Procedural Reasoning Systems (PRS) have inspired some works in execution control and supervision, in particular in roboticsapplications. However, one of the main drawback of the PRS is the lack of planning capabiliti...
详细信息
ISBN:
(纸本)0780365763
Procedural Reasoning Systems (PRS) have inspired some works in execution control and supervision, in particular in roboticsapplications. However, one of the main drawback of the PRS is the lack of planning capabilities, even though some of PRS execution mechanisms and knowledge representations are related to planning. In this paper, we propose some extensions to PRS, to integrate both execution and planning in robotics domain. In particular, we propose two planning mechanisms: " plan synthesis to complement existing operational procedures by building new plans from operators;" anticipation planning, which anticipates on the plans and procedures execution, to advise the execution for the best option to take when facing choices, and to forecast problems that may arise due to unforeseen situations. These new extensions rely on a common language to represent plans, planning operators and operational procedures. In particular, the description we propose makes transitions between planning activities and execution seamless. This work is used in two complex real-world problems: planning and control for our autonomous mobile robots (e.g. for delivery tasks), and for the management of the transition phases of a blast furnace.
This article presents the principles of these control enhancements which, we believe, will raise dramatically the level of safety and precision that surgeon can achieve, but those principles can also be applied to a w...
详细信息
ISBN:
(纸本)0780365763
This article presents the principles of these control enhancements which, we believe, will raise dramatically the level of safety and precision that surgeon can achieve, but those principles can also be applied to a wide variety of teleoperation applications (eg. human friendly robotics, cooperative robots...). We also describe one implementation on an experimental platform composed by a Phantom haptic device for the master device and a PUMA arm as the slave manipulator.
Some engineering applications require structures to expand and contract in size, while retaining their exterior shape. The applications range from mundane daily life objects to more fancy art structures. In contrast t...
详细信息
ISBN:
(纸本)0780365763
Some engineering applications require structures to expand and contract in size, while retaining their exterior shape. The applications range from mundane daily life objects to more fancy art structures. In contrast to a multi degree-of-freedom structure, a single degree-of-freedom structure can be driven by a single actuator, reducing cost and simplifying the control. In this paper, we study single degree-of-freedom structures that can be formed by a lattice of single degree-of-freedom polyhedral expanding units. Due to built-in symmetries, the entire structure can expand and contract as one of the units in the structure is actuated.
Robotic systems and their software design are based on the same principles found in other computer applications. However, while many computer systems to date are deeply rooted in concepts such as multi-processing, mul...
详细信息
ISBN:
(纸本)0780365763
Robotic systems and their software design are based on the same principles found in other computer applications. However, while many computer systems to date are deeply rooted in concepts such as multi-processing, multi-threads, modularity, etc., robotic systems are still limited by mono-processing, centralized designs. This paper addresses these limitations by proposing a new philosophy for robotic system software design software infrastructure that allows for the design of an efficient, modular, fault-tolerant, and distributed software architecture. Two examples of this infrastructure applied to mobile robot navigation are also discussed.
The Autonomy and robotics Area (ARA) at NASA Ames Research Center has investigated the use of various types of Virtual Reality-based operator interfaces to remotely control complex robotic mechanisms. In this paper, w...
详细信息
The Autonomy and robotics Area (ARA) at NASA Ames Research Center has investigated the use of various types of Virtual Reality-based operator interfaces to remotely control complex robotic mechanisms. In this paper, we describe the major accomplishments and technology applications of the ARA in this area, and highlight the advantages and issues related to this technology.
Ego-motion (self-motion) of the camera is a considerable problem in outdoor rover applications. Stereo tracking of a single moving target is a difficult problem that becomes even more challenging when rough terrain ca...
详细信息
ISBN:
(纸本)0780365763
Ego-motion (self-motion) of the camera is a considerable problem in outdoor rover applications. Stereo tracking of a single moving target is a difficult problem that becomes even more challenging when rough terrain causes significant and high-acceleration motion of the camera in the world. This paper discusses the use of inertial measurements to estimate camera ego-motion and the use of these estimates to augment stereo tracking. Some initial results fram an outdoor rover will be presented, illustrating the efficacy of the method. The method causes fast but predictable image location transients, but reduces the amplitude of image loation transients due to the rough terrain.
