A class of Newton-type algorithms is effective in solving the kinematic path planning problem for a system with nonholonomic equality constraints. A key result in this approach has been the generic full rank condition...
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A class of Newton-type algorithms is effective in solving the kinematic path planning problem for a system with nonholonomic equality constraints. A key result in this approach has been the generic full rank condition of a certain gradient operator. We have extended this method to path planning problems with inequality constraints and shown its efficacy in solving some challenging problems, but a similar genericity result is not currently available. In this paper, we present some extension of our algorithm for nonholonomic path planning with equality and inequality constraints and show the generic full rank condition for a special case. Simulation examples involving a steerable tractor-trailer vehicle and experiment results of a quarter-scale car with a trailer are presented.< >
A robust polynomial-time algorithm for model-based pose estimation from tactile grasp data is presented. A minimal representation criterion is used to formulate the matching problem as a global optimization. The hypot...
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A robust polynomial-time algorithm for model-based pose estimation from tactile grasp data is presented. A minimal representation criterion is used to formulate the matching problem as a global optimization. The hypothesize-and-test paradigm is invoked to search for the optimal solution. A three-on-three match of model features to data features is used to reduce the transform search space to polynomial size. A polynomial-time assignment algorithm is used to compute the optimal correspondence for each hypothesized pose. The strength of the algorithm lies in its ability to perform with noisy or incomplete data and with missing or spurious features. It is capable of rejecting outliers and finding partial matches, and it produces sensible results even in the presence of large noise. The algorithm has been implemented and tested on actual data.< >
It is known that rotationally symmetric surfaces can be recognized from their outlines alone, using cross-ratios of bitangent intersections. A successful implementation of this technique is demonstrated using a novel ...
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It is known that rotationally symmetric surfaces can be recognized from their outlines alone, using cross-ratios of bitangent intersections. A successful implementation of this technique is demonstrated using a novel bitangent finder which works on images of real scenes. The stability of the cross-ratios is reported and compared to affine invariants. The recognition technique is shown to extend to the case of straight homogeneous generalized cylinders.< >
A practical solution to the path planning problem for a six degree-of-freedom manipulator robot with arbitrary payload is described. The three phases of operation are explained. Phase one involves planning for the fir...
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This paper describes a project to investigate methods of using touch sensory information for establishing and/or maintaining objects in a secure grasp. The project makes use of a robotic workcell comprising a novel de...
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This paper presents an approach for designing robust tracking controller for lumped mass model of a vibrating link (VL) robot manipulator. The control methodology is intuitively simple since it is based on concepts wh...
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A system for exhaustively inspecting a workpiece, not merely certain features, is presented. The system is based on comparing a volumetric representation of a reference object to a volumetric representation of an actu...
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Faat procedures for computing fuzzy prozimity meaaurea between a multifingered robot hand and an object to be grasped are presented in this paper. The computation useful in graap planning and in analyzing the local be...
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In this paper, we present a complete and exact algorithm for planning a geometrically feasible path for a polyhedral subassembly (robot) translating amongst polyhedral obstacles. Our algorithm can be used to determine...
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Parametric transfer-function matrix (T.F.M.) models are derived from the differential equations describing the variation of liquid and vapour compositions within symmetrical distillation columns separating binary mixt...
Parametric transfer-function matrix (T.F.M.) models are derived from the differential equations describing the variation of liquid and vapour compositions within symmetrical distillation columns separating binary mixtures. Both packed and tray-type columns are considered, the models developed having minimal order 6 and 4, respectively, (implying perfectly-stirred mixtures and minimum number of trays in each column section), so removing the complications introduced by spatial variations encountered in earlier studies by Edwards and Tabrizi [1] and Tabrizi [2] of longer columns. The T.F.M.'s obtained are again shown to be diagonal with the same choice of input and output vectors as were employed in the "long" column studies. Furthermore, the fundamental behavioural differences between packed and tray-type columns are again revealed using these low-order physical models as were demonstrated in the previous studies. In particular, the sign of the static gain of packed-columns, responding to total flow changes, is again shown to be parameter-sensitive and the sign of the total-flow gain at high-frequency is shown to be the reverse of that for tray-type columns, so again causing non-minimum-phase behaviour in packed-columns in some circumstances. Because of their behavioural and parametric similarities, it is proposed that the minimal-order models developed in this paper be used as a future basis for control system design studies for spatially-distributed and multi-tray columns in situations where travelling-wave phenomena are unimportant. The present paper has revealed a precise diagonal dynamic structure for symmetrical columns using the same inputs and outputs. This deduction accords well with the findings of previous authors based on part impirical by McMoran [3], Shinskey [4], and Stainthorp [5], approximate analytical by Edwards [6], or purely simulation methods Rosenbrock [7]. Near first-order-lag behaviour is also a feature common to the findings of these earlier
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