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检索条件"任意字段=Sensor Fusion and Decentralized Control in Robotic Systems II Conference"

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An open multi-agent control architecture to support virtual reality based man-machine interfaces

An open multi-agent control architecture to support virtual ...

引用

sensor fusion and decentralized control in robotic systems IV conference

作者： Freund, E Rossmann, R Brasch, M Univ Dortmund Inst Robot Res D-44227 Dortmund Germany

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.

关键词： Projective Virtual Reality robot controller real-time-capability distributed system International Space Station man-machine-interface

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Learning manipulation skills by combining PCA technique and adaptive interpolation

Learning manipulation skills by combining PCA technique and ...

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conference on sensor fusion amd decentralized control in robotic systems

作者： Zhang, JW Knoll, A Univ Bielefeld Fac Technol D-33501 Bielefeld Germany

ISBN: (纸本)0819429848

We propose an approach for learning manipulation skills of robot arms based on complex sensor data. The first component of the used model serves as a projection of high-dimensional input data into an eigenspace by using Principal Component Analysis (PCA). Complex sensor data can be efficiently compressed if robot movements achieving optimal manipulation tasks are constrained to a local scenario. The second component is an adaptive B-spline model whose input space is the eigenspace and whose outputs are robot motion parameters. In the offline learning phase, an appropriate eigenspace can be built by extracting eigenvectors from a sequence of sampling sensor patterns. The B-spline model is then trained for smooth and correct interpolation. In the online application phase, through the cascaded two components, a sensor pattern can be mapped into robot action for performing the specified task. This approach makes tasks such as visually guided positioning much easier to implement. Instead of undergoing cumbersome hand-eye calibration processes, our system is trained in a supervised learning procedure using systematical perturbation motion around the optimal manipulation pose. If more sensors or some robust geometric features from the image processing are available, they can also be added to the input vector. Therefore, the proposed model can integrate multiple sensors and multiple modalities. Our experimental setup is a two-arm robotic system with "self-viewing" hand-eyes and force/torque sensors mounted on each parallel jaw gripper. Implementations with one-hand grasping and two-hand assembly based on visual and force sensors show that the method works even when no robust geometric features can be extracted from the sensor pattern.

关键词： sensor-based skills hand-eye task based mapping learning

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Collection of environmental data from an airship platform

Collection of environmental data from an airship platform

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sensor fusion and decentralized control in robotic systems IV conference

作者： Kantor, G Wettergreen, D Ostrowski, JP Singh, S Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)0819442992

We believe that solar powered, autonomous airships with the capability to embark on extended duration sampling missions will serve as valuable tools for environmental science. In this paper, we outline our vision for an autonomous airship and discuss some of the applications for which such a craft would be well suited. We also report on our efforts to date to realize this vision. Specifically, we discuss the use of solar energy as a renewable source of power for airships. We also describe the configuration of a nine meter airship that we will use as a testbed for environmental sampling and autonomy research. We conclude by outlining directions for future research.

关键词： sensors Solar energy Solar cells Environmental sensing Air contamination Carbon monoxide Global Positioning System Gyroscopes Navigation systems Skin

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A next best view algorithm for object reconstruction

A next best view algorithm for object reconstruction

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conference on sensor fusion amd decentralized control in robotic systems

作者： Wong, LM Dumont, C Abidi, MA Univ Tennessee Dept Elect Engn IRIS Lab Knoxville TN 37996 USA

ISBN: (纸本)0819429848

The goal of sensor planning in 3-D object reconstruction is to acquire enough 2-D information about an object to create a 3-D model of that object. This requires the acquisition of images from different viewpoints, the registration of each view, and the integration of all acquired information into a single model. Our focus is on the acquisition stage;we want to determine sensor poses or viewpoints that provide the next best view in an object reconstruction task. The Next Best View (NBV) is the determination of a new sensor position that reveals an optimal amount of unknown information about the object being modeled. The goal of a NBV reconstruction system is usually to model an object using the smallest number of views. Our approach to complete this task is to study a volumetric representation of the model after a new view is obtained. Since the volumetric model consists of known and unknown information, we want to find the viewpoint from which the largest amount of unknown data can be acquired. The NBV algorithm is integrated into a system that acquires synthetic range data from a computer object model, calculates new viewpoints according to an objective function, and reconstructs a complete volumetric model of the object of interest. The NBV algorithm is described in depth and experimental results are given. Also included is a review of related work.

