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Oceans Conference

作者： Sriraman, Abhishek Bays, Matthew J. Cornell Univ Sibley Sch Mech & Aerosp Engn Ithaca NY 14850 USA Naval Surface Warfare Ctr Panama City Div Panama City FL 32407 USA

ISBN: (纸本)9781479949182

An important task in maritime search and inspection involves re-acquiring and identifying underwater objects by surveying the objects from multiple angles. Because of false contacts related to clutter on the sea floor, the objects are often detected in dramatically different densities in a given area. Previously developed methods to plan survey paths on groups of contacts led to efficient paths when the contacts occur in close proximity, but inefficient paths when the objects occur over large distances. We present a planning algorithm to generate an efficient path to survey objects from multiple angles that is independent of the density of the objects. The algorithm leverages the previously-developed algorithms for surveying objects from multiple directions, coupled with density-based spatial clustering of applications with noise (DBSCAN) clustering and ant colony optimization techniques.

关键词： ant colony optimisation clutter path planning sea level DBSCAN clustering ant colony optimization techniques density-based spatial clustering-of-application-with-noise clustering maritime search object detection path planning identification planning algorithm sea floor underwater object identification Clustering algorithms Heuristic algorithms Noise Object recognition Optimized production technology Partitioning algorithms Standards sea level Ant colony optimization Heuristic algorithms Path planning clutter Object detection Optimized production technology Noise object recognition Clustering algorithms Partitioning algorithms ocean floors

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Humanoid Locomotion on Uneven Terrain Using the Time-Varying Divergent Component of Motion 14

Humanoid Locomotion on Uneven Terrain Using the Time-Varying...

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14th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Hopkins, Michael A. Hong, Dennis W. Leonessa, Alexander Virginia Tech Terr Robot Engn & Controls Lab Blacksburg VA 24061 USA Univ Calif Los Angeles Robot & Mech Lab Los Angeles CA 90024 USA

ISBN: (纸本)9781479971749

This paper presents a framework for dynamic humanoid locomotion on uneven terrain using a novel time-varying extension to the Divergent Component of Motion (DCM). By varying the natural frequency of the DCM, we are able to achieve generic CoM height trajectories during stepping. The proposed planning algorithm computes admissible DCM reference trajectories given desired ZMP plans for single and double support. This is accomplished using reverse-time integration of the discretized DCM dynamics over a finite time horizon. To account for discontinuities during replanning, linear Model Predictive Control (MPC) is implemented over a short preview window. DCM tracking control is achieved using a time-varying proportional-integral controller based on the Virtual Repellent Point (VRP). The effectiveness of the combined approach is verified in simulation using a 30-DoF model of THOR, a compliant torque-controlled humanoid.

关键词： humanoid robots legged locomotion linear systems motion control path planning predictive control robot dynamics three-term control time-varying systems torque control trajectory control DCM tracking control MPC THOR VRP ZMP plan admissible DCM reference trajectory compliant torque-controlled humanoid discretized DCM dynamics dynamic humanoid locomotion finite time horizon generic CoM height trajectory linear model predictive control natural frequency planning algorithm reverse-time integration time-varying divergent component of motion time-varying extension time-varying proportional-integral controller uneven terrain virtual repellent point Dynamics Heuristic algorithms Legged locomotion planning Predictive control Time-frequency analysis Trajectory Biped locomotion Predictive control Three term control systems THOR Vascular Endothelial Growth Factor C robot dynamics trajectory control Humanoid robots trajectory time-varying systems Natural frequencies Heuristic algorithms Maximum Allowable Concentration INTEGRATION TIME Torque control

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Humanoid Robot Locomotion and Manipulation Step planning

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ADVANCED ROBOTICS 2012年第10期26卷 1099-1126页

作者： Bouyarmane, Karim Kheddar, Abderrahmane AIST CNRS AIST CRT JRL UMI3218 Tsukuba Ibaraki 3058568 Japan Univ Montpellier 2 CNRS LIRMM UMR5506 F-34095 Montpellier 5 France

