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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： C.M. Aras Ren C. Luo D.S. Reeves Department of Electrical and Computer Engineering Robotics and Intelligent Systems Laboratory North Carolina State University Raleigh NC USA

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Survey of Robust Control for Rigid Robots

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IEEE Control systems 1991年第2期11卷 24-30页

作者： Abdallah, C. Dorato, P. Jamshidi, M. Dawson, D. CAD Laboratory for Systems and Robotics Electrical and Computer Engineering Department University of New Mexico Albuquerque NM 87131 United States Department of Electrical and Computer Engineering Clemson University Clemson SC 29634-0915 United States

This survey discusses current approaches to the robust control of the motion of rigid robots and summarizes the available literature on the subject. The five major designs discussed are the “Linear-Multivariable” approach, the “Passivity” approach, the “Variable-Structure” approach, the “Saturation” approach and the “Robust-Adaptive” approach. © 1991 IEEE

关键词： Robust control Robot kinematics Adaptive control Programmable control Control systems Robot control Equations Robustness Uncertainty Lagrangian functions

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A comparison of an expert and an adaptive fuzzy control approach

A comparison of an expert and an adaptive fuzzy control appr...

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IEEE Conference on Decision and Control

作者： M. Jamshidi S. Baugh D. Barak N. Vadiee CAD Laboratory of Intelligent and Robotic Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

A comparative study of a classical expert system and an adaptive fuzzy expert control system for an inverted pendulum is presented. Specifically, three controllers are compared: constant gain, expert controller, and an adaptive fuzzy expert controller. The comparative study was done by means of computer simulation through the Matlab and Togai InfraLogic's Fuzzy-C software programs. It is seen that the fuzzy expert controller provides much better performance than the regular expert system.< >

关键词： Programmable control Adaptive control Fuzzy control Fuzzy logic Control systems Fuzzy systems Space technology Fuzzy sets Artificial intelligence Hybrid intelligent systems

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Design and implementation of a multidegree of freedom intelligent robot hand

Design and implementation of a multidegree of freedom intell...

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： R.C. Luo Min-Hsiung Lin C.K. Shih Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A parallel-jaw type multiple-d.o.f. robot hand is designed and implemented to manipulate workpieces within the hand by rotation and translation. An efficient manipulator control algorithm and part mating application is developed. A simulation result is also presented to show the changes of force during part insertion to verify the models developed.< >

关键词： Intelligent robots Fingers Force control Force sensors Grippers DC motors Manipulators Fasteners Timing Parallel robots

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Improving hierarchical architecture performance with dynamic segmentation

Improving hierarchical architecture performance with dynamic...

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IEEE International Conference on systems, Man and Cybernetics

作者： C.M. Aras R.C. Luo D.S. Reeves Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA Robotics and Intelligent Systems Laboratory Department of Computer Science North Carolina State University Raleigh NC USA

Dynamic segmentation is a method for improving the performance of cooperating tasks executed on loosely coupled multiprocessors. Four different data transfer techniques that can be used for intersegment data transfers in dynamically segmented buses are analyzed. Preemptive data transfers are considered for uniform message latencies and results are provided for message latency comparisons using various locality factors. These results indicate dynamic segmentation improves performance considerably, at a fraction of the cost of more complex interconnection networks such as multiple buses.< >

关键词： Mobile robots Intelligent robots computer architecture Control systems Communication system control Communication channels Communication networks Bandwidth Robot control Delay

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A feasible collision-detection algorithm for mobile robot motion planning with moving obstacles

A feasible collision-detection algorithm for mobile robot mo...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： T.-J. Pan R.C. Luo Department of Information Engineering Tatung Institute of Technology Taipei Taiwan Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and are composed of a set of convex polygons. The half-plane representation uses an algebraic method to describe the object motion including translation and rotation through time. Compared with previous methods, the proposed representation is more general in that obstacles are now allowed to move at nonconstant velocities. To detect collision between polygonal objects, a traversability vector method was developed. Traversability vectors are a simple mechanism used to analyze geometric constraints imposed by polygons. Using these vectors, a simple algorithm for predicting collision is derived. computer simulations were conducted to show the feasibility of the proposed method.< >

关键词： Mobile robots Motion planning Robot motion Orbital robotics Intelligent robots Technology planning Space technology Motion detection Object detection Prediction algorithms

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SENSORS AND INTERFACING IN robotics.AND MANUFACTURING

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robotics.AND computer-INTEGRATED MANUFACTURING 1990年第3-4期7卷 243-253页

作者： JAMSHIDI, M CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 U.S.A.

Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external ". Examples of the first group are position or velocity, while the second group includes proximity, touch, or vision to name a few. The other important problem in manufacturing is interfacing with the environment within a cell. The object of this tutorial paper is to survey the two issues of "sensing" and "interfacing" in robotics.and manufacturing.

关键词： Robots, Industrial

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An intelligent path planning system for robot navigation in an unknown environment

An intelligent path planning system for robot navigation in ...

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Mobile Robots IV 1989

作者： Luo, Ren C. Pan, Tai-Jee Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

In this paper, a novel approach to solve the mobile robot path planning problem in an unknown environment is presented. Inherently, the obstacle information from robot perception is contaminated with uncertainties, and thus, the acquired obstacle knowledge for path planning needs to be updated dynamically. Therefore, the development of an adaptive path planning scheme capable of determining a desired path with uncertain, and incomplete obstacle knowledge is necessary. We use the concept of traversability vectors to analyze the spatial-relations between the robot and obstacles in the task environment. Then, these analyzed relations are used to determine the obstacles that must be bypassed by the robot, and the ways to bypass them. Dynamically changing obstacle knowledge can be accommodated by replanning the path at the time when a change is reported. The proposed scheme can work very efficiently since because of the elimination of an exhausted search process that is often required in previous approaches. We implement a computer program to simulated the proposed planning scheme. A graphical representation for robot motions guided by the planned paths is illustrated to show the feature of the presented work. © 1990 SPIE. All rights reserved.

关键词： Motion planning

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Intelligent motion control system for autonomous vehicles operating in a factory floor

Intelligent motion control system for autonomous vehicles op...

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1990 IEEE International Workshop on Intelligent Motion Control, IMC 1990

作者： Luo, Ren C. Pan, T.J. Aras, C.M. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University University RaleighNC27695 United States

To improve the performance of autonomous vehicles operating in a factory environment, it is important to develop an intelligent planning system to avoic. vehicle collisions as well as to design a good path network which can minimize the congestion problem. Given a path network, the collision problem can be eliminated by velocity planning for vehicles. To achieve this, we first represent each vehicle as an intersection of time varying half-planes. Then, we use traversability vectors method to predict vehicle collisions along their paths. Once a collision is predicted, time constraints on lower-priority vehicles are registered on a constraint map which shows time instances when the path is obstructed. Velocity planning is then accomplished ty a search on the map. To solve the congestion problem, we must reduce the average waiting time of vehicles. We use a queueing network model to evaluate the average waiting time for different path network configurations. As a result. the network that yields the best performance is selected. © 1991 IEEE.

关键词： Autonomous vehicles

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Surface reconstruction based on descripions of cross-sectional contours

Surface reconstruction based on descripions of cross-section...

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Sensing and Reconstruction of Three-Dimensional Objects and Scenes 1990

作者： Kim, Yonghoon Luo, Ren C. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

Surface reconstruction from cross-sectional contours has become increasingly important in medical image applications. In this paper, a method of reconstructing the surface of an object based on the descriptions of cross-sectional contours has been developed. Each cross-sectional contour is first partitioned into convex/concave segments based on the relative locations of points on the contour. Each segment of the contour is then described by a parametric cubic polynomial, and the boundary is recovered based on the description. A matching technique incorporating possible deformations between adjacent cross-sections is used to obtain the correspondence between adjacent cross-sectional contours. Once the correspondence is established, the surface between correspondent segments of adjacent crosssectional contours is reconstructed by a traditional triangulation technique. As the reconstruction is based on the shape of the cross-sections, the reconstructed surfaces are more close to that of the original object. © 1990 SPIE. All rights reserved.

关键词： Surface reconstruction

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