This paper proposes an integrated virtual space control system for intelligent house room which consists of many kinds of appliances and information systems to enrich human life. The main features of the system are 1)...
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ISBN:
(纸本)0819442992
This paper proposes an integrated virtual space control system for intelligent house room which consists of many kinds of appliances and information systems to enrich human life. The main features of the system are 1) the user controls the system via a large size display which represents system state linked to "real" appliances, 2) the system utilizes hand gesture to realize intuitive interaction, 3) the virtual space of the display utilizes 3D drag-and-drop metaphor. As for the core component of the proposed system, the paper reports implementation of a hand motion tracking system with multiple views and a controllable camera. Experimental results show that the tracking system solves a problem of the system scale explosion to achieve the accuracy and stability in real-time tracking.
In this paper, we describe an architecture for the development of autonomy software for multi-robot distributed control and collective estimation. CAMPOUT, the control Architecture for Multi-Robot Planetary OUTposts, ...
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ISBN:
(纸本)0819442992
In this paper, we describe an architecture for the development of autonomy software for multi-robot distributed control and collective estimation. CAMPOUT, the control Architecture for Multi-Robot Planetary OUTposts, provides communication facilities for sharing of state information across robots and it uses a behavior network for representation and execution of group activities as well as the activities of a single robot. In our research, we have shown that CAMPOUT provides a level of abstraction that enables us to develop multi-robot software in a manner much similar to what we use for single robot software development. We showcase the main architectural components by describing two multi-robot tasks for planetary construction and collective cliff-descent. For both tasks, we show how behavior networks can be used to describe group activities and how publish/subscribe and other communication mechanisms can be used to share state information across multiple robots.
This paper presents a novel navigation method for autonomous Mobile Vehicle in unknown environments. The proposed navigator consists of an Obstacle Avoider (OA), a Goal Seeker (GS), a Navigation Supervisor (NS) and an...
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This paper presents a novel navigation method for autonomous Mobile Vehicle in unknown environments. The proposed navigator consists of an Obstacle Avoider (OA), a Goal Seeker (GS), a Navigation Supervisor (NS) and an Environment Evaluator (EE). The fuzzy actions inferred by the OA and the GS are weighted by the NS using the local and global environmental information and fused through fuzzy set operation to produce a command action, from which the final crisp action is determined by defuzzification. The EE tunes the supports of the fuzzy sets for the OA and the NS;therefore, the capability of the navigation method is enhanced. Simulation shows that the navigator is able to perform successful navigation task in various unknown or partially known environments, and it has satisfactory ability in tackling moving obstacles. More importantly, it has smooth action and exceptionally good robustness to sensor noise.
Projective Virtual Reality(2) is a new and promising approach to intuitively operable man machine interfaces for the commanding and supervision of complex automation systems. The user interface part of Projective Virt...
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ISBN:
(纸本)0819442992
Projective Virtual Reality(2) is a new and promising approach to intuitively operable man machine interfaces for the commanding and supervision of complex automation systems. The user interface part of Projective Virtual Reality heavily builds on latest Virtual Reality techniques, a task deduction component and automatic action planning capabilities. In order to realize man machine interfaces for complex applications, not only the Virtual Reality part has to be considered but also the capabilities of the underlying robot and automation controller are of great importance. This paper presents a control architecture that has proved to be an ideal basis for the realization of complex robotic and automation systems that are controlled by Virtual Reality based man machine interfaces. The architecture does not just provide a well suited framework for the real-time control of a multi robot system but also supports Virtual Reality metaphors and augmentations which facilitate the user's job to command and supervise a complex system. The developed control architecture has already been used for a number of applications. Its capability to integrate sensor information from sensors of different levels of abstraction in real-time helps to make the realized automation system very responsive to real world changes. In this paper, the architecture will be described comprehensively, its main building blocks will be discussed and one realization that is built based on an open source real-time operating system will be presented. The software design and the features of the architecture which make it generally applicable to the distributed control of automation agents in real world applications will be explained. Furthermore its application to the commanding and control of experiments in the Columbus space laboratory, the European contribution to the International Space Station (ISS), is only one example which will be described.
In this paper, we describe a framework for coordinating multiple robots in the execution of a cooperative manipulation task. The coordination is distributed among the robots that use modular, hybrid controllers in ord...
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ISBN:
(纸本)0819442992
In this paper, we describe a framework for coordinating multiple robots in the execution of a cooperative manipulation task. The coordination is distributed among the robots that use modular, hybrid controllers in order to execute the task. Different plans and models of the environment are built using a mix of global and local information and can be shared by the team members using wireless communication. Our framework uses models and metrics of computation, control, sensing and information in order to dynamically assign roles to the robots, and define the most suitable control hierarchy given the requirements of the task and characteristics of the robots. To test our framework, we have developed a object oriented simulator that allows the user to create different types of robots, to define different environments and to specify various types of control algorithms and communication protocols. Using the simulator, we have been able to test the execution of this task in different scenarios with different numbers of robots. We can verify the efficacy of the robot controllers, the effects of different parameters on the system performance and the ability of the robots to adapt to changes in the environment. Results from experiments with two real robots and with the simulator are used to explore the multi-robot coordination in a cooperative manipulation task.
One of the biggest challenges of any control paradigm is being able to handle large complex systems under unforeseen uncertainties. A system is called complex here if its dimension (order) is too high and its model (i...