关键词： next best view sensor planning 3-D reconstruction

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A Java-based decentralised tracking simulator

A Java-based decentralised tracking simulator

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Sutcliffe, JH Nicholson, D Deaves, RH Advanced Information Processing Department Sower by Research Centre British Aerospace Filton Bristol BS12 7QW PO Box 5 United Kingdom

ISBN: (纸本)0819426415

The potential of the new language of Java is explored in the development of a decentralised target tracking simulator. Three particular features of the Java language prompted this initial investigation, namely that it is fully object-oriented, graphical user interfaces (GUIs) may be simply constructed, and it, is Internet compatible. In the context of this paper, the full power of Java's object-oriented design is harnessed to reflect the inherent modularity of decentralised tracking systems. This enables, for example, tracks with their associated information structures, and platforms with their associated tracks, to be encapsulated within advanced data structures, or classes. An easy-to-build GUI, based on Java's Abstract Windowing Toolkit (AWT), permits the end-user to rapidly configure a test scenario by selecting simulation variables from pop-up menus, such as the number of sensor platforms, the number of targets, and the type of target trajectory. Additionally, Java's Internet compatibility allows the simulation, in principle, to be accessed remotely. Development work on the Java tracking simulator is described, and illustrated in terms of pseudo-code and screen snapshots. We conclude that in terms of our long-range goal of constructing a simulator that can aid the investigation of decentralised systems under a range of world scenarios and operating conditions, Java shows considerable promise.

关键词： Java target tracking simulator decentralised data-fusion Kalman filter

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Babybot: a biologically inspired developing robotic agent

Babybot: a biologically inspired developing robotic agent

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conference on sensor fusion and decentralized control in robotic systems iiI

作者： Metta, G Panerai, F Sandini, G Univ Genoa DIST LIRA Lab Genoa Italy

ISBN: (纸本)0819438618

The study of development either artificial or biological, can highlight the mechanisms underlying learning and adaptive behavior. We shall argue whether developmental studies might provide a different and potentially interesting perspective either on how to build an artificial adaptive agent, or on understanding how the brain solves sensory, motor, and cognitive tasks. It is our opinion that the acquisition of the proper behavior might indeed be facilitated because within an ecological context, the agent, its adaptive structure and the environment dynamically interact thus constraining the otherwise difficult "learning problem". In very general terms we shall describe the proposed approach and supporting biological related facts. In order to further analyze these aspects from the modeling point of view, we shall demonstrate how a twelve degrees of freedom "baby" humanoid robot acquires orienting and reaching behaviors, and what advantages the proposed framework might offer. In particular, the experimental setup consists of a five degrees-of-freedom (dof) robot head, and an off-the-shelf six dof robot manipulator, both mounted on a rotating base: i.e. the torso. From the sensory point of view, the robot is equipped with two space-variant cameras, an inertial sensor simulating the vestibular system, and proprioceptive information through motor encoders. The biological parallel is exploited at many implementation levels. It is worth mentioning, for example, the space-variant eyes, exploiting foveal and peripheral vision in a single arrangement, the inertial sensor providing efficient image stabilization (vestibulo-ocular reflex).

关键词： biomimetic robotics learning development sensori-motor coordination

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Multimedia modeling of autonomous mobile robots

Multimedia modeling of autonomous mobile robots

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Zada, F Guirguis, S Arab Academy for Science and Technology and Maritime Transport (Egypt) Alexandria Univ. (Egypt)

ISBN: (纸本)0819426415

Modeling of Autonomous Mobile Robots (AMRs) is sought to enable the designers to investigate various aspects of the design before the actual implementation takes place. Simulation techniques are undoubtedly enriching the design tools, by which the designer would be able to vary the design parameters as appropriate until achieving some optimal performance point. Although they are general purpose, multimedia tools, especially authoring tools, cant give the AMR designer some degree of assistance in fulfilling his simulation task as fast as possible. This rapid prototyping tool is rather cost effective, and allow the designer to interactively manipulate his design in simple steps. In this paper, a multimedia environment has been constructed to enable designers to simulate AMRs in order to investigate aspects concerning their kinematics and dynamics. It is also sought that these design experiences can be gathered and categorized in a tutoring system that could be used by practitioners and students enrolled in highly technical courses such as robotics. The rich multimedia environment can assist the learner in so many ways by devising examples, suggesting solutions and design tradeoffs that have been experienced before.

关键词： intelligent tutoring systems multimedia authoring tools robotics multimedia learning environments modeling and simulation

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Virtual reality for intelligent and interactive operating-, training- and visualization systems

Virtual reality for intelligent and interactive operating-, ...

