We introduce computational support tools for the analysis and design of systems with multiple frictional contacts, with a focus on applications to part feeding and assembly processes. The tools rely on dynamic models ...
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ISBN:
(纸本)0780382323
We introduce computational support tools for the analysis and design of systems with multiple frictional contacts, with a focus on applications to part feeding and assembly processes. The tools rely on dynamic models of the processes. We describe two approaches to modeling, the Stewart-Trinkle model [1] and the Song-Pang-Kumar model [2], that allow the designer to experiment with different geometric, material and dynamic properties and optimize the design for performance. In order to accommodate contact transitions, we introduce a smooth cone model for friction. We illustrate the models and the design process by describing the design optimization of a part feeder.
This paper is concerned with a study in which the advantages of telerobotics and supervisory control are combined with those of a multi-robot system, in the context of robot soccer. We propose our solutions to two imp...
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ISBN:
(纸本)0780382323
This paper is concerned with a study in which the advantages of telerobotics and supervisory control are combined with those of a multi-robot system, in the context of robot soccer. We propose our solutions to two important issues in such systems, namely, the level of abstraction at which the commands to a robot collective are issued, and the selection of the group within the collective to direct the commands. The design philosophy as well as its implementation are described. We show through experiments that, statistically, a supervised robot soccer team out-performs an unsupervised team, with the help of coaching advices. The proposed approach has applications beyond robotic soccer.
Self-assembly is expected to become a dominant fabrication technique for the nanodevices and systems of the future. Traditional, or passive, self-assembly techniques have great difficulty in producing the asymmetric s...
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ISBN:
(纸本)0780382323
Self-assembly is expected to become a dominant fabrication technique for the nanodevices and systems of the future. Traditional, or passive, self-assembly techniques have great difficulty in producing the asymmetric structures needed by the applications. This paper discusses self-assembly methods that use active assembly agents (robots). It shows that swarms of such robots that communicate only by very simple messages can be programmed to form either wholly or partially specified structures, with the construction process possibly involving sacrificial components or scaffolds. The assembly agents have small memory and communication requirements, and interact only when they are in contact. They are good models for future nanorobots, which are likely to communicate chemically.
This paper proposes a technique to obtain long term estimates of the motion of a moving object in a structured environment. Objects moving in such environments often participate in typical motion patterns which can be...
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ISBN:
(纸本)0780382323
This paper proposes a technique to obtain long term estimates of the motion of a moving object in a structured environment. Objects moving in such environments often participate in typical motion patterns which can be observed consistently. Our technique learns those patterns by observing the environment and clustering the observed trajectories using any pairwise clustering algorithm. We have implemented our technique using both simulated and real data coming from a vision system. The results show that the technique is general, produces long-term predictions and is fast enough for its use in real time applications.
The Scout is a miniature robot capable of performing surveillance and reconnaissance applications. However, the small size of the Scout limits the on-board processing capability and thus requires that the primary sens...
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ISBN:
(纸本)0780382323
The Scout is a miniature robot capable of performing surveillance and reconnaissance applications. However, the small size of the Scout limits the on-board processing capability and thus requires that the primary sensing modality (vision) be processed remotely. This creates a dependence upon a video channel which can become a severe bottleneck when attempting to use large numbers of robots. This paper will discuss the newest generation of the Scout, the COTS 3.0, which attempts to reduce the effect of the communication bottleneck by using more local sensing capabilities to achieve a degree of autonomous functionality. Several experiments showing the durability of the new COTS Scout and the autonomous capability will be presented.
Developing software for controlling robotic systems is costly due to the complexity inherent in these systems. There is a need for tools that permit a reduction in the programming efforts, aiming at the generation of ...
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ISBN:
(纸本)0780382323
Developing software for controlling robotic systems is costly due to the complexity inherent in these systems. There is a need for tools that permit a reduction in the programming efforts, aiming at the generation of modular and robust applications, and promoting software reuse. The techniques which are of common use today in other areas are not adequate to deal with the complexity associated with these systems. In this work we present CoolBOT, a component oriented framework for programming robotic systems, based on the Port Automata model that fosters controllability and observability of software components. A simple demonstrator outlines the bene ts of using the proposed approach in the development of a robotic application.
