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Multi-agent simulation using discrete event and soft-computing methodologies

Multi-agent simulation using discrete event and soft-computi...

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IEEE international conference on Systems, Man and Cybernetics

作者： P. Sridhar S. Sheikh-Bahaei Shan Xia M. Jamshidi Center for Autonomous Control Engineering (ACE) and Department of Computer Science University of New Mexico Albuquerque NM USA Center for Autonomous Control Engineenng (ACE) and Department of Electncal & ComputerEngmeenng Engmeenng University of New Mexico Albuquerque NM USA Center for Autonomous Control Engineering (ACE) and Department of Electrical & Computer Engineering University of New Mexico Albuquerque NM USA

With the emerging applications of multi-agent systems, there is always a need for simulation to verify the results before actual implementation. Multi-agent simulation provides a test bed for several soft-computing algorithms like fuzzy logic, learning automata, evolutionary algorithms, etc. In this paper we discuss the fusion of these soft-computing methodologies and existing tools for discrete event simulation (DEVS) for multi-agent simulation. We propose a methodology for combining the agent-based architecture, discrete event system and soft-computing methods in the simulation of multi-agent robotics and network security system. We also define a framework called Virtual Laboratory (V-Lab/spl reg/) for multi-agent simulation using intelligent tools.

关键词： Discrete event simulation Multiagent systems Automatic testing Logic testing Fuzzy logic Learning automata Evolutionary computation Discrete event systems robotics and automation Laboratories

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Subsurface surveying by a rover equipped with ground-penetrating radar

Subsurface surveying by a rover equipped with ground-penetra...

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： T.D. Barfoot G.M.T. D'Eleuterio A.P. Annan Institute for Aerospace Studies University of Toronto Toronto Ontario Canada Sensors & Software Inc. Mississauga Ontario Canada

We discuss our experiences in integrating a commercial off-the-shelf ground-penetrating radar unit with an all-terrain rover. Straight-line subsurface surveys were generated in a fully autonomous manner using odometry and a simple visual servoing technique. Survey results for various terrains are presented. We discuss the configuration of the integrated system and make recommendations for both Martian and terrestrial applications.

关键词： Ground penetrating radar Mars Extraterrestrial measurements Geologic measurements Instruments Pulse measurements Time measurement robotics and automation Radar tracking Frequency

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Supermedia enhanced e-service robots

Supermedia enhanced e-service robots

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IEEE international conference on robotics, Intelligent Systems and Signal Processing

作者： I. Elhajj Ning Xi W.J. Li Yunhui Liu Department of Computer Science and Engineering Oakland University Rochester RI USA Departmcnt of Electrical and Computer Engineering Michigan State University East Lansing MI USA Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Sha Tin Hong Kong China

The Internet, also known as e-world, has added a new dimension to many of the traditional concepts in industrial applications and everyday life. Many words encountered nowadays are prefixed by the letter "e" to reflect their close relation to the electronic world. Therefore, it was not surprising when researchers and businesses started developing "e-services", which are simply services provided via the Internet. The use of robots has dramatically expanded the potential of e-services. Now individuals with particular expertise can perform highly accurate and fairly complicated tasks remotely via the Internet. This increase in the human reachability is faced with several obstacles. Reliable and efficient robot facilitated services via the Internet face several challenges. These range from human-computer interfacing and overcoming random time delay to task synchronization and human-robot interaction. These limitations intensify when supermedia is being fed back and rendered in real-time. Supermedia are the term used to describe the collection of all the feedback streams; such as, haptic, video, audio, temperature and others. This paper provides new theoretical and experimental results on supermedia enhanced e-services. The main characteristics of such systems are Internet based real-time closed loop control with supermedia rendered in their original form.

关键词： Service robots Web and internet services Industrial relations Humans Face Delay effects Feedback Streaming media Haptic interfaces Temperature

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Mobile robot system for composition of seamless and high resolution images

Mobile robot system for composition of seamless and high res...

