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Modular telerobot control system for accident response

Modular telerobot control system for accident response

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proceedings of the 1999 sensor fusion and decentralized control in robotic systems ii

作者： Anderson, Robert J. Shirey, David L. Sandia Natl Lab Albuquerque United States

The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART (Sandia's Modular Architecture for robotic and Teleoperation) was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera-frame teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two seperate modules and implements seven different behavior modes. This paper describes the integration of SMART into the ARMMS system.

关键词： Modular robots

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I(CES)-Cubes: A modular self-reconfigurable bipartite robotic system

I(CES)-Cubes: A modular self-reconfigurable bipartite roboti...

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proceedings of the 1999 sensor fusion and decentralized control in robotic systems ii

作者： Unsal, Cem Kiliccote, Hah Khosla, Pradeep K. Carnegie Mellon Univ Pittsburgh United States

In this manuscript, we introduce I(CES)-Cubes, a class of three-dimensional modular robotic system that is capable of reconfiguring itself in order to adapt to its environment. This is a bipartite system, i.e., a collection of (i) active elements capable of actuation, and (ii) passive elements acting as connectors between actuated elements. Active elements, called links, are 3-DOF manipulators that are capable of attaching/detaching themselves to/from the passive elements (cubes). The cubes can then be positioned and oriented using links, which are independent mechatronic elements. Self-reconfiguration property enables the system to perform locomotion tasks over difficult terrain. For example, the system would be capable of moving over obstacles and climbing stairs. These tasks are performed by positioning and orienting cubes and links to form a three-dimensional network with required shape and position. This paper describes the design of the passive and active elements, the attachment mechanisms, and several reconfiguration scenarios. Specifics of the hardware implementation and results of experiments with current prototypes are also given.

关键词： Modular robots

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Hall-Effect sensor positional transducer

Hall-Effect sensor positional transducer

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proceedings of the 1999 sensor fusion and decentralized control in robotic systems ii

作者： Avizzano, Carlo Alberto Ferrazzin, Diego Prisco, Giuseppe Maria Bergamasco, Massimo PERCRO Pisa Italy

This paper presents the usage of Hall-Effect sensors for the creation of a low cost, zero friction, minimally invasive precise positional (linear/angular) sensor. Hall Effect sensors are generally been used for revealing the speed of geared-wheels as well as the angular position of wheels having an array of magnets mounted on. In most cases the Hall-Effect sensors have only been used as threshold sensing devices for revealing the presence of magnetic field. In this article we will experiment the use of the Hall-Effect sensors as continuous non-linear analog input devices. Moreover the article will exploit the condition of achieving data from an array of sensors spatially displaced. The article will show how to introduce the mathematical model of the magnetic field in order to design a correct acquisition system. The article proceeds to introduce the case of a linear transducer made up of a set of sensors. In this transducer the sensors have been linearly arranged along the path swept by a magnetic trolley. The model of data acquisition is presented. The performances and the numerical reliability of the transducer have been evaluated both analytically and experimentally. The achieved results are shown. Finally the transducer generalization for combining an arbitrarily great number of Hall-Effect sensors is discussed.

关键词： sensor data fusion

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MMS: A modular robotic system and model based control architecture

MMS: A modular robotic system and model based control archit...

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proceedings of the 1999 sensor fusion and decentralized control in robotic systems ii

作者： Schonlau, William J. Raytheon Systems Co El Segundo United States

The Modular Manipulator System (MMS) is a general purpose user configurable modular robotic system that provides rapid and inexpensive implementation of standard or customized manipulator geometries of arbitrary complexity, tailored to the needs of individual researchers or application engineers. Structures are configured from serf contained 1-DOF rotary or linear JOINT modules, which include an on-board control processor, power amplifier, DC servomotor, high precision position sensor and a fast, rigid connect/disconnect latch. The joints are connected together by passive rigid LINK tubes (straight or 90 degree elbow), that define the manipulator geometry. These components are all offered in 5, 7, 10, 14 and 20 cm diameters, with power density and positional accuracy competitive with other commercial manipulators. A Fuzz Associative Memory (FAM) system is used to capture the arm solution equations for the user defined arm geometry with minimal user input. Task motion commands define trajectories for the end effector in 6-D cartesian workspace coordinates, broadcast to all joints concurrently. The control processor in each joint solves for its component of the movement (a distributed real-time arm equation solution), which is input to a PID control loop that drives the joint servomotor. Central to the system is the Model Manager control program, a model based data-flow architecture, which integrates a dynamic workspace model, off-line application program development, real-time task execution or simulation. The program supports easy teaching of workspace locations, hierarchical programming of complex tasks, sophisticated tool trajectory control integrated workspace I/O, manual manipulator operation and an intuitive user control interface. Additional components under development support automated planning for subtasks, line-model based vision capability to guide workspace interaction and cooperative operation of multiple arms. Various technical and economic advantages

关键词： Modular robots

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Experiments in the control of perception in a multi-sensor system

Experiments in the control of perception in a multi-sensor s...

