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International Conference on Industrial Electronics, Control and Instrumentation

作者： J.A. Janet R. Gutierrez-Osuna M.G. Kay R.C. Luo Dept. of Electr. & Comput. Eng. North Carolina State Univ. Raleigh NC USA Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

When navigating an environment a mobile robot can update its position and orientation by searching known landmarks and compare predictions with observations. This paper presents a method of mobile-robot self-referencing where every mapped object (obstacles to the global motion planner) in the environment can be used as potential sources of position and orientation information. This approach employs the efficiency of traversability vectors (t-vectors) for finding in-range geometric beacons and isolating surfaces visible to a sensor. Configuration-space (C-space) buffering (growing polygons to keep motion a safe distance from objects) will reduce the search time for finding in-range geometric beacons. Finally, a small multilayered neural network is used to provide a credence value for each predicted range that can be factored in to a filter or control strategy. This approach can be generalized to any ranging sensor that samples a region (e.g. IR sensors).

关键词： Mobile robots Neural networks Robot sensing systems Intelligent sensors Intelligent robots Filters Predictive models Intelligent networks Machine intelligence computer networks

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Global self-localization for autonomous mobile robots using self-organizing Kohonen neural networks

Global self-localization for autonomous mobile robots using ...

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Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

作者： J.A. Janet R. Gutierrez-Osuna T.A. Chase M. White R.C. Luo Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA North Carolina State University Raleigh NC US Dept. of Electr. & Comput. Eng. North Carolina State Univ. Raleigh NC USA

An approach to global self-localization for autonomous mobile robots has been developed using self-organizing Kohonen neural networks. This approach categorizes discrete regions of space using mapped sonar data corrupted by noise of varied sources and ranges. Our approach is similar to optical character recognition (OCR) in that the mapped sonar data can, over time, assume the form of a character unique to that room. Hence, it is believed that an autonomous vehicle can be capable of determining which room it is in based on mapped sensory data ascertained by wandering through and exploring that room. With some pre-processing and a robust explore routine, the solution becomes time-, translation- and rotation-invariant.

关键词： Mobile robots Sonar Optical noise Optical character recognition software Neural networks Optical computing Optical sensors Character recognition Remotely operated vehicles Robustness

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Automatic identification of gray matter structures from MRI to improve the segmentation of white matter lesions

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Journal of Image Guided Surgery 1995年第6期1卷 326-338页

作者： Warfield, Simon Dengler, Joachim Zaers, Joachim Guttmann, Charles R.G. Wells, William M. Ettinger, Gil J. Hiller, John Kikinis, Ron School of Computer Science and Engineering University of New South Wales Sydney Australia Neckargemuend Germany German Cancer Research Center (DKFZ) Heidelberg Germany Department of Radiology Harvard Medical School and Brigham and Women's Hospital Boston Massachusetts United States Massachusetts Institute of Technology AI Lab NE43-771 Cambridge Massachusetts NE43-771 United States Department of Radiological Sciences UCLA School of Medicine Los Angeles California United States

The segmentation of MRI scans of patients with white matter lesions (WML) is difficult because the MRI characteristics of WML are similar to those of gray matter. Intensity‐based statistical classification techniques misclassify some WML as gray matter and some gray matter as WML. We developed a fast elastic matching algorithm that warps a reference data set containing information about the location of the gray matter into the approximate shape of the patient's brain. The region of white matter was segmented after segmenting the cortex and deep gray matter structures. The cortex was identified by using a three‐dimensional, region‐growing algorithm that was constrained by anatomical, intensity gradient, and tissue class parameters. White matter and WML were then segmented without interference from gray matter by using a two‐class minimum‐distance classifier. Analysis of double‐echo spin‐echo MRI scans of 16 patients with clinically determined multiple sclerosis (MS) was carried out. The segmentation of the cortex and deep gray matter structures provided anatomical context. This was found to improve the segmentation of MS lesions by allowing correct classification of the white matter region despite the overlapping tissue class distributions of gray matter and MS lesion. J Image Guid Surg 1:326–338 (1995). © 1996 Wiley‐Liss, Inc. Copyright © 1996 Wiley‐Liss, Inc.

关键词： gray matter MRI MS lesion segmentation

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T-vectors make autonomous mobile robot motion planning and self-referencing more efficient

T-vectors make autonomous mobile robot motion planning and s...