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IEEE international conference on Systems, Man and Cybernetics

作者： C. Trevai R. Ueda T. Moriya T. Arai Systems Development Laboratory Hitachi and Limited Japan School of Engineering University of Tokyo Japan

Seamless and high resolution images that copy a room is expected to be used for many applications (e.g. a guard system, amusement, remote control, and so forth). We are developing a mobile robot system for obtaining such images automatically. This system utilizes single kind of line marker, which is adhesive tape and is attached horizontally by a user beforehand. A mobile robot goes round a room and builds map. The map is used to collect images of above part of each marker. It means that the mobile robot does not need to know prior information of the room. Therefor, the underlying problems in this paper are localization and exploration by a mobile robot without prior information of the environment.

关键词： Mobile robots Image resolution Computational efficiency Image processing Robot sensing systems Laboratories Automatic control Control systems robotics and automation Target tracking

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Segmentation of surgical needles for fluoroscopy servoing using the insight software toolkit (ITK)

Segmentation of surgical needles for fluoroscopy servoing us...

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Annual international conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： K. Cleary L. Ibanez N. Navab D. Stoianovici A. Patriciu G. Corral Imaging Science and Information Systems (ISIS) Center Department of Radiology George town University Washington D.C. DC USA Kitware Inc.orporated Albany NY USA Siemens Corporate Research Laboratory Princeton NJ USA URobotics Laboratory Brady Urological Institute Johns Hopkins Medical Institutions Baltimore MD USA Mechanical Engineering Department Johns Hopkins University Baltimore MD USA School of Engineering Catholic University of America Washington D.C. DC USA

This paper presents recent work in segmenting surgical needles as seen under X-ray fluoroscopy. This work is part of developing a system for automatically aligning a surgical needle during minimally invasive interventions. The system incorporates a six degree-of-freedom robotic needle driver that is specifically designed for medical applications. The needle is segmented using methods from the insight software toolkit (ITK), which provides a public domain and open source implementation of state-of-the-art registration and segmentation algorithms.

关键词： Needles Software tools Instruments Robot kinematics Minimally invasive surgery robotics and automation X-ray imaging Radiology Laboratories Medical robotics

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Multi-objective optimal robot path planning in manufacturing

Multi-objective optimal robot path planning in manufacturing

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： Heping Chen Ning Xi Yifan Chen Electrical and Computer Engineering Department Michigan State University East Lansing MI USA Scientific Research Laboratory Ford Motor Company Limited Dearborn MI USA

ISBN: (纸本)0780378601

Automatic CAD-guided optimal tool planning has many application in surface manufacturing, such as spray painting, spray forming, rapid tooling, cleaning and polishing. A general framework for CAD-guided optimal tool planning is developed to automatically generate optimal trajectories for these tasks. A material distribution model is developed. A multi-objective constraint optimization problem is formulated. An optimal tool trajectory with an optimal time and material quantity deviation is generated. Simulations are performed to verify the generated trajectory. The results show that the developed optimal tool planning algorithm can be applied to generate optimal tool trajectories. This framework can also be extended to other applications.

关键词： Robots Path planning Spraying Painting Constraint optimization robotics and automation Computer aided manufacturing Cleaning Trajectory Manufacturing processes

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Design and application of a semi-physical simulation system for Spatial Carrier Pose Measurement

Design and application of a semi-physical simulation system ...

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Fourth international conference on Virtual Reality and Its applications in Industry

作者： Zhengzhong Zhang,Yingming Hao, Xinwen Li,Feili Hou, Zaili Dong Postgraduate School of Chinese Academy of Sciences,Bdjing,China robotics Laboratory, Shenyang Institute of automation, Chinese Academy of Sciences.Shenyang ,China

According to the three ways of establishing a measurement simulation system for spatial carrier pose, a practical method of semi-physical simulation is introduced in this paper. This method can explicitly and promptly simulate the pose measurement visually as a carrier moving in space. The process was completed by integrated the powerful graphical function of OpenGL and computer vision technology. Thus it is able to provide the pose measurment of spatial objects on experimental conditions. This paper emphasizes on the implementation of this method and gives some experiment results of the simulation system.

