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Viewpoint selection-an autonomous robotic system for virtual environment creation

Viewpoint selection-an autonomous robotic system for virtual...

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： E. Bourque G. Dudek Centre for Intelligent Machines McGill University Montreal Canada

Describes an integrated system for the automatic construction of image-based virtual realities to describe a real environment. A mobile robot autonomously navigates through the environment and uses a camera to make observations. At locations that are deemed sufficiently interesting, panoramic images are collected that are used to construct a multi-node VR movie. Images of the environment are classified in terms of two features related to human attention: edge element density and edge orientation. The system deems locations interesting if they are sufficiently different from the surrounding environment. The parameterization of the surrounding environment is computed either in a pre-computation pass, or online using a technique termed alpha-backtracking. The panoramic images that describe the environment are automatically joined together in a navigable movie that simulates motion in the real environment.

关键词： Virtual environment Virtual reality Humans Navigation robotics and automation Mobile robots Motion pictures Inspection Robot vision systems Cameras

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Localization of insulators in electric distribution systems by using 3D template matching from multiple range images

Localization of insulators in electric distribution systems ...

引用

Proceedings. 1998 IEEE/RSJ international conference on Intelligent Robots and Systems. Innovations in Theory, Practice and applications (Cat. No.98CH36190)

作者： K. Kawamura M.D. Wheeler O. Yamashita Y. Sato K. Ikeuchi Kyushu Electric Power Co. Inc. Fukuoka Japan Cyra Technologies Oakland CA USA University of Tokyo Tokyo Japan University of Tokyo Japan

Kyushu Electric has developed a dual-armed mobile-robot for use in electricity distribution systems. Although some human intervention is still required, the robot greatly reduces the demands on the human operator. In order to automate some of the robot's capabilities, we have developed a 3D object-localization method for robot positional adjustment. The method is designed to be insensitive to noise and outliers while, at the same time, it has optimal run-time efficiency. The paper first describes our algorithm, and then presents a performance evaluation.

关键词： Dielectrics and electrical insulation Mobile robots Iterative algorithms robotics and automation Humans Accidents Iterative closest point algorithm Robustness Design methodology Runtime

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Transforming sensor data to increase robustness in the control of calibration-free robots

Transforming sensor data to increase robustness in the contr...

引用

Proceedings. 1998 IEEE/RSJ international conference on Intelligent Robots and Systems. Innovations in Theory, Practice and applications (Cat. No.98CH36190)

作者： A. Maryniak V. Graefe Institute of Measurement Science Bundeswehr University Munich Neubiberg Germany

In vision-based robot control typically more sensor data are available than the minimum necessary for computing robot control commands. We propose an approach for utilizing the redundant sensor data to improve the robustness of robot control. The key point is that the sensor data space is transformed into a space of lower dimensionality before computing the robot control commands, thus avoiding to solve an over-determined system of equations. Compared to the rather simple alternative method of truncating measurements it has the advantage that, in the interest of robustness, it takes into account all available measurements. The approach has been evaluated in real-world manipulation experiments with a calibration-free robot. It has proven to be suitable for a real-time implementation and has led to a more robust control than the alternative approach.

关键词： Robust control Robot control Robot sensing systems Robot vision systems Cameras Sensor systems Robot kinematics Calibration Grippers robotics and automation

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Distributed map-making and navigation in dynamic environments

Distributed map-making and navigation in dynamic environment...

引用

Proceedings. 1998 IEEE/RSJ international conference on Intelligent Robots and Systems. Innovations in Theory, Practice and applications (Cat. No.98CH36190)

作者： J. Jennings C. Kirkwood-Watts C. Tanis Department of Electrical Engineering and Computer Science Tulane University New Orleans LA USA

We present an implemented distributed map-making algorithm based on an online generation of an approximation to the generalized Voronoi graph of the robots' environment. Using sonar sensors, a team of mobile robots constructs maps which are topological and relatively sparse, and hence are well suited to basic path-planning approaches. The maps also contain metric data which could be used to detect changes in a dynamic environment automatically. The implementation addresses robot interactions that occur during mapping; the map merge algorithm is simple and uses a robust metric to produce reliable combined maps. A corresponding navigation algorithm which uses these maps has proven reliable in dynamic environments, i.e. when the world has changed since the map was made.

