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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Lizarralde J.T. Wen Department of Electrical Eng Federal University of Rio de Janeiro Rio de Janeiro Brazil Center for Advanced Technology in Aut. Robot. and Manufac Department of Electrical Computer and Systems Eng Rensselaer Polytechnic Institute Troy NY USA

A class of iterative methods have recently been proposed for the path planning of nonholonomic systems. These methods warp an initial path iteratively to an acceptable final path by using Newton-Raphson or gradient type of algorithms. Once a path is found off-line, a feedback controller is then used to follow the path. In this paper, we propose a modification of these off-line methods to transform them directly into a feedback controller. The main idea is to couple the iteration variable to the actual time, thus the control is executed during the path iteration, before the convergence. We show that this scheme guarantees the closed loop asymptotic stability when the system model is known, and possesses certain robustness when the model information is imperfect. By using interior penalty functions, inequality constraints can also be handled by the algorithm. Simulation results are included, showing promise of the approach.

关键词： Feedback Open loop systems Control systems Iterative methods Path planning robotics and automation robots Iterative algorithms Adaptive control Asymptotic stability

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advanced robot for hazardous environment. An outline of Japanese National R&D project 'advanced robot technology'

Advanced robot for hazardous environment. An outline of Japa...

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Fifth International Conference on advanced robotics - '91 ICAR

作者： Sagisawa, Sinobu Advanced Robot Technology Research Association: ARTA Minato Tokyo Japan

ISBN: (纸本)0780300785

A Japanese National Research and Development Project aimed at realization of next generation robots and cultivation of elementary technology for advanced robots was finished successfully in 1990. An outline of the project is given, and three robots are presented. One is for maintenance, inspection and repair in nuclear power plants; one is for similar functions in offshore oil facilities; and one is for fire-fighting, fire prevention and rescue in petrochemical facilities. All are supported by a remote operator.< >

关键词： Research and development Service robots Orbital robotics Medical robotics Mining industry Large-scale systems US Department of Transportation Aerospace industry Safety Temperature distribution

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A software template approach to building complex large-scale intelligent control systems

A software template approach to building complex large-scale...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： R. Quintero A.J. Barbera Robot Systems Division National Institute for Standards and Technology Gaithersburg MD USA Advanced Technology Burtonsville MD USA

A task-oriented systems engineering approach for developing complex, large-scale, integrated, intelligent machine systems using software templates is presented. This methodology can be applied to a wide variety of real-time machine applications. The method presented is built upon the real-time control system (RCS) reference model architecture being defined at the National Institute of Standards and technology (NIST). It is believed that the reference architecture and methodology described could form the basis for defining an open-systems architecture for intelligent control systems applications.< >

关键词： Large-scale systems Computer architecture NIST Buildings Systems engineering and theory Large scale integration Intelligent systems Machine intelligence Software systems Application software

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Coal extraction using RCS

Coal extraction using RCS

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IEEE International Symposium on Intelligent Control (ISIC)

作者： J.A. Horst A.J. Barbera Robot Systems Division U.S. Department of Commerce National of Standards and Technology USA Advanced Technology and Research Corporation (ATR) Laurel MD USA

The application of the real time control system (RCS) reference model to a simulated underground coal mining machine is described. RCS is characterized by explicit software modules that perform task decomposition, sensory processing, and world modeling functions at different hierarchical levels. A detailed and sharply defined approach to RCS design characterized by task-oriented problem analysis, generic software 'objects', rule-based control (using finite state machines), cyclic execution of manually scheduled processes, and generic communications interfaces.< >

关键词： NIST Control system synthesis Real time systems Bills of materials Control systems robots US Department of Commerce Application software Software performance Communication system control

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AMP-CAD: an assembly motion planning system

AMP-CAD: an assembly motion planning system

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.N. Gottschlich A.C. Kak New York State Center for Advanced Technology in Robotics and Automation Rensselaer Polytechnic Institute Troy NY USA Robot Vision Lab School of Electrical Engineering Purdue University West Lafayette IN USA

The authors discuss a system, called AMP-CAD, which develops assembly motion plans using CAD models of parts. They place an emphasis on the calculation of the potential fields used for motion planning. Potential fields can be thought of as a mechanism to interface CAD representations with plan development. AMP-CAD is a complete system that combines an assembly representation, a two-phase motion planner, and a execution unit into a single integrated package. Implementation and experimental results are discussed.< >

