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检索条件"机构=Automation Robotics Technology"

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Geometric Structure and Output Feedback

Geometric Structure and Output Feedback

引用

American Control Conference (ACC)

作者： V.L. Syrmos F.L. Lewis Georgia Institute of Technology School of Electrical and Electronic Engineering Atlanta GA USA Automation and Robotics Research Institute University of Technology Arlington TX USA

This note ties together a new geometric theory and the previous algebraic results for the closed-loop eigenstructure assignment by output feedback in multivariable systems. Necessary and sufficient conditions for the closed-loop stabilization, eigenstructure assignment are presented. A bilinear generalized Sylvester equation is introduced, the solutions of which completely characterize the closed-loop eigenstructure problem via output feedback.

关键词： Output feedback Equations Sufficient conditions robotics and automation Design methodology Design engineering Observers State estimation Eigenvalues and eigenfunctions Testing

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Engineers and their competitive edge for the 90s

Engineers and their competitive edge for the 90s

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technology Management : the New International Language

作者： C. Temponi D. Liles Cecilia Temponi Automation and Robotics Research Institute University of Texas Arlington Arlington TX USA University of Technology Arlington USA

Summary form only given. An analysis of the most commonly found barriers to advancement in an engineer's career was performed. As practitioners of technology in its full context, engineers are facing the reality of being global professionals in this decade. Interchange of ideas with industry representatives, as well as previous related research work, has made it possible for the authors to identify the major obstacles. These are stereotypes, traditional college and corporate training programs, and corporate culture. The research indicates that engineers want to interact in depth with the social aspects of pure technology-people. An integrated approach to help engineers utilize their technical skills in management has been developed. Several players can make this possible: engineers through their own desires, universities through modification of programs and instructional methods, and corporations through enhanced training programs. An example validates the fact that engineers have an advantage when promoted to managerial levels. Their training, which stresses discipline and methodology, is indispensable in management.< >

关键词： Management training technology management Engineering management Automatic control Communication system control robotics and automation Engineering profession Educational institutions Industrial training Stress

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Subpixel resolution in 3D television for teleoperation

Subpixel resolution in 3D television for teleoperation

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： D.B. Diner M. von Sydow Man-Machine Systems Robotics and Automation Systems Section Jet Propulsion Laboratory / NASA California Institute of Technology Pasadena CA USA

Four trained human subjects were tested for subpixel resolution capabilities, by presenting two identical 3D targets at depths differing in disparity by fractions of a pixel difference. All four observers were able to use the subpixel information when evaluating the relative depth perceived between the two bars. With a viewing distance of 1.3 m, and a stereo camera rig configured to yield a pixel depth resolution of over 5 mm, the observers have demonstrated depth resolution of 1 mm. For high-precision teleoperation, that is, precision on the order of millimeters, these results may extend operator capabilities.< >

关键词： Three dimensional TV Humans Cameras Monitoring Space technology Propulsion Laboratories Frequency Testing Bars

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A new definition of orthostereopsis for 3D television

A new definition of orthostereopsis for 3D television

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： D.B. Diner Man-Machine Systems Robotics and Automation Systems Section Jet Propulsion Laboratory / NASA California Institute of Technology Pasadena CA USA

A combination of camera configurations, image presentation techniques, and observer viewing locations is presented, providing a fully undistorted true-to-scale 3D image. A definition of orthostereopsis is suggested which includes parallel cameras, shifted images such that a chosen depth plane of interest is perceived to be located on the front surface of the viewing monitor, a flat viewing monitor, a monitor magnification factor such that images of objects at infinity are separated on the monitor by the observer's interocular distance, and an operator viewing distance such that the perceived depth scale matches the perceived height and width scales.< >

关键词： Three dimensional TV Cameras Convergence Monitoring Space technology Propulsion Laboratories Humans Eyes Pixel

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A quantitative treatment of multilevel specificity and certainty in variable precision reasoning

A quantitative treatment of multilevel specificity and certa...

引用

IEEE Conference on Decision and Control

作者： W.L. Perry H.E. Stephanou Rand Corporation DC USA The New York State Center of Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

The authors develop a methodology for reasoning about the state of the environment based on evidence received from some source. It is assumed that the evidence is expressed as a probability mass function defined on a discrete set of mutually exclusive hypotheses about the state of the environment. Given that the quality of the evidence is variable, it follows that the precision of the reasoning process must also vary. That is, the level of specificity and the certainty associated with decisions made at that level depend directly on the quality of the evidence. An indistinguishability measure is used to generate a core set of aggregate focal elements, each of which may consist of logical disjunctions of the basic hypothesis set. The measure takes into account both the differences in support levels for the hypotheses and the degree to which they are similar. Partial dominance is then used to associate a basic probability assignment on the core set. This approach makes it possible to apply simple, quantitative methods to express the variations in the precision associated with decisions. The result is a set of aggregate hypotheses and their support levels which become input to the classification process. In most cases, multiple sets of aggregate hypotheses will be used in an evidential classification scheme to produce a composite characterization of the environment.< >

关键词： robotics and automation Uncertainty Aggregates Production Probability distribution

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Dynamic modularization and synchronization for intelligent robot coordination: the concept of functional time-dependency

Dynamic modularization and synchronization for intelligent r...