Precise measurements of geometry should accompany robotic equipments in operating rooms if their advantages are further pursued. For deforming organs including a liver, intraoperative geometric measurements play an. e...
详细信息
ISBN:
(纸本)0780365763
Precise measurements of geometry should accompany robotic equipments in operating rooms if their advantages are further pursued. For deforming organs including a liver, intraoperative geometric measurements play an. essential role in computer surgery in addition to pre-operative geometric information from CT. MRI a-rid so on. We developed a laser-pointing endoscope using an optical galvano scanner and a 955fps high-speed camera. The laser-pointing endoscope system acquires and visualizes the shape of the area of interest in a flash of time. applications of the system also include the touch screen interface for non-master-slave operation of surgical robots, where the 3D coordinates of the touched point on screen are measured by the system and guide a robot. Results of in-vivo experiments on a liver of pig verify the effectiveness of the proposed system.
We describe potential military roboticsapplications for the heavy vehicle automation and driver assistance research that has been conducted on at the California Partners for Advanced Transit and Highways (PATH). Spec...
详细信息
ISBN:
(纸本)0819440590
We describe potential military roboticsapplications for the heavy vehicle automation and driver assistance research that has been conducted on at the California Partners for Advanced Transit and Highways (PATH). Specifically, we summarize the state of vehicle automation research at PATH by beginning with a short description of automated platoon operations with eight light duty passenger vehicles. Then we focus on automation of a Class 8 Freightliner Model FLD 125 tractor with 45-ft trailer, and lateral driver assist installed in a 10-wheel international snowplow. We also discuss full automation plans for a Kodiak 4000-ton/hour rotary snowblower, two 40-ft New Flyer buses, one 60-ft New Flyer articulated bus, and three Freightliner Century tractor-trailer combinations. We discuss benefits for civilian applications - congestion relief, driver safety, and fuel economy/emissions reductions. We then follow with a discussion of the benefits from potential military spin-ons which include, as dual-use applications, driver safety and fuel economy/emissions. We end by discussing the additional military benefit in the conduct of tactical resupply operations, where vehicles of similar weight class and performance as those experimented by PATH can be used in automated convoys with savings in manpower and survivability in addition to improved mission operations.
This Volume 2 of 2 of the conference proceedings contains 122 papers. Topics discussed include manufacturing information systems, industrial automation with discrete/hybrid systems, real time and embedded technology, ...
详细信息
This Volume 2 of 2 of the conference proceedings contains 122 papers. Topics discussed include manufacturing information systems, industrial automation with discrete/hybrid systems, real time and embedded technology, enterprise integration,micromachines, advanced issues in supply chain management, emerging technologies in scheduling, advances in smart sensor modeling and design, estimation and diagnosis of manufacturing systems, multi-agent based factory automation: industrial applications of intelligent production systems, ethernet, machine vision in robotics, industrial automation and microrobotics in manufacturing.
This contribution reports an a type of pneumatic artificial muscles (PAMs) that was recently developed at the Vrije Universiteit Brussell department of Mechanical Engineering. Its distinguishing feature is its pleated...
详细信息
ISBN:
(纸本)0780367367
This contribution reports an a type of pneumatic artificial muscles (PAMs) that was recently developed at the Vrije Universiteit Brussell department of Mechanical Engineering. Its distinguishing feature is its pleated design. Due to this, it has a very high contraction force and an equally high travel. The weight of these pleated PAMs is very low: a muscle of only 60 gr can pull up to 3500N and contract by an amount of 42%. Furthermore, dry friction and associated hysteresis, typical of many other designs, is avoided by the folding-unfolding action. This significantly simplifies position control using these actuators. Although the force-displacement characteristics of our actuators are non-linear, they can be effectively controlled using basic linear PI techniques. Another advantage of these actuators is their inherent and controllable compliance, making them ideally suited for walking/running machines or whenever delicate tasks, e.g. handling fragile objects, have to be performed. In view of all characteristics pleated PANTS are very well suited for automation and robotic applications.
暂无评论