关键词： Navigation Mobile robots Intelligent robots robotics and automation Robustness Data structures Road transportation Approximation algorithms Distributed power generation Sonar

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Petri nets for modeling and coordination of robotic tasks

Petri nets for modeling and coordination of robotic tasks

引用

IEEE international conference on Systems, Man and Cybernetics

作者： P. Lima H. Gracio V. Veiga A. Karlsson Instituto de Sistemas e Robótica Instituto Superior Técnico Torre Norte Lisboa Portugal

Petri nets have been widely used to model dynamic systems, namely manufacturing systems. In this paper we introduce the use of Petri nets to model robotic tasks. Different views of the robotic task model can be modeled by distinct Petri net types: interpreted Petri nets for task design and execution, generalized stochastic Petri nets for task quantitative performance evaluation and ordinary Petri nets for task qualitative performance evaluation. Quantitative performance evaluation and improvement based on reinforcement learning from feedback are detailed in the paper. Examples of applications to visual servoing and catching of moving objects by a robotic arm and to mobile robot tasks are presented.

关键词： Petri nets Robot kinematics Feedback Mobile robots robotics and automation Event detection Electronic mail Manufacturing systems Stochastic processes Learning

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Robot navigation in outdoor environments by using GPS information and panoramic views

Robot navigation in outdoor environments by using GPS inform...

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： S. Li A. Hayashi Faculty of Information Sciences Hiroshinia City University Hiroshima Japan

This paper proposes a method of robot navigation in outdoor environments by using GPS (Global Positioning System) information and panoramic views. Since an outdoor environment is very large scaled, it is very difficult to determine the global position based on a visual sensor. Although a global position can be obtained from a GPS navigator, it is difficult to locate a robot accurately since it has a distance error about 30/spl sim/100 meter. Our system is equipped with a GPS navigator and a camera. A coarse-to-fine method is used to generate an outdoor environment map and locate a mobile robot. First, a robot finds its approximate position based on the GPS information. Then, it identifies its location from the image information. Experimental results in outdoor environments show the effectiveness of this method.

关键词： Navigation Global Positioning System Layout Cameras Robot vision systems Robot sensing systems Mobile robots robotics and automation Humans Indoor environments

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Optimization of human control strategy with simultaneously perturbed stochastic approximation

Optimization of human control strategy with simultaneously p...

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： Jingyan Song Yangsheng Xu Yeung Yam M.C. Nechyba Department of Systems Engineering & Engineering Management The Chinese University of Hong Kong Hong Kong NT China The Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong NT China

Modeling the dynamic human control strategy (HCS) is becoming an increasingly popular paradigm in a number of different research areas, ranging from robotics to intelligent vehicle highway systems. Usually, HCS models are derived empirically, rather than analytically, from real human input-output data. While these empirical models offer an effective means of transferring intelligent behaviors from humans to robots and other machines, the models are not explicitly optimized with respect to potentially important performance criteria. We therefore propose an iterative algorithm for optimizing an initially stable HCS model with respect to an independent, user-specified performance criterion. We first collect driving data from different individuals through a real-time graphic driving simulator. Next, we describe how we model each individual's control strategy through flexible cascade neural networks. Once we have initially stable HCS models, we propose simultaneously perturbed stochastic approximation (SPSA) to optimize these models with respect to a chosen performance criterion. Finally, we describe and discuss some experimental results with the proposed algorithm.

