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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

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The design and training of an intelligent sensor implementation

The design and training of an intelligent sensor implementat...

引用

Canadian Conference on electrical and computer engineering (CCECE)

作者： Xiangui Yu N.K. Loh G.A. Jullien W.C. Miller Department of Electrical Engineering University of Windsor Windsor ONT Canada Center for Robotics and Advanced Automation Dodge Hall of Engineering Oakland University Rochester MI USA

The design and VLSI implementation of an intelligent sensor that can be used for process control applications requiring image capture or non-contact measurement is presented in this paper. The sensor architecture is based on an analog VLSI realization of an artificial neural network with an integrated photosensitive array. A 10/spl times/10 array of photosensitive cells has been designed as the input nodes to a two-layer feedforward neural network. Four groups each with 25 photosensors are fully connected to 4 neurons respectively in the hidden layer. The 16 hidden neurons are fully connected to 5 neurons in the output layer. A development program has been written that determines the optimal set of weights using the modified backpropagation algorithm. The neural network has been trained to recognize 18 different types of patterns. The final implementation of this intelligent sensor has the dimensions of 4500/spl times/4820 design scale microns and contains approximately 1630 analog devices fabricated using a 3/spl mu/ single-polysilicon, double-metal, p-well CMOS process.< >

关键词： Intelligent sensors Sensor arrays Neurons Very large scale integration Artificial neural networks Neural networks Process control Feedforward neural networks Backpropagation algorithms Pattern recognition

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Comparisons of four learning algorithms for training the multilayer feedforward neural networks with hard-limiting neurons

Comparisons of four learning algorithms for training the mul...

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Canadian Conference on electrical and computer engineering (CCECE)

In this paper, two kinds of learning algorithms that have been developed for training multilayer feedforward neural networks with hard-limiting neurons are reviewed. For the modified backpropagation algorithms, their numerical performances of convergence speed and training efficiency are compared; for the architecture generating methods, the architecture sizes of the neural networks generated are compared and their generalization ability are discussed. For any given application problem, some criteria for selecting a suitable training algorithm are also discussed.< >

关键词： Multi-layer neural network Neural networks Feedforward neural networks Neurons Backpropagation algorithms Artificial neural networks robotics and automation Electronic mail Convergence of numerical methods Multilayer perceptrons

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Modified backpropagation algorithms for training the multilayer feedforward neural networks with hard-limiting neurons

Modified backpropagation algorithms for training the multila...

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Canadian Conference on electrical and computer engineering (CCECE)

This paper introduces modified backpropagation algorithms for training multilayer feedforward neural networks with hard-limiting neurons. Transforming neuron activation functions are used in all the hidden layers, which are the modified continuous sigmoidal functions with an adaptive steepness factors. In the training process, this steepness factor varies from a small positive value to infinite with the decrease of the sum square error. Thus, a multilayer feedforward neural network can be trained with the resultant architecture only composed of hard limiting neurons. The learning algorithm is similar to the conventional backpropagation algorithm. Only the derivatives of the hidden neural activation functions are modified. Extensive numerical simulations are presented to show the feasibility of the proposed algorithm. In addition, the numerical properties of the proposed algorithm are discussed and comparisons of the proposed algorithm with other algorithms are made.< >

关键词： Multi-layer neural network Backpropagation algorithms Neural networks Feedforward neural networks Neurons Multilayer perceptrons Very large scale integration robotics and automation Electronic mail Numerical simulation

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Robust control of a vibrating link robot manipulator 24

Robust control of a vibrating link robot manipulator

引用

24th Southeastern Symposium on System Theory and 3rd Annual Symposium on Communications, Signal Processing Expert Systems, and ASIC VLSI Design, SSST/CSA 1992

作者： Shukla, Deepak Dawson, D.M. Paul, F.W. Department of Mechanical Engineering Robotics and Machine Automation Laboratory Center for Advanced Manufacturing Clemson University ClemsonSC United States Department of Electrical and Computer Engineering Robotics and Machine Automation Laboratory Center for Advanced Manufacturing Clemson University ClemsonSC United States

ISBN: (纸本)0818626658

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. © 1992 IEEE.

关键词： Robust control

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FINDING A SEQUENCE OF SENSOR OPERATIONS FOR VOLUMETRIC INSPECTION

FINDING A SEQUENCE OF SENSOR OPERATIONS FOR VOLUMETRIC INSPE...