关键词： OpenGL, Pose Measurement, Semi-physical Simulation

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Shape tracking based on the modular active shape model

Shape tracking based on the modular active shape model

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IEEE/ASME (AIM) international conference on Advanced Intelligent Mechatronics

作者： Won Kim Ju-Jang Lee Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Taejon South Korea

ISBN: (纸本)0780377591

The active contour model was proposed by M. Kass et al. in 1988 for segmentation and tracking of target objects in image space. In their theory some kinds of energies was designed to extract the boundaries of targets by giving higher or lower values of snake energy to them. In ACMs, some basic problems such as weakness to strong surrounding edges, the drift of snaxels due to the changes of illumination conditions and sensitivity to cluttered environments, are still not easy to be overcome in the applications of ACM to real environments. In this paper there are three main contributions. Firstly, the combination of the ACM and the ASM is tried to implement a model-based visual tracking system. Secondly, a systematical approach is proposed to construct a few individual PDMs generated on the basis of the projection relation. Finally, the modular active shape model(MASM) is designed to integrate the results of the PCA on the individually generated PDMs.

关键词： Active shape model Target tracking Active contours Space technology Image segmentation Intelligent robots robotics and automation Intelligent sensors Deformable models Iterative algorithms

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Surface partitioning in automated CAD-guided tool planning for additive manufacturing

Surface partitioning in automated CAD-guided tool planning f...

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： Weihua Sheng Ning Xi Heping Chen Yifan Chen Mumin Song ECE. Department Kettering University Flint MI USA ECE. Department Michigan State University East Lansing MI USA Ford Motor Company Scientific Research Laboratory Dearborn MI USA Control Science and Engineering Department Shandong University Shandong China

ISBN: (纸本)0780378601

Additive manufacturing processes such as spray coating, spray painting and rapid tooling important steps in many products' life cycle. Robotic manipulators are widely adopted to carry out these processes. If done by human operators, the tool planning for these applications is usually time-consuming and the generated tool plans are prone to inaccuracy and errors. This research develops a fully-automated, CAD-guided tool planning system which eliminates the human involvement. Meanwhile, this system can generate optimized tool plans in the sense of robot motion performance. The critical part of this tool planning system is the partitioning of part surfaces into multiple easy-to-handle patches. In this paper, a decomposition-based approach is developed, which models the surface partitioning problem in geometric domain as an integer programming problem in algebraic domain. Experimental tests and evaluation carried out on automotive parts validate this new approach.

关键词： Manufacturing automation Motion planning Additives Spraying Humans Manufacturing processes Coatings Painting robotics and automation Manipulators

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Enhancing a robot-centric virtual reality system towards the simulation of fire

Enhancing a robot-centric virtual reality system towards the...

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Proceedings 2003 IEEE/RSJ international conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

作者： E. Freund J. Rossmann A. Bucken Institute of Robotics Research University of Dortmund Dortmund Germany

Today's robot applications often include multi-robot multi-user environments which are planed thoroughly in 3D before installation. The key to gain the maximum benefit out of the already available models it is to reuse them for other purposes than only robot-simulation. One of these aspects surely is the training of future operators of the cell which is important especially for environments that are difficult to access for training. For example a production line in the automotive industry may not be shut down for a day of emergency-training. In this paper we will show how to reuse already modelled robot cells and mechanisms of the Cosimir simulation-system in emergency-training. We present an approach for graphical visualisation and simulation of fire. We show how to get realistic impressions of fire using advanced particle-simulation and how to use the advantages of particles to trigger states in a modified cellular automata used for the simulation of fire-behaviour. By this we can have a simulated fire developing and reacting on other fires and different substances as water, CO/sub 2/ or oxygen. It turns out that the mechanisms implemented for fire-simulation are also valuable for robot-simulation. So there is a mutual benefit between the robot-simulation and the simulation of fire. The methods proposed in this paper have been implemented and successfully tested on Cosimir, a commercial robot-and VR-simulation-system.

关键词： Virtual reality Fires Service robots Industrial training robotics and automation Production Automotive engineering Visualization Testing Costs

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