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One of the biggest challenges of any control paradigm is being able to handle large complex systems under unforeseen uncertainties. A system is called complex here if its dimension (order) is too high and its model (if available) is non-linear and tightly interconnected and information on the system is uncertain such that classical techniques cannot easily handle the problem. Soft computing, a collection of fuzzy logic, neuro-computing, genetic algorithms and genetic programming have proven to be a powerful tool for adding autonomy and semi-autonomy to many complex systems. For such systems the size of soft computing control architecture will be nearly infinite. Examples of complex systems are power networks, space robotic colonies, air traffic controlsystems, an integrated manufacturing plant, satellite arrays, etc. In this paper a rule base reduction approach is suggested to manage large inference engines. Notions of rule hierarchy and sensor data fusion are introduced and combined to achieve desirable goals. New paradigms using soft computing approaches, such as multi-objective genetic algorithms, are utilized to design autonomouscontrollers for a number of applications areas. These applications are satellite array formations, robotic agents, wireless cellular systems, water purification systems, etc. The ACE Center's VI-P® model for coordinated research teams will also be discussed briefly. Videotape of the experimental implementation will be shown.
During the last decade, there has been significant progress toward a supervised autonomousrobotic capability for remotely controlled scientific exploration of planetary surfaces. While planetary exploration potential...
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ISBN:
(纸本)081944300X
During the last decade, there has been significant progress toward a supervised autonomousrobotic capability for remotely controlled scientific exploration of planetary surfaces. While planetary exploration potentially encompasses many elements ranging from orbital remote sensing to subsurface drilling, the surface robotics element is particularly important to advancing in situ science objectives. Surface activities include a direct characterization of geology, mineralogy, atmosphere and other descriptors of current and historical planetary processes-and ultimately-the return of pristine samples to Earth for detailed analysis. Toward these ends, we have conducted a broad program of research on roboticsystems for scientific exploration of the Mars surface, with minimal remote intervention. The goal is to enable high productivity semi-autonomous science operations where available mission time is concentrated on robotic operations, rather than up-and-down-link delays. Results of our work include prototypes for landed manipulators, long-ranging science rovers, sampling/sample return mobility systems, and more recently, terrain-adaptive reconfigurable/modular robots and closely cooperating multiple rover systems. The last of these are intended to facilitate deployment of planetary robotic outposts for an eventual human-robot sustained scientific presence. We overview our progress in these related areas of planetary robotics R&D, spanning 1995-to-present.
The terrible antipersonnel landmines plague represents a real challenge for the robotics community. The Royal Military Academy of Belgium intends to provide its contribution for solving this problem. The Belgian Hudem...
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The terrible antipersonnel landmines plague represents a real challenge for the robotics community. The Royal Military Academy of Belgium intends to provide its contribution for solving this problem. The Belgian Hudem project involves different workgroups each focusing on different aspects: data fusion, sensor development and sensor positioning. The robotics Workgroup develops semi-autonomous mobile systems which carry mine detection sensors. Mechanical, control and location aspects are considered in the different projects. We present in this paper the control and the communication architecture of our robotics detection systems.
One of the biggest challenges of any control paradigm is being able to handle large complex systems under unforeseen uncertainties. A system is called complex here if its dimension (order) is too high and its model (i...
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One of the biggest challenges of any control paradigm is being able to handle large complex systems under unforeseen uncertainties. A system is called complex here if its dimension (order) is too high and its model (if available) is non-linear and tightly interconnected and information on the system is uncertain such that classical techniques cannot easily handle the problem. Soft computing, a collection of fuzzy logic, neuro-computing, genetic algorithms and genetic programming have proven to be a powerful tool for adding autonomy and semi-autonomony to many complex systems. For such systems the size of soft computing control architecture will be nearly infinite. Examples of complex systems are power networks, space robotic colonies, air traffic controlsystems, an integrated manufacturing plant, satellite arrays, etc. In this paper, a rule base reduction approach is suggested to manage large inference engines. Notions of rule hierarchy and sensor data fusion are introduced and combined to achieve desirable goals. New paradigms using soft computing approaches, such as multi-objective genetic algorithms, are utilized to design autonomouscontrollers for a number of application areas. These applications are satellite array formations, robotic agents, wireless cellular systems, water purification systems, etc. The ACE Center's VI-P® model for coordinated research teams will also be discussed briefly. Videotape of the experimental implementation will be shown.
Semi-autonomous and fully autonomous assembly and manipulation of micro-objects is a complex process. To this purpose, flexible microrobot systems have been designed and developed. These robots are generally required ...
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Semi-autonomous and fully autonomous assembly and manipulation of micro-objects is a complex process. To this purpose, flexible microrobot systems have been designed and developed. These robots are generally required to operate in a wide range of environments to perform tasks such as microassembly, cell manipulation and particle grasping. As part of the MINIMAN project, a flexible microrobot system has been developed which can operate under a light microscope as well as in the chamber of a scanning electron microscope (SEM). This system is highly flexible, reconfigurable and uses a wide range of sensor information (force, tactile and vision) in a closed-loop controlled strategy. The paper presents an overview of the vision system and its architecture for vision-controlled micromanipulation. The different modules of the vision system and the communication interface to the control system are herewith described in detail.
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