关键词： Assembly systems Uncertainty robotic assembly Motion planning Aggregates Solid modeling Force control Torque control robotics and automation Fitting

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Total system of advanced subsea robot

Total system of advanced subsea robot

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International Conference on advanced robotics (ICAR)

作者： S. Nonose T. Osanai Advanced Robot Technology Research Association Mitsui Engineering and Shipbuilding Company Limited Chuo Tokyo Japan

Concerns a research and development project of advanced robot technology in Japan, finished in FY 1990. This project aimed to develop robots which could carry out inspection, maintenance, rescue operations or others in the field of nuclear power, subsea and disaster fighting. The various elementary technologies have been developed and the conceptual designs of total systems of the robots have been made taking those results into consideration. This paper describes the total system of the advanced subsea robot which supports the offshore oil exploitation and the verification experiment by the experimental robot which was carried out in December 1990.< >

关键词： robots Inspection Petroleum Ocean temperature robotics and automation Optical surface waves Sea surface Surface cleaning Optical control Legged locomotion

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Theory and Applications of advanced robots

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IFAC Proceedings Volumes 1986年第14期19卷 35-40页

作者： Shuhei Aida Shinobu Sagisawa Nakaji Honda Mitsuhiko Hasegawa Takeaki Shimizu University of Electro-Communications Choufagaoka Choufu-shi Tokyo 182 Japan Advanced Robot Technology Reserch Association Kikaishinkoukaikan Shibakouen Minato-ku Tokyo 105 Japan University Electro-Communications Choufagaoka Choufu-shi Tokyo 182 Japan Technological University of Nagaoka Nagaoka-shi 940-21 Japan

Recent results of theory and applications of advanced robots for critical work which have been researched and developed in the large-scale national research and development project for advanced robots are mentioned. Moreover, the applications of AI and Fuzzy set theory to advanced robots, that of advanced robots to manufacturing systems and the social and cultural effects by introducing robots into Japanese industry are discussed.

关键词： advanced robots Application Critical Work AI Fuzzy Manufacturing Systems Social Influence

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CONCEPT OF THE advanced robot FOR NUCLEAR POWER PLANTS.

CONCEPT OF THE ADVANCED ROBOT FOR NUCLEAR POWER PLANTS.

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Proceedings of '85 International Conference on advanced robotics.

作者： Maki, H. Advanced Robot Technology Research Assoc Advanced Robot Technology Research Assoc

Regarding robots that are expected to play an important role when put into practical use at nuclear power plants in the 1990s, the concept of a targeted robot was established so as to efficiently develop a robot within a set period of time and budget by concentrating on the highest level of essential technology possible. This paper will mainly refer to the concept of the robot for nuclear power plants as well as various forms of essential technology currently spotlighted. The robot concept will be revised as necessary in accordance with the future progress of the essential technology.

关键词： robotS, INDUSTRIAL

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CONCEPT OF THE advanced robot FOR SUPPORT OF OFFSHORE OIL EXPLOITATION.

CONCEPT OF THE ADVANCED ROBOT FOR SUPPORT OF OFFSHORE OIL EX...

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Proceedings of '85 International Conference on advanced robotics.

作者： Tanaka, N. Advanced Robot Technology Research Assoc Advanced Robot Technology Research Assoc

We have time after time reexamined and refined the concept of advanced robot for support of offshore oil exploitation. In FY 1984, we carried out research and surveys centering on the current state of robotics technology for the purpose of ascertaining the boundaries and focus of research and development necessary for future R & D programs. In the present paper, we will comment mainly on the technologies of elements presently considered essential for the concept of an advanced robot for support of offshore oil exploitation.

关键词： robotS, INDUSTRIAL

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CONCEPT OF THE advanced robot FOR DISASTER PREVENTION.

CONCEPT OF THE ADVANCED ROBOT FOR DISASTER PREVENTION.

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Proceedings of '85 International Conference on advanced robotics.

作者： Sakano, N. Advanced Robot Technology Research Assoc Advanced Robot Technology Research Assoc

As themes of research and development, technologies particular to disaster prevention robots, namely, durability to ensure full performance and functions under disastrous environment, detection capabilities to grasp the surrounding situations and work functions capable of rapid and efficient action, are considered. Each of these elemental technologies themselves are important as they may be utilized independently as disaster preventing device. Nevertheless, it is further required to establish total system clearly in which these elements can function in combination. In this study, elemental technologies required for development of the disaster prevention robot will be described.

关键词： robotS, INDUSTRIAL

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