This paper presents external vision-force control and force-tactile integration in three different examples of multisensor integration for robotic manipulation and execution of everyday tasks, based on a general frame...
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This paper presents external vision-force control and force-tactile integration in three different examples of multisensor integration for robotic manipulation and execution of everyday tasks, based on a general framework, presented in [1], that enables sensor-based compliant physical interaction of the robot with the environment. The first experiment is a door opening task where a mobile manipulator has to pull open the handle with a parallel jaw gripper by using vision and force sensors in a novel external vision-force coupling approach [2] where the combination is done at the control level; the second one is another vision-force door opening task, but including a sliding mechanism and a different robot, endowed with a three-fingered hand; finally, the third task is to grasp a book from a bookshelf by means of tactile and force integration. The purpose of this paper is twofold: first, to show how vision and force modalities can be combined at the control level by means of an external force loop. And, second, to show how the sensorbased manipulation framework proposed in [1] can be easily applied to very different physical interaction tasks in the real world, allowing for dependable and versatile manipulation.
We consider the problem of decentralized detection in a network consisting of a large number of sensors arranged as a tree of bounded height. We characterize the optimal error exponent under a Neyman-Pearson formulati...
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ISBN:
(纸本)9781604237924
We consider the problem of decentralized detection in a network consisting of a large number of sensors arranged as a tree of bounded height. We characterize the optimal error exponent under a Neyman-Pearson formulation. We show that the Type ii error probability decays exponentially with the number of sensors, and surprisingly, the optimal error exponent is often the same as that corresponding to a star configuration. We provide sufficient, as well as necessary, conditions for this to happen.
This paper concerns the problem of actively searching for and localizing ground features by a coordinated team of air and ground roboticsensor platforms. The approach taken builds on well known decentralized Data Fus...
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This paper concerns the problem of actively searching for and localizing ground features by a coordinated team of air and ground roboticsensor platforms. The approach taken builds on well known decentralized Data fusion (DDF) methodology. In particular, it brings together established representations developed for identification and linearized estimation problems to jointly address feature detection and localization. This provides transparent and scalable integration of sensor information from air and ground platforms. As in previous studies, an Information-theoretic utility measure and local control strategy drive the robots to uncertainty reducing team configurations. Complementary characteristics in terms of coverage and accuracy are revealed through analysis of the observation uncertainty for air and ground on-board cameras. Implementation results for a detection and localization example indicate the ability of this approach to scalably and efficiently realize such collaborative potential.
Air and ground vehicles exhibit complementary capabilities and characteristics as roboticsensor platforms. Fixed wing aircraft offer broad field of view and rapid coverage of search areas. However, minimum operating ...
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ISBN:
(纸本)0819455628
Air and ground vehicles exhibit complementary capabilities and characteristics as roboticsensor platforms. Fixed wing aircraft offer broad field of view and rapid coverage of search areas. However, minimum operating airspeed and altitude limits, combined with attitude uncertainty, place a lower limit on their ability to detect and localize ground features. Ground vehicles on the other hand offer high resolution sensing over relatively short ranges with the disadvantaue of slow coverage. This paper presents a decentralized architecture and solution methodology for seamlessly realizing the collaborative potential of air and ground roboticsensor platforms. We provide a framework based on an established approach to the underlying sensorfusion problem. This provides transparent integration of information from heterogeneous sources. An information-theoretic utility measure captures the task objective and robot inter-dependencies. A simple distributed solution mechanism is employed to determine team member sensing trajectories subject to the constraints of individual vehicle and sensor sub-systems. The architecture is applied to a mission involving searching for and localizing an unknown number of targets in an user specified search area. Results for a team of two fixed wing UAVs and two all terrain UGVs equipped with vision sensors are presented.
This Volume 24 of the conference proceedings contains 18 papers. Topics discussed include glass forming, glass melting, recycling and glass production.
This Volume 24 of the conference proceedings contains 18 papers. Topics discussed include glass forming, glass melting, recycling and glass production.
This paper discusses the development of unmanned airships for military use during the past decade, and the current status of the Small Airship Surveillance System, Low Intensity Target Exploitation (SASS LITE) platfor...
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ISBN:
(纸本)0819442992
This paper discusses the development of unmanned airships for military use during the past decade, and the current status of the Small Airship Surveillance System, Low Intensity Target Exploitation (SASS LITE) platform. Topics covered will also include various missions planned and conducted, and technological advances expected to be implemented on unmanned airships in the near future.
We have designed and built a set of miniature robots and developed a distributed software system to control them. We present experimental results on a surveillance task in which multiple robots patrol an area and watc...
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ISBN:
(纸本)0819442992
We have designed and built a set of miniature robots and developed a distributed software system to control them. We present experimental results on a surveillance task in which multiple robots patrol an area and watch for motion. We discuss how the limited communication bandwidth affects robot performance in accomplishing the task and analyze how performance depends on the number of robots that share the bandwidth.
A basic decentralizedcontrol algorithm for modular manipulators was introduced to achieve robustness against partial failures, a reduced calculation load, and flexibility with regard to configuration and obstacle avo...
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ISBN:
(纸本)0819442992
A basic decentralizedcontrol algorithm for modular manipulators was introduced to achieve robustness against partial failures, a reduced calculation load, and flexibility with regard to configuration and obstacle avoidance. The algorithm uses a coupled nonlinear spring as a model for a manipulator and calculates the shape of the manipulator to balance with the coupled spring. Because encoding using coupled nonlinear dynamics can explain various shapes very simply, we can reduce the complexity of obstacle avoidance and adaptation to partial faults.
This paper describes construction of sensor network system for human behavior measurement and accumulation in a room. The network system consists of three layers: a sensing layer, a process layer and integration layer...
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ISBN:
(纸本)0819442992
This paper describes construction of sensor network system for human behavior measurement and accumulation in a room. The network system consists of three layers: a sensing layer, a process layer and integration layer. It is capable of distributed processing in each module which is a group of several sensors. The implemented system of "robotic Room 2" based on distributed objects allows not only easy integration and accumulation of sensor information but also parallel execution of both integrated measurement and accumulation system.
This paper considers the processing of thermal images taken during an arc spraying process. It describes a filtering method for reconstructing an estimate of the required surface temperature from a sequence of images ...
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ISBN:
(纸本)0819442992
This paper considers the processing of thermal images taken during an arc spraying process. It describes a filtering method for reconstructing an estimate of the required surface temperature from a sequence of images that contain unpredictable amounts of blurring and obscuration. A practical use of the filtering to control average surface temperature during metal arc spraying is also described.
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