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conference on sensor fusion and decentralized control in robotic systems iiI

作者： Freund, E Rossmann, J Schluse, M Univ Dortmund Inst Robot Res D-44227 Dortmund Germany

ISBN: (纸本)0819438618

Virtual Reality Methods allow a new and intuitive way of communication between man and machine. The basic idea of Virtual Reality (VR) is the generation of artificial computer simulated worlds, which the user not only can look at but also can interact with actively using data glove and data helmet. The main emphasis for the use of such techniques at the IRF is the development of a new generation of operator interfaces for the control of robots and other automation components and for intelligent training systems for complex tasks. The basic idea of the methods developed at the IRF for the realization of "Projective Virtual Reality" is to let the user work in the virtual world as he would act in reality. The user actions are recognized by the Virtual Reality System and by means of new and intelligent control software "projected" onto the automation components like robots which afterwards perform the necessary actions in reality to execute the users task. In this operation mode the user no longer has to be a robot expert to generate tasks for robots or to program them, because intelligent control software recognizes the users intention and generated automatically the commands for nearly every automation component. Now, Virtual Reality Methods are ideally suited for universal man-machine-interfaces for the control and supervision of a big class of automation components, interactive training and visualization systems. The Virtual Reality System of the IRF - COSIMIR/VR - forms the basis for different projects starting with the control of space automation systems in the projects CIROS, VITAL and GETEX, the realization of a comprehensive development tool for the International Space Station and last bus not least with the realistic simulation fire extinguishing, forest machines and excavators which will be presented in the final paper in addition to the key ideas of this Virtual Reality System.

关键词： projective virtual reality man-machine-interface training visualization

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Virtual reality hardware for use in interactive 3D data fusion and visualization

Virtual reality hardware for use in interactive 3D data fusi...

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conference on sensor fusion and decentralized control in Autonomous robotic systems

作者： Gourley, CS Abidi, MA Univ. of Tennessee/Knoxville (United States)

ISBN: (纸本)0819426415

Virtual Reality has become a tool for use in many areas of research. We have designed and built a VR system for use in range data fusion and visualization. One major VR tool is the CAVE. This is the ultimate visualization tool, but comes with a large price tag. Our design uses a unique CAVE whose graphics are powered by a desktop computer instead of a larger rack machine making it much less costly. The system consists of a screen eight feet tall by twenty-seven feet wide giving a variable field-of-view currently set at 160 degrees. A Silicon Graphics Indigo2 MaxImpact with the Impact Channel Option is used for display. This gives the capability to drive three projectors at a resolution of 640x480 for use in displaying the virtual environment and one 640x480 display for a user control interface. This machine is also the first desktop package which has built-in hardware texture mapping. This feature allows us to quickly fuse the range and intensity data and other multi-sensory data. The final goal is a complete 3D texture mapped model of the environment. A dataglove, magnetic tracker, and spaceball are to be used for manipulation of the data and navigation through the virtual environment. This system gives several users the ability to interactively create 3D models from multiple range images.

关键词： virtual reality laser range scanner CAVE visualization

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Real time distributed map building in large environments

Real time distributed map building in large environments

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conference on sensor fusion and decentralized control in robotic systems iiI

作者： Julier, SJ Uhlmann, JK Naval Research Lab. (United States) Univ. of Missouri/Columbia (United States)

ISBN: (纸本)0819438618

Many of the future missions for mobile robots demand multi-robot systems which are capable of operating in large environments for long periods of time. One of the most critical capabilities is the ability to localize - a mobile robot must be able to estimate its own position and to consistently transmit this information to other robots and control sites. Although state-of-the-art GPS is capable of yielding unmatched performance over large areas, it is not applicable in many environments (such as within city streets, under water, indoors, beneath foliage or extra-terrestrial robotic missions) where mobile robots are likely to become commonplace. A widely researched alternative is Simultaneous Localization and Map Building (SLAM): the vehicle constructs a map and, concurrently, estimates its own position. However, most approaches are non-scalable (the storage and computational costs vary quadratically and cubically with the number of beacons in the map) and can only be used with multiple robotic vehicles with a great degree of difficulty. In this paper, we describe the development of a scalable, multiple-vehicle SLAM system. This system, based on the Covariance Intersection algorithm, is scalable - its storage and computational costs are linearly proportional to the number of beacons in the map. Furthermore, it is scalable to multiple robots - each has complete freedom to exchange partial or full map information with any other robot at any other time step. We demonstrate the real-time performance of this system in a scenario of 15,000 beacons.

关键词： Robots Mobile robots sensors Algorithm development Process modeling Data fusion Filtering (signal processing) robotics Computing systems robotic systems

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