Information of high-level, topological contact states is useful and even necessary for a wide range of applications, including many robotic applications. A contact state between two polyhedral objects can be effective...
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ISBN:
(纸本)0780382323
Information of high-level, topological contact states is useful and even necessary for a wide range of applications, including many robotic applications. A contact state between two polyhedral objects can be effectively represented as a contact formation in terms of a set of principal contacts between faces, edges, and vertices of the two objects. However, little is done to characterize and represent contact states between curved objects. In order to facilitate the representation of contact states between such objects, we introduce a novel approach to segment the boundary of curved objects based on monotonic changes of curvatures, which we call the curvature monotonic segmentation. We specifically apply this approach to curved 2D and 3D objects with boundary curves or surfaces represented by algebraic polynomials of degrees up to 2. The segmentation yields curvature monotonic faces and edges (or pseudo edges), and vertices (or pseudo vertices). With these faces, (pseudo) edges, and (pseudo) vertices, we effectively extend the concept of contact formation to curved objects to represent high-level, topological contact states between such objects with the same desirable characteristics as the contact formations between polyhedral objects.
Remote roboticsapplications, such as space exploration or operation in hazardous environments, would greatly benefit from automated recovery algorithms for unanticipated failure or damage. In this paper a two-stage e...
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ISBN:
(纸本)0780382323
Remote roboticsapplications, such as space exploration or operation in hazardous environments, would greatly benefit from automated recovery algorithms for unanticipated failure or damage. In this paper a two-stage evolutionary algorithm is introduced-which we call the estimation-exploration algorithm-that forwards this aim by first evolving a damage hypothesis after failure and then re-evolving a compensatory neural controller to restore functionality. The algorithm presupposes that a robot simulator is running continuously onboard the physical robot. In this paper, the 'physical' robot is also simulated, but in future work the algorithm mill be applied to a real, physical robot Although evolutionary algorithms require a large number of evaluations to produce a useful solution, the results reported here indicate that almost complete functionality can be restored after only three evaluations on the 'physical' robot, as opposed to over 3000 evaluations if the compensatory controller is evolved all on the 'physical' robot. Our algorithm also has the benefit of producing a diagnostic model of the failure.
This paper describes a machine learning approach for visual object detection and recognition which is capable of processing images rapidly and achieving high detection and recognition rates. This framework is demonstr...
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ISBN:
(纸本)0780382323
This paper describes a machine learning approach for visual object detection and recognition which is capable of processing images rapidly and achieving high detection and recognition rates. This framework is demonstrated on, and in part motivated by, the task of human-robot interaction. There are three main parts on this framework. The first is the person's face detection used as a preprocessing system to the second stage which is the recognition of the face of the person interacting with the robot, and the third one is the hand detection. The detection technique is based on Haar-like features introduced by Viola et al. [1] and then improved by Lienhart et al. [2]. The eigenimages and PCA [3] are used in the recognition stage of the system. Used in real-time human-robot interaction applications the system is able to detect and recognise races at 10.9 frames per second in a PIV 2.2GHz equipped with a USB camera.
This paper studies optimal control of multiple robot systems with frictional contact. The task is to move the robots into goal regions with specified velocities using external control forces. The robots have nonlinear...
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ISBN:
(纸本)0780382323
This paper studies optimal control of multiple robot systems with frictional contact. The task is to move the robots into goal regions with specified velocities using external control forces. The robots have nonlinear dynamics, which may arise from the robot body dynamics, friction between robot and environment, and friction between robot and robot. Nonpenetration constraints between robots are imposed, and the robots are assumed rigid. The problem is modeled as a mathematical program with complementarity constraints (MPCC). The MPCC model is solved by using its elastic mode, which is a well-behaved nonlinear programming problem. Preliminary results with this approach are illustrated on example problems. The main contributions of this paper are a novel optimal control model that can deal with friction in the multiple robot system, and application of a new mathematical programming algorithm to solve the MPCC formulation. This optimal control model has potential applications in robot systems with friction, such as multifinger manipulation, manipulation with ropes, and multirobot pushing coordination.
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