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IEEE International Conference on robotics and automation (ICRA)

作者： V.G. Kountouris H.E. Stephanou School of Information Technology and Engineering George Mason University Fairfax VA USA New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

The intelligent coordination of multiple robots requires modularization of robots at some level higher than the joint, corresponding task representations, and a concept of time that allows the dynamic specification of task synchronization. The necessary representations of robots and tasks are developed, and the structural and operational semantics of the primitive task and reflex models are specified. A concept of time, called functional time-dependency, that allows the dynamic specification of the distributed semantics during task execution by multiple robots is developed. The utility of functional time-dependency is shown using two examples.< >

关键词： Intelligent robots Manipulator dynamics Robot kinematics robotics and automation Information technology Transportation Concurrent computing

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Inversion of Implicit Linear Systems: Geometric Conditions and a Stable Algorithm

Inversion of Implicit Linear Systems: Geometric Conditions a...

引用

American Control Conference (ACC)

作者： A. Banaszuk M. Kociecki F.L. Lewis Georgia Institute of Technology School of Mathematics Atlanta GA USA Institute of Control and Industrial Electronics Warsaw University of Technology Warsaw Poland Automation and Robotics Research Institute Fort Worth TX USA

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Evidence-directed, topological reasoning about robot regrasping tasks

Evidence-directed, topological reasoning about robot regrasp...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： T.N. Nguyen H.E. Stephanou Cross Systems Services and Support Washington Systems Center IBM Corporation Gaithersburg MD USA Center of Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

An intelligent robot prehension paradigm is introduced, focusing attention on evidential reasoning that would be used in combination with topological reasoning for regrasping tasks. The prehension paradigm is based on a topological model of multifingered hands capable of tip prehension, palm prehension or a combination of tip and palm prehension. The topological model constitutes a much richer set of available grasps than those provided by current grasp models. Associated with this topological model is a set of reasoning algorithms for grasp selection and for regrasping. The grasp selection scheme, using mainly topological reasoning, is characterized by a set of continuous transformations from a given, symbolic task description into a set of numeric parameters specifying the hand posture and functionality of a selected grasp. The regrasping scheme using mainly evidential reasoning to guide a change of grasps according to perceptual data. From a control point of view, both reasoning schemes will operate concurrently for grasp synthesis and regrasping.< >

关键词： Intelligent robots robotics and automation Fingers Sockets Grasping Turning Thumb Gravity

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A distributed model of concurrency for robot sensorimotor synchronization

A distributed model of concurrency for robot sensorimotor sy...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： V.G. Kountouris H.E. Stephanou School of Information Technology and Engineering George Mason University Fairfax VA USA Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

An algebra of Petri nets for the dynamic specification of the distributed semantics of task synchronization in hierarchical multiagent robotic systems is developed. The proposed algebra allows for the hierarchical specification of the flow of control and the temporal order of task execution by multiagent systems. Each level of the resulting hierarchies horizontally contains the synchronization structure of task execution and vertically is a generalization of the level below and a specialization of the level above. The horizontal synchronization structures developed by the proposed Petri net model maintain the desirable properties of safeness and liveness by construction. The model utilizes a modularization of complex kinematic chains, a classification of primitive tasks, and a concept of functional time dependency.< >

关键词： Concurrent computing Robot sensing systems Service robots robotics and automation Flexible manufacturing systems Manipulator dynamics Kinematics Algebra Multiagent systems Intelligent robots

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Uncertain systems: new uncertainty characterization for linear control design

Uncertain systems: new uncertainty characterization for line...

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IEEE Conference on Decision and Control

作者： K. Gu Y.H. Chen Center of Robotics and Advanced Automation School of Electrical Engineering and Computer Science Oakland University Rochester MI USA The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA USA

A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis of this decomposition a linear feedback control design is proposed for linear uncertain systems. The control always exists if the generalized matching condition is met. The design is illustrated by a practical example.< >

关键词： Uncertain systems Uncertainty Control design Riccati equations Feedback control robotics and automation Time varying systems Magnetic levitation Design automation Computer science

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