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Multisensor fusion and model selection using a minimal representation size framework

Multisensor fusion and model selection using a minimal repre...

Proceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems

作者： Joshi, Rajive Sanderson, Arthur C. NYS Cent for Advanced Technology in Automation Robotics and Manufacturing Troy United States

This paper addresses the problem of statistical model selection for model-based multisensor fusion problems. The minimal representation size (MRS) criterion is used as a basis for the selection of a minimal complexity model among a class of stored models, and in addition enables the selection of parameterization, scaling, and data sub-sampling. This use of an information-based criterion results in a `universal yardstick' for model selection which is easily adapted to new combinations of sensors and parameters. Each sensor is characterized by a constraint equation defined in the measurement space of observed sensor data. The search for the best model structure is conducted using a polynomial time hypothesize and test algorithm that uses constraining data feature sets (CDFS) to instantiate environment models. Analytical formulation of the minimal representation size model selection for tactile-visual fusion with an anthropomorphic robot hand is presented.

关键词： Sensor data fusion

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Output feedback control of rigid robots using dynamic neural networks

Output feedback control of rigid robots using dynamic neural...

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IEEE International Conference on robotics and automation (ICRA)

作者： Y.H. Kim F.L. Lewis Automation and Robotics Research Institute University of Technology Fort Worth TX USA

A robust neural network (NN) output feedback scheme is proposed for the motion control of rigid robots. A dynamic NN observer is presented to estimate the joint speeds. The stability of a closed-loop system composed of a robot, a NN observer, and a NN controller is proven. The NN weights in both the observer and the controller are tuned online, with no off-line learning phase required. Most importantly, we can guarantee the boundness of the estimated velocities, the position tracking errors, and the NN weights. Also no exact knowledge of the robot dynamics is required so that the NN controller is model-free and so applicable to any type of rigid robot. When compared with adaptive-type controllers, we do not require persistent excitation conditions, linearity in the unknown system parameters, or the tedious computation of a regression matrix. Thus the new NN approach represents an improvement over adaptive techniques.

关键词： Output feedback Robot control Neural networks Control systems robotics and automation Position measurement Motion control Velocity control Adaptive control Nonlinear dynamical systems

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Nonholonomic path-planning with obstacle avoidance: a path-space approach

Nonholonomic path-planning with obstacle avoidance: a path-s...

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IEEE International Conference on robotics and automation (ICRA)

作者： D.O. Popa J.T. Wen Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute Troy NY USA

For the problem of nonholonomic motion planning in the presence of obstacles, a path-iteration algorithm with an "exterior penalty" function has recently been proposed. The convergence of the iterative algorithm requires the avoidance of singular controls. With the inclusion of a penalty function, the set of singular control may increase substantially. In this paper, we propose a specific guideline for choosing the penalty function which does not introduce additional singular controls. In the case of the N-trailer system, this result can be used to guarantee the convergence of the path planning algorithm. To demonstrate the effectiveness of the proposed algorithm, simulation results are included.

关键词： Path planning Optimal control Control systems Manufacturing automation robotics and automation Economic indicators Iterative algorithms Convergence Wheels Motion planning

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Characterization of Singular Controls for Nonholonomic Path Planning

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IFAC Proceedings Volumes 1996年第1期29卷 2460-2465页

作者： Dan O. Popa John T. Wen Center for Advanced Technology in Automation Robotics and Manufacturing Dept. of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180

A class of Iterative algorithms have been proposed in recent years for the nonholonomic motion planning problem. The convergence of these algorithms predicates on the control signal in each iteration be "nonsingular". At the present, the singularity structure is only identified for the unicycle and front-wheel-drive car kinematic models. In this paper, we extend the consideration to all systems reducible to one-chain form, which include unicycle, car, as well as any N-trailer system. In particular, we show that a control is singular if and only if the first control variable is identically zero. We also identified all singular controls for the ball rolling on a plate problem. which is not reducible to the one-chain form.

关键词： Nonholonomic motion planning Nonholonomic Systems Path Planning Gradient algorithms Singular Controls

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TETROBOT modular robotics: prototype and experiments

TETROBOT modular robotics: prototype and experiments

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： G.J. Hamlin A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

TETROBOT is a modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms. This paper describes new experimental results based on evaluation of prototype configurations with up to 18 nodes, 48 links and 15 actuators. TETROBOT is an actuated robotic structure which may be reassembled into many different configurations while still being controlled by the same hardware and software architecture. Implementations of a double octahedral platform, a tetrahedral arm and a six-legged walker, constructed from the same set of parts, are described. The TETROBOT system addresses the needs of application domains, such as space, undersea, mining, and construction, where adaptation to unstructured and changing environments and custom design for rapid implementation are required.