We aim at planning multi-contact sequences of stances and postures for humanoid robots. The output sequence defines the contact transitions that allow our robot to realize different kind of tasks, ranging from biped locomotion to dexterous manipulation. The central component of the planning framework is a best-first algorithm that performs a search of the contacts to be added or removed at each step, following an input collision-free guide path, and making calls to an optimization-based inverse kinematics solver under static equilibrium constraints. The planner can handle systems made of multiple robots and/or manipulated objects through a centralized multi-agent approach, opening the way for multi-robot collaborative locomotion and manipulation planning. Results are presented in virtual environments, with discussion on execution on the real robot HRP-2 in an example situation. (c) 2012 Taylor & Francis and The Robotics Society of Japan

关键词： humanoid robot legged locomotion dexterous manipulation inverse kinematics planning algorithm

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COMPUTING BRAID GROUPS OF GRAPHS WITH APPLICATIONS TO ROBOT MOTION planning

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HOMOLOGY HOMOTOPY AND APPLICATIONS 2012年第1期14卷 159-180页

作者： Kurlin, Vitaliy Univ Durham Dept Math Sci Durham DH1 3LE England

An algorithm is designed to write down presentations of graph braid groups. Generators are represented in terms of actual motions of robots moving without collisions on a given connected graph. A key ingredient is a new motion planning algorithm whose complexity is linear in the number of edges and is quadratic in the number of robots. The computing algorithm implies that 2-point braid groups of all light planar graphs have presentations where all relators are commutators.

关键词： graph braid group configuration space fundamental group homotopy type deformation retraction collision free motion planning algorithm complexity robotics

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A New planning algorithm Based on Constraints Propagating

A New Planning Algorithm Based on Constraints Propagating

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3rd International Conference on Pervasive Computing and Applications

作者： Jiang, Weijin Hunan Univ Commerce Sch Comp & Elect Engn Changsha Peoples R China

ISBN: (纸本)9781424420209

This paper presents a distrusted multi-agent planning algorithm based on constraints propagating. In our algorithm, conflicts are defected and resolved through a special type of negotiation among agents, i.e. consistency checking for constraints. The algorithm is sound under deterministic circumstance. In our algorithm, agents only exchange information about actions, casual links and constraints related to conflicts. It is of less communication, higher security than that exchanging the whole plan.

关键词： Multi-agent system planning algorithm Multi-agent system Constraints propagating

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planning the Visual Measurement of n Moving Objects by m Moving Cameras, Given Their Relative Trajectories

Planning the Visual Measurement of n Moving Objects by m Mov...

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IEEE International Conference on Control Applications (CCA)

作者： Nourzadeh, Hamidreza McInroy, John E. Univ Wyoming Dept Elect & Comp Engn Dept 3295 1000 E Univ Ave Laramie WY 82071 USA Univ Wyoming Elect & Comp Engn Fac Elect Engn Laramie WY USA

ISBN: (纸本)9781457710636

This paper presents a planning algorithm suitable whenever n objects must be collectively characterized by m observers and their relative motions are known a priori. This situation arises in Space Situational Awareness (SSA) problems due to the fixed orbits of spacecraft, and also occurs in several other aerospace and manufacturing environments. The new algorithm is a synthesis of two standard methods used to solve combinatorial optimization problems arising from various large-scale constrained active sensor planning applications. The algorithm allows constituent techniques to operate in domains where they perform better. Both constituent methods, Integer Linear Programming (ILP) Relaxation and a Batch-Greedy algorithm, are elaborated in detail. A very powerful feature of the overall approach is that an upper bound on the gap between the found sub-optimal solution and the unknown optimal solution is available. The ILP-relaxation algorithm provides an optimal but physically unrealizable solution, so if realizable performance approaches that of the ILP-relaxation solution, then the sub-optimal solution is very nearly optimal. A visual inspection problem for SSA, which lies in the strongly NP-hard class, is considered and it has been shown that the mixed method yields very nearly optimal solutions in polynomial time. Simulation results confirm the effectiveness of the proposed planning method on different orbits, including Low Earth and geosynchronous orbits.

