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Volumetric Based Inspection

Volumetric Based Inspection

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

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

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Finding a sequence of sensor operations for volumetric inspection

Finding a sequence of sensor operations for volumetric inspe...

引用

IEEE International Conference on Systems, Man and Cybernetics

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

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.< >

关键词： Inspection Geometry robotics and automation Casting Space technology Sensor systems Solid modeling Systems engineering and theory Sensor phenomena and characterization Production

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A Perturbation Refinement Method for Nonholonomic Motion Planning

A Perturbation Refinement Method for Nonholonomic Motion Pla...

引用

American Control Conference (ACC)

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

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.

关键词： Control systems Kinematics Adaptive control Convergence Iterative algorithms Motion planning robotics and automation Systems engineering and theory Path planning Position control

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Modeling and feedback control of nonholonomic mobile vehicles

Modeling and feedback control of nonholonomic mobile vehicle...

引用

IEEE Conference on Decision and Control

作者： G.J. Pappas K.J. Kyriakopoulos N.Y. State Center for Advanced Technology in Automation and Robotics Electrical Computer and Systems Engineering Departmennt Rensselaer Polytechnic Institute Troy NY USA

A complete dynamic model of mobile vehicles moving on nonplanar surfaces under nonholonomic and dynamic constraints is presented. The kinematic control of such systems is examined, and the invariant manifold technique is introduced for steering a nonholonomic mobile vehicle to an invariant manifold which is relatively locally-locally controllable. A closed-loop control strategy based on the invariant manifold technique is formulated and applied to the control of nonholonomic vehicles. Tracking control of such vehicles is demonstrated with both holonomic and nonholonomic reference trajectories.< >

关键词： Feedback control Vehicle dynamics Control systems Kinematics Trajectory

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Optimal Motion Planning for Collision Avoidance of Mobile Robots in Non-stationary Environments

Optimal Motion Planning for Collision Avoidance of Mobile Ro...

引用

American Control Conference (ACC)

作者： K.J. Kyriakopoulos G.N. Saridis New York State Center for Advanced Technology in Automation and Robotics Rensaelaer Polytechnic Institute Troy NY 12160-3590 Rensselaer Polytechnic Institute Troy NY USA

An optimal control formulation of the problem of collision avoidance of mobile robots moving in general terrains containing moving obstscles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. A perturbation control type of approach is used to update the optimal plan. Simulation results verify the value of the proposed strategy.

关键词： Motion planning Collision avoidance Mobile robots robotics and automation Optimal control Orbital robotics Path planning Robot sensing systems Tellurium Planing

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Inducing patterns of behavior in distributed system processes

Inducing patterns of behavior in distributed system processe...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： V.G. Kountouris H.E. Stephanou School of Information Technology and Engineering George Mason University Fairfax VA USA New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

The authors utilize a class of Petri nets, called colored Petri nets (C/P-nets), to induce patterns of behavior in synchronization structures. These patterns of behavior locally specify the interactions between the distributed system's processes. The induction of patterns of behavior in synchronization structures results in the specification of coordination structures. A coordination structure is a specification of the interaction behavior of a distributed system's processes in a particular context. C/P-nets are used for the differentiation of the system's context-sensitive variables and the representation of their instantiations. The three possible interactions between any two concurrent processes of the distributed system are specified.< >

关键词： Intelligent robots Control systems Petri nets robotics and automation Automatic control Kinematics Calculus Information technology Multiagent systems Robot control

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An integrated collision prediction and avoidance scheme for mobile robots in non-stationary environments

An integrated collision prediction and avoidance scheme for ...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： K.J. Kyriakopoulos G.N. Saridis New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA NASA Center of Intelligent Robotic Systems for Space Exploration Rensselaer Polytechnic Institute Troy NY USA

A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the distance between the robot and a moving obstacle is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. A feedback control is developed and local asymptotic stability is proved if the velocity of the moving obstacle is bounded. Simulation results verify the value of the proposed strategy.< >

关键词： Mobile robots robotics and automation Intelligent robots Orbital robotics Trajectory Motion planning Path planning Collision avoidance Space technology NASA

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AMP-CAD: an assembly motion planning system

AMP-CAD: an assembly motion planning system

引用

IEEE International Conference on robotics and automation (ICRA)

作者： S.N. Gottschlich A.C. Kak New York State Center for Advanced Technology in Robotics and Automation Rensselaer Polytechnic Institute Troy NY USA Robot Vision Lab School of Electrical Engineering Purdue University West Lafayette IN USA

The authors discuss a system, called AMP-CAD, which develops assembly motion plans using CAD models of parts. They place an emphasis on the calculation of the potential fields used for motion planning. Potential fields can be thought of as a mechanism to interface CAD representations with plan development. AMP-CAD is a complete system that combines an assembly representation, a two-phase motion planner, and a execution unit into a single integrated package. Implementation and experimental results are discussed.< >

关键词： Assembly systems Uncertainty Robotic assembly Motion planning Aggregates Solid modeling Force control Torque control robotics and automation Fitting

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Issues in fine motion planning for assembly 3

Issues in fine motion planning for assembly

引用

3rd Annual Conference on Intelligent Robotic Systems for Space Exploration, IRSSE 1991

作者： Gottschlich, Sue New York State Center for Advanced Technology in Robotics and Automation Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0818625953

A common problem in robotic assembly is that of mating tightly fitting parts when the locations and the dimensions of the parts are somewhat uncertain. Because the clearances allowed between mating features of parts are likely to be smaller then the aggregate uncertainties, it is often necessary to use sensoryguided motions, as opposed to point-to-point motions, for carrying out portions of an assembly operation. In this paper we will discuss a fine motion planner that develops motion plans for assembly operations where force/torque guided motions are incorporated into the plan as needed. While much work in fine motion planning has focused on dealing with the uncertainties involved, this paper will expose equally important issues that arise in assembly motion planning due to the complicated geometry of assembly parts and the tight clearances allowed between mating features of assembly parts. © 1991 IEEE.

关键词： Motion planning

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Issues in Fine Motion Planning for Assembly

Issues in Fine Motion Planning for Assembly

引用

Annual Conference on Intelligent Robotic Systems for Space Exploration

作者： S. Gottschlich New York State Center for Advanced Technology in Robotics and Automation Rensselaer Polytechnic Institute Troy NY USA

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