A system for WWW-based remote robot tele-operation is presented in this paper. It addresses important problems of Internet telerobotics such as "how do we make the system reliable?", "how do we make the...
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A variety of evolutionary algorithms, operating according to Darwinian concepts, have been proposed to approximately solve problems of common engineering applications. Increasingly common applications involve automati...
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This paper introduces a novel technique for robot motion planning by using the Hough transform. Although path planning is computed in a two-dimensional configuration space, both mobile robot and obstacles are modelled...
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This paper introduces a novel technique for robot motion planning by using the Hough transform. Although path planning is computed in a two-dimensional configuration space, both mobile robot and obstacles are modelled by 3D geometrical structures. Mobile robots and obstacles are modelled by spherical extended polytopes. Obstacle avoidance is based on the computation of the translational distance of penetration. The proposed penetration distance allows to obtain a point of the path where the obstacle is optimally avoided. Each obstacle is then represented by such a point. The Hough transform applied to the mentioned points detects what obstacles are essential to be avoided in order to generate an optimal collision-free path. The computational cost of the path planner is linear with the number of obstacles. The collision detection between two objects is determined by applying the Hough transform and computing the relative position of the origin with respect to the Minkowski difference of the two objects. Hough transform has been also used by the authors for the automatic generation of geometric models.
RoboCup is an increasingly successful attempt to promote the full integration of AI and robotics research. The most prominent feature of RoboCup is that it provides the researchers with the opportunity to demonstrate ...
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RoboCup is an increasingly successful attempt to promote the full integration of AI and robotics research. The most prominent feature of RoboCup is that it provides the researchers with the opportunity to demonstrate their research results as a form of competition in a dynamically changing hostile environment, defined as the international standard game definition, in which the gamut of intelligent robotics research issues are naturally involved. In this article, first we shown an overview of the RoboCup initiative. Currently, we have four kinds of leagues: the real robot small, middle, and four legged ones, and the simulation league. While the practical issues have been mainly attacked in the real robot leagues, the more strategic issues in multiagent environments have been focused in the simulation league, such as teamwork among agents, agent modeling, and multi-agent learning which are argued in the rest of the paper. Finally, the future perspectives are given.
Reactive real-time embedded systems are pervasive in the electronics system industry. Vehicle control or remote sensing are applications where specifications may change continuously, and time-to-market strongly affect...
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Reactive real-time embedded systems are pervasive in the electronics system industry. Vehicle control or remote sensing are applications where specifications may change continuously, and time-to-market strongly affects success. This calls for the use of software programmable components with behaviour that can be fairly easily changed. Formal verification and automatic synthesis of implementations are emerging technologies but today, embedded systems are still designed with an ad hoc approach that is heavily based on earlier experience with similar products and on manual design. In this article, we report on the specification and design of an ultrasonic sound intelligent sensor able to perceive its environment in terms of plans, edges and corners. We focalize more particularly on the sensor design which follows a hierarchical modular decomposition approach in order to satisfy specification requirements.
After penetrating keratoplasty (PK, corneal grafting), an astigmatism occurs due to the cut and to the suture which cause deformations of the cornea. We propose to introduce new technologies into this surgery in order...
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After penetrating keratoplasty (PK, corneal grafting), an astigmatism occurs due to the cut and to the suture which cause deformations of the cornea. We propose to introduce new technologies into this surgery in order to limit the postoperative astigmatism and so to increase visual recovering. First of all, we study a new tool to cut cornea, a surgical waterjet. This device permits to cut corneas at low pressure (15 to 35 bars) and with a little diameter of water (0.08 mm to 0.20 mm). Attempts have been made on freshly enucleated pig eyes, epithelium removed. Waterjet could be a useful tool for PK if it doesn't induce too important hydration of the tissue. We are working to limit this phenomenon. An other aim of our work is decreasing the postoperative astigmatism due to the suture. In that way, we think of limiting or avoiding this technique by robotising the cut and finding optimal shapes of cut in order to the graft can't move inside the receiver and can't go out. Different shapes of cut are studied and with them, the maintain into the receiver. This is done by simulating the intraocular pressure with a height of water applying a pressure on a polyacrilamide gel. The conception of a surgical robot which would include chosen technologies is in progress.
