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IEEE International Conference on robotics and automation (ICRA)

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper presents an algorithm for finding a kinematically feasible path which satisfies a given set of nonholonomic constraints while enforcing both equality and inequality constraints on the configuration vector. The path planning problem is transformed from a finite time nonlinear control problem into a static root finding problem which is iteratively solved. By using an exterior penalty function method, the constrained root finding problem is converted to an unconstrained problem. Convergence of the algorithm depends upon a certain gradient operator being full rank. It has recently been shown that, in the absence of any configuration inequality constraints, the full rank condition is generic. In this paper, we show the full rank condition for a special inequality constraint case. An experiment in which the algorithm is applied to an actual double tractor-trailer vehicle is presented.< >

关键词： Path planning Control systems Controllability Motion control Velocity control Nonlinear control systems robotics and automation Systems engineering and theory Iterative algorithms Convergence

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Model-based multisensor data fusion: a minimal representation approach

Model-based multisensor data fusion: a minimal representatio...

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IEEE International Conference on robotics and automation (ICRA)

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

A general approach to model-based multisensor data fusion using a minimal representation size criterion is described. Each sensor is modeled by a general constraint equation which defines a data constraint manifold (DCM), and observed sensor data populate the measurement space according to these constraints. The choice of multisensor interpretations is based on a minimal representation size criterion which evaluates the complexity through correspondence and encoded errors weighted by relative sensor accuracy and precision. This general framework automatically selects subsets of data features called constraining data feature sets (CDFS) and chooses the CDFS corresponding to a minimal representation interpretation of the observed data. The resulting procedure fuses heterogeneous sensor readings into a single estimation method. The method is illustrated for a visual and tactile data fusion example. The approach generalizes to problems with non-geometric models, and can be used for multisensor system identification in other domains such as process control.< >

关键词： robotics and automation Sensor fusion Robot sensing systems Sensor systems Probability distribution Data engineering Systems engineering and theory Equations Manifolds Fuses

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Variably-autonomous manipulation

Variably-autonomous manipulation

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IEEE International Conference on robotics and automation (ICRA)

作者： L. Singh A. Silverthorne S. Gottschlich H. Stephanou New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

There are numerous applications in which robots are needed to assist rather than replace human operators. These applications typically involve either work in a dangerous environment or performing tasks that are physically impossible for humans to accomplish by themselves. Robots used in this mode do not need to be autonomous because they can essentially be controlled by the operator. Nonetheless, it is difficult for an operator to flawlessly control a robot with a large number of degrees of freedom. Therefore, an intelligent control system is needed to correct and improve the operator's input to the robot. In this paper the authors discuss a central component in this control system known as the variably-autonomous trajectory generator (VATG). The VATG combines input from the operator with input from one or more autonomous control modules (CM) to generate the robot trajectory. The amount of impact the autonomous CMs will have on the overall trajectory will depend on a number of factors such as the task being performed and the sensing modalities available, hence the authors refer to this type of control as being variably-autonomous.< >

关键词： Robot sensing systems robotics and automation Humans Control systems Application software Wrist Tactile sensors Force sensors Grasping Systems engineering and theory

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MISSION OPERATIONS technology

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ACTA ASTRONAUTICA 1993年第C期30卷 271-278页

作者： VARSI, G Manager Space Automation and Robotics Program California Institute of Technology/Jet Propulsion Laboratory Pasadena California 91109 USA

In the last decade, the operation of a spacecraft after launch has emerged as a major component of the total coe of the mission. This trend is sustained by the increasing complexity, flexibility, and data gathering capability of the space assets and by their greater reliability and consequent longevity. The trend can, however. be moderated by the progressive transfer of selected functions from the ground to the spacecraft and by application, on the ground, of new technology. Advances in ground operations derive from the introduction in the mission operations environment of advanced microprocessor-based workstations in the class of a low million instructions per second and from the selective application of intelligence technology. In the last few years a number of these applications have been developed, tested in operational settings and successfully demonstrated to users. Some are now being integrated in mission operations facilities. An analysis of mission operations indicates that the key areas are: concurrent control of multiple missions;automated/interactive production of command sequences of high integrity at low cost;automated monitoring Of spacecraft health and automated aidos for fault diagnosis;automated allocation of resources;automated processing of science data;and high-fidelity, high-speed spacecraft simulation. Examples of major advances in selected areas are described.

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ELECTRON-IRRADIATION-INDUCED CRYSTALLIZATION OF AMORPHOUS AL2O3 FILMS ON SILICON SUBSTRATES

ELECTRON-IRRADIATION-INDUCED CRYSTALLIZATION OF AMORPHOUS AL...