关键词： Approximation algorithms Approximation methods Greedy algorithms ILP-relaxation algorithm NP-hard class Observers Orbits planning Upper bound active sensor planning applications batch-greedy algorithm computational complexity greedy algorithms image motion analysis integer linear programming integer programming linear programming moving cameras moving objects planning algorithm polynomial time space situational awareness space vehicles spacecraft visual databases visual inspection problem visual measurement

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planning algorithm based on constraints propagating

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Moshi Shibie yu Rengong Zhineng/Pattern Recognition and Artificial Intelligence 2004年第4期17卷 405-411页

作者： Zhao, Zhikun Shi, Zhongzhi Cao, Hu Sch. of Info. Sci. and Eng. Graduate Sch. Chinese Acad. of Sci. Beijing 100039 China Key Lab. of Intelligent Info. Proc. Inst. of Comp. Technol. Chinese Acad. of Sci. Beijing 100080 China

This paper presents a distributed multi-agent planning algorithm based on constraints propagating. In our algorithm, conflicts are detected and resolved through a special type of negotiation among agents, i.e. consistency checking for constraints. The algorithm is sound under deterministic circumstance. In our algorithm, agents only exchange information about actions, casual links and constraints related to conflicts. It is of less communication, higher security than that exchanging the whole plan.

关键词： Constraints propagating Multi-agent system planning algorithm

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Probability criterion paging area planning in future mobile communications systems

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COMPUTER COMMUNICATIONS 2004年第7期27卷 581-588页

作者： Kazantzakis, MG Koukoutsidis, IZ Demestichas, PP Theologou, ME Natl Tech Univ Athens Sch Elect & Comp Engn GR-15773 Zografos Greece Univ Piraeus Dept Technol Educ & Digital Syst Piraeus 18534 Greece

Future mobile telecommunications systems are obligated to offer advanced multimedia services to a huge number of users. The burden imposed by the signaling operations supporting these services can severely degrade the system performance and lead to congestion problems in network equipment (switches, databases, gateways, etc.). Paging operations in a mobile cellular network are responsible for a large part of the signaling load and, therefore, the issue of how to efficiently conduct them becomes of critical importance. The key to its solution lies on the application of multiple step paging schemes and on the 'proper' planning of paging areas (PAs). In this paper, we devise and solve a version of the PA-planning problem. In particular, we provide a low complexity probabilistic algorithm capable of reducing paging costs. To improve performance, the algorithm uses additional information regarding the locations of last user-network interactions. Numerical results show that significant savings can be achieved compared to a conventional paging scheme. (C) 2004 Elsevier B.V. All rights reserved.

关键词： mobile network paging areas planning algorithm probability of location signaling load decrease

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Computing grasp functions

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COMPUTATIONAL GEOMETRY-THEORY AND APPLICATIONS 1996年第3期6卷 145-168页

作者： Rao, AS Goldberg, KY QUALCOMM INC SAN DIEGO CA 92121 USA UNIV CALIF BERKELEY DEPT IND ENGN & OPERAT RES BERKELEY CA USA

The grasp function of a planar part, characterized by extrema in the part's width function, can be used to analyze grasp mechanics. In particular, it can predict the final orientation of the part when it is grasped with a parallel-jaw gripper. This information allows us to derive a sequence of grasp angles that will orient the part up to symmetry in the grasp function. In previous papers the grasp function was assumed given as input;in this paper we present a linear-time algorithm for computing the grasp function of a part bounded by n algebraic arcs given in parametric form. We also show that the algorithm can be extended to compute a related function that describes the outcome of first pushing and then grasping the part.

关键词： manufacturing parallel-jaw gripper algebraic area planning algorithm width function

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Neural Network Control of Grasp Forces for a Robot Hand

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IFAC Proceedings Volumes 1994年第4期27卷 139-143页

作者： K. Sundermann S. Fatikow Institute for Real-Tune Computer Control and Robotics Faculty for Informatics University of Karlsruhe D-76128 Karlsruhe Kaiserstraße 12 Federal Republic of Germany

In this paper, we present a neural-based force adaptation level of a multi-level system architecture for the intelligent force control of robotic grip systems. The control algorithms developed are implemented by three-layered back-propagation neural networks. A computer based simulation system for the peg-in-hole insertion task is developed to analyze the capabilities of the neural controllers. Their behaviour is discussed by comparing them to conventional and fuzzy-based force controllers performing the same task.

关键词： Multifingered robot hands neural network control fuzzy control planning algorithm peg-in-hole insertion task robot simulation system

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