A fuzzy knowledge-based control system developed for mobile robot motion control is introduced. The method for deriving a fuzzy knowledge-base is established, based on a commercially available mobile robot. The adapta...
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A fuzzy knowledge-based control system developed for mobile robot motion control is introduced. The method for deriving a fuzzy knowledge-base is established, based on a commercially available mobile robot. The adaptation method for fuzzy knowledge-based systems reacts to environmental variations and modifies the definitions of linguistic state variables instead of modifying the knowledge-base itself. Some simulation results are presented to demonstrate that the proposed adaptive scheme makes significant improvements in system performance even when there are severe environmental variations.< >
Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, ide...
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Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, identified sources of fuzziness, and proposed a fuzzy algorithm for multifingered prehension. These ideas are extended by assuming fuzziness in the object location and geometric hand configuration, computing information on proximity of the hand and object, analyzing the computational efficiencies, and indicating how geometric information can be used in the process of prehension. The implementation details are outlined. The computation is useful in grasp planning and in analyzing the local behavior of the robot hand in the vicinity of the object.< >
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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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 which are familiar to most control engineers. The approach is illustrated by developing a robust tracking controller that achieves global uniform ultimate boundedness (GUUB) stability of the link tracking error in spite of model uncertainty and the additional link dynamics.
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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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 actual object iteratively created from sensor data. The use of volumetric representations gives this approach a number of distinct advantages over the more traditional boundary-based inspection methods. The method is capable of handling arbitrarily complex geometries and does not rely on the identification of features. It lends itself naturally to a multisensor environment, and facilitates true 3-D inspection as opposed to methods that require dimensional reductions of data by projection onto a 2-D plane. The authors focus on an important aspect of volumetric inspection which is the automatic generation of a sequence of sensor operations that will acquire the complete geometry of the object being inspected.< >
The kinematic path planning problem of a nonholonomic system can be posed as a point-to-point control problem of a nonlinear system. This system has the property that it is not locally stabilizable but is globally con...
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The kinematic path planning problem of a nonholonomic system can be posed as a point-to-point control problem of a nonlinear system. This system has the property that it is not locally stabilizable but is globally controllable. In this paper, we present a new algorithm for constructing a feasible path between specified initial and final configurations. Polyhedral constraints in both configuration and non-configuration spaces (possibly non-convex) can also be incorporated in this framework. The algorithm is based on the assumption that the system is usually controllable about a non-trivial trajectory, which is true for many cases. An initial trajectory is iteratively warped until the desired final configuration is reached. Examples of a front-wheel driven car, and tractors with one, two, and three trailers are included to illustrate the efficacy of the proposed algorithm.
The performance of a Gabor odd filter-based edge detector is investigated using the measures proposed by Canny. Based on this performance analysis a design criterion for 1-D Gabor filter-based edge detector is derived...
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The performance of a Gabor odd filter-based edge detector is investigated using the measures proposed by Canny. Based on this performance analysis a design criterion for 1-D Gabor filter-based edge detector is derived. It is shown that this design criterion holds good for a 2-D Gabor filter-based edge detector as well. Experimental results are presented to demonstrate the significance of the proposed design criterion.< >
The authors address an enforcement technique of integrity constraints against transaction updates in a relational database system. Transition axioms have been used effectively in checking integrity constraints for sin...
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The authors address an enforcement technique of integrity constraints against transaction updates in a relational database system. Transition axioms have been used effectively in checking integrity constraints for single update statements. The authors extend the idea of transition axioms to a transaction which is a sequence of read and update statements. Integrity constraints in this scheme are simplified without database access before the actual operations are performed avoiding the need to undo an illegal transaction. Transaction partitioning, which can reduce the overhead of checking integrity constraints significantly, is proposed. Partitioning a transaction becomes crucial when a transaction is associated with multiple integrity constraints.< >
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