检索结果-内蒙古大学图书馆

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

来源：评论

学校读者我要写书评

暂无评论

Nonholonomic path planning with inequality constraints

Nonholonomic path planning with inequality constraints

引用

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

来源：评论

学校读者我要写书评

暂无评论

Conductance transient characterization of reactive ion etched HEMT gate recesses

Conductance transient characterization of reactive ion etche...

引用

Indium Phosphide and Related Materials Conference

作者： J.E. Schramm M. Mondry E.L. Hu J.L. Merz Dept. of Electr. & Comput. Eng. California Univ. Santa Barbara CA USA Department of Electrical and Computer Engineering Center for Robotics and Intelligent Systems University of California Santa Barbara CA USA University of California Santa Barbara Santa Barbara CA US

A simple, novel technique was devised to examine the effects of RIE self-bias voltage, plasma exposure time, and oxygen plasma clean conditions on the AlInAs Schottky contact layer of an InP-based HEMT.

关键词： HEMTs Voltage Plasma applications Dry etching Plasma measurements Electrical resistance measurement Lighting Plasma devices Polymers Testing

来源：评论

学校读者我要写书评

暂无评论

Rule based design of a multilayer perceptron

Rule based design of a multilayer perceptron

引用

International Joint Conference on Neural Networks (IJCNN)

作者： P.K. Chande M. Shrivastava Center for AI and Robotics Department of Computer Engineering Shri G.S. Institute of Technology and Science Indore Madhya Pradesh India

Multilayer perceptrons (MLP) trained with backpropagation algorithm are popular because they offer certain desirable features. However, the training is time consuming which further limits its use in changing environment. We propose a methodology to partially designs MLP network using formal knowledge-rules and augmenting it with another neural network trained using labeled examples. The approach has the potential of reducing the training time and enables online changes in the user environment. The software developed is being used in a process control system.

关键词： Multilayer perceptrons Neural networks Backpropagation algorithms Diagnostic expert systems Expert systems Artificial intelligence Robots Design methodology Process control Automatic control

来源：评论

学校读者我要写书评

暂无评论

A path planning heuristic for robotic manipulators

A path planning heuristic for robotic manipulators

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： B.J. Hendrey R.A. Jarvis Department of Electrical and Computer Systems Engineering Intelligent Robotics Research Center Monash University Clayton Australia

A practical solution to path planning problem for a six-degree-of-freedom robotic manipulator with arbitary payload has been implemented. This problem in its most general form has been shown to be intractable, so most researchers in the field simplify the problem in some way. Often these simplifications make the resulting path planner of little practical use. In this paper an overview of a practical path planner is given. Heuristics are used to plan for the last three degrees of freedom of the robot and its payload, and the details of one of these heuristics is described. The use of heuristics makes the planner incomplete, but for all tasks programmed for the robot the planner has not failed to find a path.

关键词： Path planning Robots Manipulators Orbital robotics Payloads Shape Solid modeling Fixtures Motion planning Computational geometry

来源：评论

学校读者我要写书评

暂无评论

Modeling and implementation of an innovative micro proximity sensor using micromachining technology

Modeling and implementation of an innovative micro proximity...

引用

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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

The modeling and implementation of an innovative micro capacitive proximity sensor using micromachining technology are described. The proximity sensor works on the principle of fringing capacitance. The target object to be measured does not need to be part of the measuring system and can be either a conductor or a nonconductor. By selecting a set of geometrical parameters, this sensor is capable of precise measurement of proximity in the range from micrometers to millimeters. The capacitance change is quite significant for such small sensing structures, though it is only a fraction of a picofarad. The micro size of the sensor makes it possible to mount it in many space-constrained places.