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1994 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1994

作者： Janét, Jason A. Luo, Ren C. Kay, Michael G. Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

ISBN: (纸本)0780319338

A motion planning and self-referencing approach has been developed, simulated and applied to an actual robot. Although there are several novelties to these approaches, the fact that both are based on traversability vectors (t-vectors) is one aspect of this research that is unique. Through their application it has been found that t-vectors enhance the detection of path obstructions and geometric beacons and expedite the identification of features that are visible (or hearable) to sensors in both static and dynamic environments. T-vectors also reduce the data size and complexity of standard V-graphs and variations thereof. This paper provides the t-vector models step-by-step so that the reader will be able to apply them to mobile robot motion planning and self-referencing. © 1994 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Vectors

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Fuzzy behavior fusion for reactive control of an autonomous mobile robot: MARGE

Fuzzy behavior fusion for reactive control of an autonomous ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.G. Goodridge R.C. Luo Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A distributed heterogeneous network of fuzzy control agents has been developed for reactive behavior-based control of an autonomous mobile robot This methodology allows the authors' vehicle, MARGE, to perform realistic tasks in unstructured environments. Control actions for the robot are generated by a colony of independent agents that compete and cooperate to determine the emergent motion of the vehicle. Fuzzy rules are used to implement a diverse array of real-time functions within one simple development environment. The authors' multi-layer approach differs from other methods that perform the fuzzy inference mapping in one step. Real-time control without special hardware is possible by using a singleton centroid calculation and by breaking complex behaviors down into simple modules.< >

关键词： Fuzzy control Mobile robots Fuzzy sets Robot sensing systems Error correction Intelligent robots Vehicles Navigation Programming profession Fuzzy logic

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Autonomous mobile robot motion planning enhanced with extended configuration-space and half-planes

Autonomous mobile robot motion planning enhanced with extend...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： J.A. Janet R.C. Luo M.G. Kay Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

It is commonly argued that C-space buffering is too computationally expensive, consumes too much free space, keeps the robot too close to objects, seals off marginally traversable regions and does not allow for curved path segments. However, the research described in this paper uses half-planes and doors to extend C-space so that mobile robot global motion planning is not only safe and fluid, but also unhindered by tight passageways. Further, it is shown that free space consumption is limited to only what the robot needs to circumnavigate known obstacles.< >

关键词： Mobile robots Motion planning Orbital robotics Intelligent robots Computational intelligence Machine intelligence Seals Acceleration Object detection Safety

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T-vectors make autonomous mobile robot motion planning and self-referencing more efficient

T-vectors make autonomous mobile robot motion planning and s...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： J.A. Janet R.C. Luo M.G. Kay Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

关键词： Mobile robots Motion planning Intelligent robots Vehicle dynamics Path planning Machine intelligence Computational modeling computer simulation Robot sensing systems Sensor phenomena and characterization

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Position and force control of a multifingered hand: a comparison of fuzzy logic to traditional PID control

Position and force control of a multifingered hand: a compar...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： D. Hristu J. Babb H. Singh S. Gottschlich NYS Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

In this paper we will discuss the control of a five-fingered, 18 degree of freedom, tendon driven robot hand known as the Atlas Anthrobot. Developing a traditional PID controller for this hand has proved difficult because the behavior of the tendon drive system produces is highly nonlinear. This nonlinear nature of the system however does suggest it as a candidate for fuzzy control. Along these lines we have developed a PID control system and a fuzzy control system for the hand which are both capable of simultaneously controlling the position of the fingertips and the amount of force exerted through a contact point on the fingertip. In this paper we will present a comparison between the two systems in order to generally make statements about the appropriateness of each controller for controlling complicated tendon driven devices such as our robot hand.< >

关键词： Force control Fuzzy logic Three-term control Control systems Robots Fingers Tendons Fuzzy control robotics and automation Automatic control

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A tactile sensing system for dexterous manipulation

A tactile sensing system for dexterous manipulation

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： B.L. Gery S.N. Gottschlich New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

One factor that limits the range of tasks that robots can perform robustly is the scarcity of useful sensors available to provide feedback to the robot control system. While much progress has been made with vision sensors and force/torque sensors, tactile sensing systems have fallen behind, and so general-purpose tactile sensing systems are not commercially available. The aim of this work is therefore to produce a tactile sensing system that could be manufactured inexpensively, could be used on a wide variety of robotic systems, and would provide the kind of output typically required in dexterous manipulation applications. Such a tactile sensing system will be presented in this paper. The tactile transducers used in this system are based on semiconductive ink technology that allows transducers of any size, shape, and resistance range to be produced merely by altering the ink printing process and substrate geometry. Each sensor outputs three pieces of information that are useful in robotic manipulation-two parameters indicating the location of a contact point on the transducer and one parameter specifying the amount of force being exerted at the contact point. So that the sensing system could support transducers of different shapes and sizes, the analog interface circuitry of this system has been designed to be fully programmable, and also includes circuitry to enable self-calibration with appropriate software.< >

关键词： Transducers Robot sensing systems Sensor systems Tactile sensors Force sensors Ink Shape Circuits Robust control Feedback

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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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