引用

1992 IEEE International Conference on Systems, Man, and Cybernetics

作者： TARBOX, GH GOTTSCHLICH, SN GERHARDT, LA New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy 12180-3590 NY United States

ISBN: (纸本)0780307208

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 multi-sensor environment, and it facilitates true 3D inspection as opposed to methods that require dimensional reductions of data by projection onto a 2D plane. This paper focuses on an important aspect of volumetric inspection - the automatic generation of a sequence of sensor operations that will acquire the complete geometry of the object being inspected. © 1992 IEEE.

关键词： Inspection

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FUZZY PROXIMITY-MEASURES FOR ROBOT GRASP PLANNING

FUZZY PROXIMITY-MEASURES FOR ROBOT GRASP PLANNING

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1992 IEEE INTERNATIONAL SYMP ON INTELLIGENT CONTROL

作者： SRIDHARAN, K STEPHANOU, HE New York State Center for Advanced Technology in Automation and Robotics Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy 12180-3590 NY United States

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... 详细信息

ISBN: (纸本)0780305469

关键词： Robot programming

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The window corner algorithm for planning translational paths among polyhedral subassemblies

The window corner algorithm for planning translational paths...

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Krishnan, S.S. Sanderson, A.C. New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180 United States

ISBN: (纸本)0780307372

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 whether a pair of non-convex subassemblies can be separated by a sequence of fine-motions and, possibly, contact-motions, when the amount of free space tends to be severly limited. We present the three-dimensional Window Corner algorithm to plan feasible paths. The algorithm solves the FeosiblePath problem, in worst-case time O(m5) where m is the product of the number of vertices describing the robot and obstacles respectively. A Feasiblepath solution hierarchy, for assembly sequence planning, is described for incremental, straight-line and multi-step paths. The Polyhedral Cone Representation (PCR) is introduced to efficiently represent the geometrical constraints on translation and as a basis for fast collision avoidance checks. We introduce the concept of Window Corners in the PCR and this results in a finite search space. The Polyhedral Cone Obstacle Representation (PCUR), which is a constructive representation of all boundary contact configurations, transforms the problem into that of a point moving amongst a collection, O(m), of convex obstacles. In comparison, the worstcase space complexity of the C-space boundary is O(m3). Certain contact-constrained, feasible motions, which lie on surfaces without interior points can be inaccessible in a typ i d C-space representation. © 1992 Institute of electrical and Electronics Engineers Inc. All rights reserved.

关键词： Robot programming

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An Information Theoretic Approach to Approximate Reasoning

An Information Theoretic Approach to Approximate Reasoning

引用

1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Gottschlich, S.N. Stephanou, H.E. New York State Center for Advanced Technology in Automation and Robotics Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0780307372

In traditional geometric modeling, it is common to assume that models of objects created are complete and correct. Unfortunately in real life robots and other autonomous machines may have only uncertain knowledge of only a portion of an object's geometry and therefore we need to be able to create object models that are incomplete and uncertain. Towards this end we have developed mechanisms for representing geometric entities in terms of Dempster-Shafer belief functions. To do this we have extended the notion of belief functions to include continuous frames of discernment. A fractal model of the belief functions is developed and information theory concepts are applied for reasoning about a sensor data model vis-a-vis reference object models. An implementation of these concepts and experiments involving them are discussed. © 1992 IEEE.

关键词： Uncertainty analysis

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Volumetric Based Inspection

Volumetric Based Inspection

引用

1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Tarbox, G.H. Gottschlich, S.N. Gerhardt, L.A. New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0780307372

A novel approach to inspection is presented 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 surface-based inspection methods. One significant advantage of volumetric inspection is that there is no need to identify geometric "features", particularly important when inspecting objects such as castings and forgings whose features are often difficult to identify. Secondly, the volumetric representation lends itself naturally to a multi-sensor environment. By this we mean that a volumetric model of the sensed object can be synthesized utilizing information from multiple sensors of varying types, accuracy, location, etc. This allows a choice of the most appropriate sensor for acquiring information about the different regions of the object. Finally, the volumetric representation allows us to carry out true three-dimensional inspection as opposed to the typical approach where renderings of the reference model are compared to two-dimensional images of the actual object. © 1992 IEEE.

关键词： Inspection

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