关键词： Micromachining Capacitive sensors Electrodes Capacitance Intelligent sensors Sensor phenomena and characterization Conductors Sensor systems Intelligent robots Current measurement

来源：评论

学校读者我要写书评

暂无评论

The USC autonomous flying vehicle: An experiment in real-time behavior-based control

The USC autonomous flying vehicle: An experiment in real-tim...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A.H. Fagg M.A. Lewis J.F. Montgomery G.A. Bekey Department of Computer Science Center for Neural Engineering Institute for Robotics Intelligent Systems University of Southern California Los Angeles CA USA

A control system architecture is described for an autonomous flying vehicle. The vehicle, equipped with fourteen sensors, uses a model helicopter as an airframe. The control system utilizes these sensors to: remain aloft and in stable flight; navigate to a target; and manipulate a physical object. The overall approach to the problem is based on a behavioral paradigm. The key contribution of this paper is the demonstration of a situated agent under these severe circumstances; as the craft is airborne, it is in constant risk of crashing. Unlike terrestrial mobile robots, the craft must constantly make sound decisions to maintain its integrity.

关键词： Remotely operated vehicles Mobile robots Service robots Control systems Robot sensing systems Intelligent sensors Concurrent computing Intelligent robots Sensor systems computer architecture

来源：评论

学校读者我要写书评

暂无评论

Dynamic Modelling and Tracking Control of Nonholonomic Wheeled Vehicles

引用

IFAC Proceedings Volumes 1993年第2期26卷 61-64页

作者： G.J. Pappas K.J. Kyriakopoulos New York State Center for Advanced Technology in Automation and Robotics & Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY 12180-3590 USA

Nonholonomic vehicles are shown to be kinematically equivalent to unicycles. A dynamic model for mobile vehicles moving on planar surfaces under nonholonomic constraints is derived. The model is decomposed into a kinematic and a dynamic subsystem. The kinematic subsystem is shown to be globally stabilizable by using continuous control laws on reference trajectories that are nonstationary and continuously differentiable with respect to time. The continuity of the kinematic control inputs allows the extension of the vehicle control at the dynamic level. Stability of the overall closed loop system is examined using singular perturbation theory. Simulations verify all theoretical derivations.

关键词： Nonholonomic Control Vehicle Control Mobile Robots

来源：评论

学校读者我要写书评

暂无评论

Registration of dissimilar featureless models for inspection

Registration of dissimilar featureless models for inspection

引用

IEEE International Conference on robotics and Automation (ICRA)

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

General-purpose CAD-based inspection of a manufactured workpiece often involves comparing a part model created using intensity or range images of the part to a toleranced reference model of the part. Before this comparison can be made, however, the sensed object model must be registered to the reference object model. Most registration approaches assume that it is possible to identify and match features in the models and that the object models represent very similar geometries. A registration approach that deals with featureless dissimilar models is presented, and experimental results are demonstrated. Although the need for such an approach was motivated by needs in inspection, the approach is very general and can be used in a variety of other applications.< >

关键词： Inspection Casting robotics and automation Solid modeling Data structures Systems engineering and theory Geometry Valves Manufacturing processes Surface morphology

来源：评论

学校读者我要写书评

暂无评论

Automatic synthesis and verification of compliance mappings

Automatic synthesis and verification of compliance mappings

引用

IEEE International Conference on robotics and Automation (ICRA)

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

When the uncertainty is large compared to clearances between objects, some form of compliance is required for a robot to manipulate these objects. Such situations include, but are not restricted to, assembly operations. Compliance can be thought of as a task-dependent mapping from sensed forces to corrective motions which bring the robot closer to its goal. A methodology for the automated synthesis of this mapping is described. The possible erroneous configurations of the robot together with their resulting contact forces are computed, and a corrective motion is identified for each configuration. The validity of the mapping is checked to ensure that the sensed forces will provide unambiguous information during the actual execution of the planned compliant motion.< >

关键词： robotics and automation Robot sensing systems Uncertainty Robotic assembly Path planning Motion planning Damping Systems engineering and theory Technology planning Sensor systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：