The design of complex mobile vehicle applications requires the combination of timing constrained activities with deliberate components. One of the main characteristics of the design is the flexibility. The system has ...
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The design of complex mobile vehicle applications requires the combination of timing constrained activities with deliberate components. One of the main characteristics of the design is the flexibility. The system has to be adapted to the environment conditions and take actions depending on it. This influence is focused in the ability of the system to select the appropriate activity to be executed (depending on the available time) and to change its behaviour (depending on the environment information). The main goal of this paper is to characterize a model of tasks providing the required flexibility. The model has to be powerful enough to represent the functional and timing features of mobile robotic applications based on a behavioural architecture. Behavioural models have been largely used to represent advanced robotic systems which operate in uncertain dynamic environment combining information from several sensory sources and presenting different vehicle dynamics. This paper proposes the use of flexible tasks as a way to implement deliberative components in a behaviour architecture of a robot system and allows noteworthy run-time flexibility for introducing intelligent processes. Another important aspect considered in this paper is concerned to the relationship between the amount of time required by the tasks and the quality of the results obtained.
作者:
Lou, H.Bell Labs
Lucent Technologies 600 Mountain Ave Murray HillNJ07974 United States
Finite precisions are used to implement the Viterbi decoders in practice. To determine the internal precisions required, simulations have largely been used and extra number of bits are often used to guarantee that the...
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For sometime now agent-based and multi-agent systems (MASs) have attracted the interest of researchers far beyond traditional computer science and artificial intelligence (AI). In this article we try to identify focal...
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For sometime now agent-based and multi-agent systems (MASs) have attracted the interest of researchers far beyond traditional computer science and artificial intelligence (AI). In this article we try to identify focal points of interest for researchers working in the area of distributed AI (DAI) and MAS as well as application-oriented researchers coming from related disciplines, e.g. electrical and mechanical engineering. We do this by presenting key research topics in DAI and MAS research and by identifying application domains in which the DAI and MAS technologies are most suitable. The research topics we discuss are separated into agent architectures and organisations, negotiation among agents, and self-adaptation of MAS using learning techniques. Regarding the application domains for these techniques we distinguish the application domains according to whether the agents control a physical or virtual body (Gestalt) or not. This separation of the application domains is not strict;it represents two ends of a continuum. On the one end of this continuum we have autonomous robot systems which act in a physical environment (sometimes referred to as hardware agents), and on the other end, we have abstract environments, such as in workflow systems, which rarely display the geometrical and physical aspects of the environment we are used to Living in. (C) 1999 Elsevier Science B.V. All right reserved.
The production of complex microsystems from a number of microcomponents made of different materials requires flexible, precise mechanisms, which can finely manipulate different types of objects. The microassembly has ...
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The production of complex microsystems from a number of microcomponents made of different materials requires flexible, precise mechanisms, which can finely manipulate different types of objects. The microassembly has its specifics caused by the tiny dimensions of the robots, high accuracy and complicated vision and control systems required. This paper presents a concept of an intelligent microassembly planning system. This system has been implemented in a micromanipulation station with mobile piezoelectric microrobots, which has been developed at the Institute for Process Control and robotics (IPR) at the University of Karlsruhe [S. Fatikow, U. Rembold, An automated microrobot-based desktop station for micro assembly and handling of microobjects, ETFA ieeeconference on Emerging technologies and Factory Automation, Kauai Marriott, Kauai, Hawaii, November 18-21 1996, pp. 586-592;S. Fatikow, R. Munassypov, An intelligent micromanipulation cell for industrial and biomedical applications based on piezoelectric microrobot, Proc. Of the 5th Int. conference on Micro Electro, Opto, Mechanical Systems and Components (MSTU96), Berlin, September 17-19 1996, pp. 826-828]. This research considers the assembly system as a complex system and represents a microassembly environment for the microassembly station. The information flow, interacting and functioning of separate parts of the micromanipulation station are determined and the integration of the assembly subsystem into the station are presented. The principal approaches for each part of the system are given. (C) 1999 Elsevier Science B.V. All rights reserved.
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