi Department of Electrical Engineering Queen's University Kingston ONT Canada Department of Electrical Engineering Royal Military College of Canada Kingston ONT Canada

The authors address the development of a coherent framework suitable for the treatment of the heterogeneous multisensor fusion problem, in the context of a robotic environment. The analysis, is based on a geometric description of the robotic environment, and concentrates on parameterizable features of the assumed rigid dynamic objects of interest present in the environment. A quantitative representation of a sensor's inherent ability to extract pertinent information from the environment is stressed. A highly efficient, flexible, and fault-tolerant, decentralized sensor fusion architecture based on a linear information type structure is presented and compared with previous work in this area. The inclusion of techniques to cope with generalized spatial and temporal uncollocation, along with conclusive discussions on the most appropriate level in the fusion structure for these alignment procedures to be performed, represent the principal contribution.< >

关键词： Robot sensing systems sensor fusion sensor phenomena and characterization Educational institutions Data mining Fault tolerance Monitoring Environmental economics Level control Computational geometry

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