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SYMP ON PHASE TRANSFORMATIONS IN THIN FILMS - THERMODYNAMICS AND KINETICS, AT THE 1993 SPRING MEETING OF THE MATERIALS RESEARCH SOC

作者： LIU, J BARBERO, CJ CORBETT, JW RAJAN, K LEARY, H NY State Cent for Advanced Technology in Automation and Robotics Troy NY United States

An in situ study of electron beam irradiation induced amorphous-to-crystalline transformation of Al2O3 films on silicon substrates has been carried out using transmission electron microscopy. Trigonal α-Al2O3 crystal... 详细信息

ISBN: (纸本)1558992073

An in situ study of electron beam irradiation induced amorphous-to-crystalline transformation of Al₂O₃ films on silicon substrates has been carried out using transmission electron microscopy. Trigonal α-Al₂O₃ crystallites can be observed for electron beam dose rates larger than 10 mA/cm². It is found that the nucleation and growth processes dominate near the Al₂O₃-Si interface. The possible effect of the silicon substrate on the growth of Al₂O₃ crystallites is considered.

关键词： Crystallization

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Sensor-based self-localization for wheeled mobile robots

Sensor-based self-localization for wheeled mobile robots

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Proceedings of the IEEE International Conference on robotics and automation

作者： Curran, A. Kyriakopolous, K.J. New York State Cent for Advanced Technology in Automation and Robotics United States

ISBN: (纸本)0818634529

In this paper, we demonstrate a reliable and robust algorithm to localize a mobile robot in a relatively consistent with an a priori map indoors environment. This algorithm uses an Extended Kalman Filter that combines deadreckoning, ultrasonic, and infrared sensor data to estimate current position and orientation. Through a thresholding approach, unexpected obstacles can be detected. Experimental results from implementation on our mobile robot, Nomad-200, are also presented.

关键词： Robots

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A thresholding algorithm based on the local information

A thresholding algorithm based on the local information

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IEEE International Conference on robotics and automation (ICRA)

作者： M. Fang L. Li T. Yu Department of Manuacturing Automation & Robotics Shanghai University of Technology China

A method of threshold selecting is proposed. It is based on the local information of the image in the engineering drawing processing and vectorization system. The method is effective for images of multiple gray levels, especially the engineering drawing image. The properties of the algorithm which is experimentally verified by computer are discussed.< >

关键词： Pixel Engineering drawings Histograms Image analysis Image segmentation Manufacturing automation robotics and automation Eyes Frequency conversion Production facilities

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Surface fitting from digitized data points

Surface fitting from digitized data points

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IEEE International Conference on robotics and automation (ICRA)

作者： M. Fang S. Chen X. Wang Department of Manufacturing Automation & Robotics Shanghai University of Technology China

Digitized data carry measurement errors. To assure the accuracy of the fitted surface, two fittings are made instead of one. The first fitting generates quadric surfaces from the digitized points by the least squares method in order to filter out the measurement errors. The second fitting generates bicubic splines as the final result from the patch nodes calculated from the quadric surfaces.< >

关键词： Surface fitting Time measurement Rough surfaces Surface roughness Curve fitting Filters Probes Shape measurement Manufacturing automation robotics and automation

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An Expert System for Diagnosis in Assembly Cells

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IFAC Proceedings Volumes 1993年第2期26卷 871-874页

作者： M. Beneder R. Probst P. Kopacek Institute of Robotics University of Technology Vienna Austria Department of Systems Engineering and Automation Scientific Academy of Lower Austria Krems Austria

A system for diagnosis of errors in a robotized assembly-cell was provided in addition to the control programme of the plant. The system allows less skilled personnel to set accurate actions in order to solve errors. In addition to the assistance of supervising persons in solving plant errors, this knowledge based system can be applied for tutoring workers by simulation of various conditions of the assembly plant. The knowledge base is completed and maintained by the person who looks after the plant. It is possible to adapt the diagnostic routine to extensions in the assembly cell.

关键词： Error analysis failure detection expert systems artificial intelligence flexible manufacturing control systems simulation

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Design of the IRIS facility-a modular, reconfigurable and expandable robot test bed

Design of the IRIS facility-a modular, reconfigurable and ex...

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IEEE International Conference on robotics and automation (ICRA)

作者： R. Hui N. Kircanski A. Goldenberg C. Zhou P. Kuzan J. Wiercienski D. Gershon P. Sinha Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Canada Technion-Israel Institute of Technology Israel

The integrated raster imaging system (IRIS) facility is a robot system to be used for experiments in grasping, manipulation and force control. The facility has two manipulators with four rotary joints each. Each manipulator can assume a multitude of configurations. Each joint is driven by DC brushless motors coupled with harmonic cup drives, and instrumented with position and torque sensors. A six-degrees-of-freedom (DOF) force/torque sensor is mounted at the tip link. The real-time controller of the IRIS facility is based on a nodal architecture. Each node is capable of controlling 8 joints at 1 kHz while executing over 1000-FP (floating point) operations per joint in each sampling method. The design of the IRIS facility and its functional capabilities are described. In addition, the rationale behind the major design decisions is given.< >

关键词： Iris Manipulators Torque Robot sensing systems Force control Brushless motors Couplings Instruments Force sensors Sampling methods

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