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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： E. Colon Hichem Sahli Unmanned Ground Vehicles Center Royal Military Academy Brussels Belgium Department Electronics & Information Processing Vrije Universiteit Brussel Brussels Belgium

This paper presents the recent developments of a distributed framework for integrating multi-sensor robotic systems and controlling robots. It is based on the communication middleware CORBA.

关键词： Robots Communication system control Middleware Libraries Application software Ambient intelligence Military computing Control systems Distributed computing Colon

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Robust distributed coordination of heterogeneous robots through temporal plan networks

European Space Agency, (Special Publication) ESA SP

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European Space Agency, (Special Publication) ESA SP 2005年第603期 861-868页

作者： Wehowsky, Andreas F. Block, Stephen A. Williams, Brian C. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA 02139 United States

Real-world applications of autonomous agents require coordinated groups to work in collaboration. Dependable systems must plan and carry out activities in a way that is robust to failure to and uncertainty. Previous work has produced algorithms that provide robustness at the planning phase, by choosing between functionally redundant methods, and at the execution phase, by dispatching temporally flexible plans. However, these algorithms use a centralized architecture in which all computation is performed by a single processor. As a result, these implementations suffer from communication bottlenecks at the master processor, require significant computational capabilities, and do not scale well. This paper introduces the plan extraction component of a robust, distributed executive for contingent plans. Contingent plans are encoded as Temporal Plan Networks (TPNs), which compose temporally flexible plans hierarchically and provide a choose operator. First, the TPN is distributed over multiple agents, by creating a hierarchical ad-hoc network and mapping the TPN onto this hierarchy. Second, candidate plans are extracted from the TPN with a distributed, parallel algorithm that exploits the structure of the TPN. Third, temporal consistency of the candidate plans is tested using a distributed BellmanFord algorithm. This algorithm is empirically validated on randomized contingent plans.

关键词： Robots

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Application of multivariate process control on particle size analyzer

Application of multivariate process control on particle size...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： M. Mattila K. Koskinen K. Saloheimo Information and Computer systems in Automation Helsinki University of Technology Finland Outokumpu Technology Minerals Espoo Finland

On this paper new measurement disturbance detection method based on Q-chart is presented. The disturbance detection is used on multiplexed particle size analyzer to detect air bubbles appearing on end of measurement s... 详细信息

关键词： Process control Size measurement Particle measurements Minerals Diffraction Slurries Laser theory Velocity measurement Mechanical variables measurement Optical attenuators

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Forces analysis for micro-manipulation

Forces analysis for micro-manipulation

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： P. Rougeot S. Regnier N. Chaillet Laboratoire d'Automatique de Besançon Laboratory UMR CNRS-ENSMM-UFC Besancon France Laboratoire de Robotique de Paris Universite Pierre et Marie Curie-CNRS Fontenay-aux-Roses France

The aim of this article is to give an experimental analysis of the physical phenomena at a microscopic scale. In particular, this article presents experimental measurements based on an AFM system. These experiments sh... 详细信息

关键词： Atomic force microscopy Ambient intelligence Force measurement Particle measurements Physics Equations Robots robotics and automation Automatic control Force control

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Programmable self-assembly

Programmable self-assembly

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： J.T. Alander Department of Electrical Engineering and Industrial Management University of Vaasa Vaasa Finland

Electronics as well as mechanical components are shrinking and becoming cheaper and cheaper, therefore it is more and more important to keep the assembly costs of products as low as possible by efficient automation. One new approach is self-assembly, where components assemble themselves with the help of suitable surface coatings and patterns thereon. In this paper we analyse a new method that we call programmable self-assembly which is based on programmable interactions to perform the assembly process. Genetic algorithm is used to create interaction patterns for the proposed method.

关键词： Self-assembly Robotic assembly Coatings robotics and automation Genetic algorithms Production Electrical products industry Electronics industry Engineering management Industrial electronics

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Mapping the surface of an unevenly moving steel billet

Mapping the surface of an unevenly moving steel billet

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： S. Terho J. Paanajarvi A. Visala Automation Technology Laboratory Helsinki University of Technology Finland

This paper presents a system for measuring three dimensional surface map of steel billets. The proposed system is used for quality control of the surfaces of the billets. The system is based on camera and a laser stripe generator. The billet is moved in front of the inspection system with an external moving mechanism. Triangulation is used for measuring the surface map. The three-dimensional movements of the billet are measured by combining optical flow and information from the laser stripes.

关键词： Steel Billets Computer vision Machine vision Production facilities Inspection Quality control Image processing Application software Manufacturing automation

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Remote Tools Using Wireless Communication for Self-Recon gurable Robot, Applied to maam Project

Remote Tools Using Wireless Communication for Self-Recon gur...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： C. Gueganno D. Duhaut Valoria-University of South Brittany Lorient France

This paper presents, first, the maam project which is a self-reconfigurable robotic architecture where each module is autonomous for energy and CPU. To develop a new concept of robot requires to bring answers to the general questions of displacement of the modules, docking. This is why we focus here on the high level tools, built on a middleware including wireless communication. We show how such tools can decrease the duration of development, and facilitate the technology transfers

关键词： Wireless communication Robot kinematics Embedded software robotics and automation Hardware Control systems Robot programming Atomic layer deposition Legged locomotion Leg

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The kinematic Hessian and higher derivatives

The kinematic Hessian and higher derivatives

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： A. Hourtash Simplify Robotics Inc. Houston TX USA

A number of problems in manipulator analysis and control call for the second derivative of the joint-to workspace kinematic mapping of serial or branched manipulators. A derivation of all derivatives of the kinematic mapping is presented, including the second derivative namely the Hessian tensor. A fast formulation for its computation is derived which is based on components of the Jacobian matrix. The resulting formulae are verified symbolically with differentiation, and showcased numerically in Taylor series approximations and in a singularity escapability analysis for the example of the international Space Station's Canadarm2, a.k.a. the Space Station Remote Manipulator System (SSRMS).

关键词： Jacobian matrices Taylor series Motion control Acceleration Manipulator dynamics Robot kinematics Tensile stress international Space Station Space stations Torque control

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An adaptive neural controller and direct adaptive controllers for robot manipulators in the joint space

An adaptive neural controller and direct adaptive controller...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： N.A. Martins M. de Alencar Departmento de Informática Universidade Estadual de Maringá Parana Brazil

Direct adaptive control techniques for robot manipulators in joint space coordinates are provided. Comparison between a proposed adaptive neural controller and direct adaptive control techniques (computed-torque and passivity-based controllers) are simulated for the same trajectory, considering the presence of the friction torques. Performances are evaluated according to behavior of errors of position and velocity tracking, absolute position error, absolute velocity error, control torques, and to trajectory tracking accuracy.

关键词： Programmable control Adaptive control Robot control Orbital robotics Manipulators Torque control Error correction Robot kinematics computational modeling Friction

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Robust tracking control of space robots using fuzzy neural network

Robust tracking control of space robots using fuzzy neural n...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Changhong Wang Baomin Feng Guangcheng Ma Chuang Ma Research Center of Space Control and Inertia Technology Harbin Institute of Technology Harbin China

This paper proposes for space robots a robust fuzzy neural network (FNN) controller, which does not require linear parameterization necessary for standard adaptive control of fixed-base robot manipulator. With suitable modifications, this FNN tracking controller can achieve high-precision position control. Simulation results of a two-link planar space robot verify the validity of the proposed RFNN controller in the presence of uncertainties.

关键词： Robust control Robot control Orbital robotics Fuzzy neural networks Fuzzy control Manipulator dynamics Space technology Space stations Space missions Control systems

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