关键词： Humans Intelligent robots Vehicle dynamics Intelligent vehicles Road transportation Machine intelligence Iterative algorithms Graphics Neural networks Stochastic processes

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Assembly model data in robot cell systems

Assembly model data in robot cell systems

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： S. Kojima P. Kerites T. Hayashi H. Hashimoto 2nd Manufacturing System Research Department Manufacturing Technology R&D Center Ricoh Company Ltd. Atsugi Kanagawa Japan Institute of Industrial Science University of Tokyo Minato-ku Tokyo Japan

Describes the intelligent manufacturing system (IMS) program progress in the autonomous assembly robot cell research. We focus on the information which is generated by the designers during the product development process. From the assembly process viewpoint, this information is extracted and integrated into the product model as an assembly model. This information is called assembly model data (AMD). Therefore, the main purpose of our research is to investigate the utility of AMD and the best format for these data in the assembly process. To solve the assembly problem, a 3D CAD data driven assembly robot cell (ARC) system was proposed. Robot task programs for the assembly process are generated automatically from 3D CAD data and AMD with this system in the virtual environment. The system can show the designers visually the difficult parts of an assembly. ARC with only products' CAD data and AMD can then assemble actual products in the real environment using a hand eye system equipped with a laser range finder. The products' CAD data and AMD are supplied to each ARC through a network. The data format was evaluated through loading actual AMD in the ARC system.

关键词： Robotic assembly Assembly systems Product development Product design Design automation Production Manufacturing Data mining robotics and automation Concurrent engineering

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Optimization of process dynamics in robotic manipulation

Optimization of process dynamics in robotic manipulation

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： G. Prokop F. Pfeiffer Lehrstuhl B für Mechanik Technische Universität München Garching Germany

In robotic manipulation the interaction between robot and environment is an essential part of the task. In order to deal with impacts, friction and constrained motion, a model-based optimization approach is suggested which relies on a detailed dynamic model of the manipulator itself, the process dynamics of the task and the interactions between those two. These models are used to define an optimization problem, which is then solved using numerical programming methods. It is illustrated with an assembly task, namely mating a pair of snap fits. Utilizing a pre-optimized dynamic response behavior of the robot we plan trajectory and design parameters of the mating parts, which influence the process dynamics and thus the external excitation of the manipulator dynamics. The expected advantage in industrial applications is a relatively easy implementation, because performance can be improved by simply adjusting 'external' parameters as path and geometry. Particularly, no modifications of the control architecture are required. Application of the proposed approach to a snap joint under practical constraints can reduce the cycle time by more than 45%.

关键词： Manipulator dynamics Robotic assembly Service robots robotics and automation Robot sensing systems Gears Force control Constraint optimization Optimization methods Robot programming

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An advanced planning and navigation approach for autonomous cleaning robot operations

An advanced planning and navigation approach for autonomous ...

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： G. Schmidt C. Hofner Institute for Automatic Control Engineering Technische Universität München Munchen Germany GANSOW GmbH & Co.-KG Maschinenbau Bergkamen-Runthe Germany

This paper presents an information processing scheme which increases the autonomy of floor caring robots in indoor applications, such as cleaning or inspection of industrial and public floor areas. An automatic planner generates a serpentine path pattern by repeated and appropriate concatenation of up to five basic motion macros. This nominal path is executed by a Cartesian motion controller. In case of unexpected obstacles the robot updates its internal geometric representation of the work area to be processed and replans its path. Due to obstacle avoidance, certain areas may remain unprocessed. Location and topology of such areas are automatically reconstructed for repeated follow-up floor caring in case of temporary obstacles. For this purpose connecting maneuvres and paths of complete floor coverage are incrementally planned and executed. Landmark localization at automatically preplanned reference points allows online modification of motion commands and guarantees precise long distance path tracking. Feasibility of the developed techniques has been demonstrated in various long-term experiments with the prototype mobile service robot MACROBE.

关键词： Navigation Service robots robotics and automation Information processing Cleaning Inspection Automatic control Motion control Topology Joining processes

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