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Conference on sensor fusion and decentralized control in robotic systems iii

作者： Schaal, S Sternad, D Dean, W Kotosaka, S Osu, R Kawato, M Univ So Calif Los Angeles CA 90089 USA

ISBN: (纸本)0819438618

While biological principles have inspired researchers in computational and engineering research for a long time, there is still rather limited knowledge flow back from computational to biological domains. This paper presents examples of our work where research on anthropomorphic robots lead us to new insights into explaining biological movement phenomena, starting from behavioral studies up to brain imaging studies. Our research over the past years has focused on principles of trajectory formation with nonlinear dynamical systems, on learning internal models for nonlinear control, and on advanced topics like imitation learning. The formal and empirical analyses of the kinematics and dynamics of movements systems and the tasks that they need to perform lead us to suggest principles of motor control that later on we found surprisingly related to human behavior and even brain activity.

关键词： Robots Kinematics robotics Dynamical systems Brain Biological research control systems Differential equations systems modeling Complex systems

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A decentralized control algorithm for modular manipulators using coupled nonlinear dynamics

A decentralized control algorithm for modular manipulators u...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Kimura, S Commun Res Labs Koganei Tokyo 1848795 Japan

ISBN: (纸本)0819442992

A basic decentralized control 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.

关键词： modular manipulator space robot remote inspection hyper-redundant decentralized autonomous control nonlinear dynsmics coupled spring system

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Performance of a distributed robotic system using shared communications channels

Performance of a distributed robotic system using shared com...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Rybski, P Stoeter, S Gini, M Hougen, D Papanikolopoulos, N Univ Minnesota Dept Comp Sci & Engn Minneapolis MN 55455 USA

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.

关键词： Robots Video Motion detection Telecommunications Video surveillance Cameras robotic systems Video processing Surveillance sensors

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Unmanned Airship development and Remote Sensing applications

Unmanned Airship development and Remote Sensing applications

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Boschma, JH BOSCH Aerosp Inc Brownsboro AL 35741 USA

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.

关键词： unmanned robotic Airships blimps dirigibles remote sensing

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Model Manager A visually programmed, model themed data-flow programming language for robot control

Model Manager A visually programmed, model themed data-flow ...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Schonlau, WJ MMS Rancho Palos Verdes CA 90275 USA

ISBN: (纸本)0819442992

An experimental modeling language for general purpose simulation, robotic control and factory automation is presented. The advantages of a visual programming interface and data flow architecture are examined. Primarily, the model based organization is proposed as a means of integrating various intelligent systems disciplines to enhance problem solving abilities and improve system utility.

关键词： model data-flow visual programming language intelligent robot simulation control automation

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Innovative Exploration of a Bio-Inspired sensor fusion Algorithm: Enhancing Micro Satellite Functionality through Touretsky's decentralized Neural Networks

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JOURNAL OF INTELLIGENT & robotic systems 2024年第2期110卷 1-14页

作者： Hassani, S. M. Mehdi N. Roshanian, Jafar KN Toosi Univ Technol Inst Intelligent Control Syst Tehran Iran

Insect-inspired sensor fusion algorithms have presented a promising avenue in the development of robust and efficient systems, owing to the insects' ability to process numerous streams of noisy sensory data. The ring attractor neural network architecture has been identified as a noteworthy model for the optimal integration of diverse insect sensors. Expanding on this, our research presents an innovative bio-inspired ring attractor neural network architecture designed to augment the performance of microsatellite attitude determination systems through the fusion of data from multiple gyroscopic *** simulations using a nonlinear model of the microsatellite, while incorporating specific navigational disturbances, have been conducted to ascertain the viability and effectiveness of this approach. The results obtained have been superior to those of alternative methodologies, thus highlighting the potential of our proposed bio-inspired fusion technique. The findings indicate that this approach could significantly improve the accuracy and robustness of microsatellite systems across a wide range of applications.

关键词： Bio-inspired navigation Ring attractor neural network Touretsky neural network sensor fusion algorithms Insect Path Integration

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Construction of sensor network system for human behavior measurement and accumulation via distributed objects

Construction of sensor network system for human behavior mea...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Mori, T Noguchi, H Sato, T Univ Tokyo Grad Sch Informat Sci & Technol Dept Mechanoinformat Bunkyo Ku Tokyo 1138656 Japan

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.

关键词： human behavior measurement sensor network distributed objects

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Estimating the surface temperature profile from a sequence of partial thermal images

Estimating the surface temperature profile from a sequence o...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Jones, PDA Duncan, SR Univ Oxford Dept Engn Sci Oxford OX1 3PJ England

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.

关键词： partial images thermal imaging electric arc spraying temperature control

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People tracking using omnidirectional vision and range information

People tracking using omnidirectional vision and range infor...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Illmann, J Kluge, B Prassler, E Res Inst Appl Knowledge Proc D-89081 Ulm Germany

ISBN: (纸本)0819442992

In this paper we present two approaches for tracking of people in dynamic environments with a moving sensor system. The trajectories of persons are used to extract simple motion patterns. Object detection and tracking is based on range and color information which is provided by a laser range finder and a onmidirectional color camera. Without any predefined person-model the system acquires an internal representation of the person at an initialization phase. This representation is tracked in real-time in dynamic environments. During the tracking procedure illumination conditions axe continously monitored. The tracking approaches were implemented on a robotic wheelchair and evaluated experimentally in different dynamic environments.

关键词： omnidirectional vision color vision and range fusion people tracking

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Satisfying action selection

Satisfying action selection

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Conference on sensor fusion amd decentralized control in robotic systems

作者： Pirjanian, P Univ Aalborg Lab Image Anal DK-9220 Aalborg Denmark

ISBN: (纸本)0819429848

It is argued that for real-world applications action selection should be satisficing, i.e. merely 'good enough' rather than optimal. It is then demonstrated that multiple objective decision theory provides a suitable framework for formulating action selection mechanisms that are satisficing. A set of experiments demonstrate the potential advantages of the proposed action selection mechanisms.

关键词： action selection behavior-based control multiple objective decision making Pareto-optimality satisfying actions

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