关键词： Prototypes Collision mitigation robotics and automation Robot sensing systems Manipulators Fasteners Parallel robots Control systems Orbital robotics Manufacturing automation

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Tetrobot family tree: modular synthesis of kinematic structures for parallel robotics

Tetrobot family tree: modular synthesis of kinematic structu...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A.B. Neville A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing and Department Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Parallel robots can be built by linking together unit cells in configurations which retain the static determinacy of the overall structure. In the Tetrobot system, the kinematics of these concatenated structures can be solved by propagation of solutions through connected graphs of linked modules. In this paper, we examine the synthesis of unit cells which could be used in creating these structures and retain the ability to compute the kinematics for control of the actuated system. Admissible unit cells are shown to form families in two- and three-dimensions, and a set of synthesis rules is described which generates the members of these families recursively for each generations. The resulting set of modules comprises a broad set of useful cells which can be used to design parallel robots and guarantee the computability of their kinematics on a cell-by-cell basis.

关键词： Kinematics Parallel robots robotics and automation Control system synthesis Manufacturing automation Computer aided manufacturing Concurrent computing Systems engineering and theory Joining processes Concatenated codes

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Application of feature-based multi-view servoing for lamp filament alignment

Application of feature-based multi-view servoing for lamp fi...

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IEEE International Conference on robotics and automation (ICRA)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

This paper presents an application of feature-based visual servoing to achieve accurate and robust 3D filament alignment. Two orthogonal cameras are used to localize the five degrees of freedom of an axi-symmetric filament. An algorithm for precisely estimating the center and orientation features of a filament in a camera view is described. The use of feature-based servoing overcomes the difficulty of 3D camera calibration in a factory environment. These features drive a PID control loop for each view. The two views are coupled in one degree of freedom, and the multiple-view controller switches between two single-view controllers to achieve 3D servoing. The overall accuracy achieved is in thousandths of an inch. Experimental results on the performance of the control algorithm are discussed. Models explaining the system behavior are presented. The use of visual servoing in this application far exceeds the positioning accuracy and the repeatability of human operators.

关键词： Lamps Cameras Visual servoing robotics and automation Manufacturing automation Robot vision systems Robustness Application software Computer aided manufacturing Calibration

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Real-time robot motion control with circulatory fields

Real-time robot motion control with circulatory fields

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IEEE International Conference on robotics and automation (ICRA)

作者： L. Singh H. Stephanou J. Wen NYS Center for Advanced Technology in Robotics Automation and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces a new feedback algorithm for steering a point robot through an obstacle field. The key innovation is the use of a circulatory field to rotate the robot path around the obstacles instead of the common potential field which repels the robot. This idea is motivated by a charged particle in a magnetic field generated by a current flowing around the obstacle. In constrast, the potential field approach is associated with a repulsive static electric field generated by charges of the same polarity as the robot, on the obstacle. The circulatory field does not generate any spurious local minimum as it does not change the total energy of the system. By combining with an attractive potential field associated with the desired destination, this method achieves global convergence while avoiding collisions with obstacles.

关键词： Robot motion Motion control Robot control robotics and automation Feedback Manufacturing automation Computer aided manufacturing Orbital robotics Electrostatics Navigation

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Modular robotics: design and examples

Modular robotics: design and examples

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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Quasi-Static Modeling of Compliance-Governed Redundant Manipulators

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Intelligent automation and Soft Computing 1996年第3期2卷 285-300页

作者： Park, Jonghoon Chung, Wan-Kyun Youm, Youngil Robotics Laboratory Department of Mechanical Engineering ARC (Automation Research Center) Pohang University of Science and Technology Pohang 790-784 South Korea

A compliance-governed (redundant) manipulator is the main subject of the article, and its global quasi-static behaviors are studied. To implement those behaviors in an actual manipulator, mathematical compliance paradigms in three forms are proposed. They are: kinematic (or equilibrating motion) level, quasi-static (or transient motion) level, and stiffness level compliance paradigm. Each has its own usefulness and implication as described in this article. Repeatable kinematic behavior of a compliance-governed manipulator can be implanted into the inverse kinematic algorithm for redundant manipulator either by the kinematic level or quasi-static level compliance paradigm. If the transient behavior with stiffness characteristic is required in a non-compliance-governed manipulator, we will use the stiffness level compliance paradigm. It makes the arm respond equivalently to the intended compliance-governed manipulator. © 1996 Taylor & Francis Group, LLC.

关键词： Compliance paradigm Compliance-governed manipulator Kinematically redundant manipulator Quasi-statically equilibrating motion Stiffness behavior

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