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proceedings of the 1999 IEEE/SICE/RSJ International Conference on Multisensor fusion and Integration for Intelligent systems, MFI'99

作者： Celinski, Tomasz McCarragher, Brenan Australian Natl Univ Canberra

The paper presents a new approach to management of multiple sensors and perception algorithms in a multi-sensor robotic system. The approach involves real-time selection of process monitors by a sensory Perception controller. The selection is based on the minimization of the expected cost of perception with constraints on the uncertainty of perception. The effectiveness and usefulness of the approach is evaluated through experiments involving a range of sensing modalities which may typically be encountered in robotic applications.

关键词： sensor data fusion

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Combining eye-in-hand visual servoing and force control in robotic tasks using the task frame

Combining eye-in-hand visual servoing and force control in r...

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proceedings of the 1999 IEEE/SICE/RSJ International Conference on Multisensor fusion and Integration for Intelligent systems, MFI'99

作者： Baeten, Johan Bruyninckx, Herman De Schutter, Joris Katholieke Universiteit Leuven Heverlee Belgium

This paper shows how to use Mason's compliance frame or task frame to model, implement and execute robotic tasks which combine force control and visual servoing in an uncalibrated workspace. Both vision and force sensors are mounted on the manipulator. Hence, the vision algorithms benefit from the known depth to the contact point, when operating under force controlled contact. The sensor data is fused in a hybrid position/force control scheme with internal velocity controller. The fusing method depends on the high level task description. Experimental results are presented to validate the approach.

关键词： sensor data fusion

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Intelligent signal validation system for a cupola furnace - Part I: Methodology

Intelligent signal validation system for a cupola furnace - ...

引用

proceedings of the 1999 American control Conference (99ACC)

作者： Abdelrahman, Mohamed Subramanian, Senthil Tennessee Technological Univ Cookeville United States

In this research we present a methodology for developing a signal validation technique that can be introduced to improve the operation of the cupola iron-melting furnace, an important foundry process used to melt iron. To improve the operation of the furnace, digital controllers are employed. The operation of such controllers, however, depends on accurate measurement of controlled variables. It is necessary to provide reliable signals to the controller for its proper operation. In this research we develop a signal validation system for one of the process variables of the cupola furnace, namely iron temperature. An artificial neural network (ANN) rule-based filter and trend estimator (RBFTE) is developed to estimate the measurement signals and to eliminate spikes and other external disturbances from the measurement signals. Analytical redundancy is provided through the use of inferential sensors developed through the identification of input-output dynamic models for the iron temperature using ANN. Another type of inferential sensor that relies on the identification of nonlinear relations between the iron temperature and another temperature measurement across the furnace body is also developed. In part ii of the paper, testing results for the RBFTE filter and inferential sensors and a sensor fusion algorithm are provided.

关键词： Digital control systems

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Experiments in the control of perception in multi-sensor system

Experiments in the control of perception in multi-sensor sys...

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International Conference on Multisensor fusion and Integration for Intelligent systems (MFI)

作者： T. Celinski B. McCarragher Department of Engineering Faculty of Engineering and Information Technology Australian National University Canberra Australia

关键词： control systems Intelligent sensors sensor systems Intelligent robots Robot sensing systems sensor phenomena and characterization sensor arrays Intelligent systems Information technology Technology management

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Combining eye-in-hand visual servoing and force control in robotic tasks using the task frame

Combining eye-in-hand visual servoing and force control in r...

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International Conference on Multisensor fusion and Integration for Intelligent systems (MFI)

作者： J. Baeten H. Bruyninckx J. De Schutter Dept. of Mech. Eng. Katholieke Univ. Leuven Belgium Department Mechanical Engineering Katholieke Universiteit Leuven Heverlee Belgium

关键词： Visual servoing Force control Force sensors Robot sensing systems Robot vision systems Cameras Optical distortion Velocity control Orbital robotics Machine vision

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Achieving efficient multi-sensory perception through predictive correction of monitoring errors

Achieving efficient multi-sensory perception through predict...

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International Conference on Multisensor fusion and Integration for Intelligent systems (MFI)

作者： T. Celinski B. McCarragher Department of Engineering Faculty of Engineering and Information Technology Australian National University Canberra Australia

We present a novel approach to managing the quality and cost of perception in a multi-sensor robotic system. The approach involves prediction of monitoring errors of a range of process monitors using a weighted least squares algorithm, and minimization of the cost of monitoring constrained by the desired level of monitoring performance. Two significant characteristics of the approach are: (1) dynamic, real-time management of process monitors, and (2) the ability to deliver high quality information while keeping the cost of perception low.

关键词： Monitoring Error correction Costs Computer errors Robot sensing systems Mobile robots Quality management Robot control sensor fusion Information technology

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