This article presents an approach to estimate the general 3-D motion of a polyhedral object using multiple sensor data some of which may not provide sufficient information for the estimation of object motion. Motion c...
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This article presents an approach to estimate the general 3-D motion of a polyhedral object using multiple sensor data some of which may not provide sufficient information for the estimation of object motion. Motion can be estimated continuously from each sensor through the analysis of the instantaneous state of an object. The instantaneous state of an object is specified by the rotation, which is defined by a rotation axis and rotation angle, and the displacement of the center of rotation. We have introduced a method based on Moore-Penrose pseudoinverse theory to estimate the instantaneous state of an object, and a linear feedback estimation algorithm to approach the motion estimation. The motion estimated from each sensor is fused to provide more accurate and reliable information about the motion of an unknown object. The techniques of multisensor data fusion can be categorized into three methods: averaging, decision, and guiding. We present a fusion algorithm which combines averaging and decision. With the assumption that the motion is smooth, our approach can handle the data sequences from multiple sensors with different sampling times. We can also predict the next immediate object position and its motion. The simulation results show our proposed approach is advantageous in terms of accuracy, speed, and versatility.
It has been shown recently that robot inverse kinematic transformation can be easily carried out by using a nonlinear dynamic system called “joint space command generator.” In this paper, an adapti...
It has been shown recently that robot inverse kinematic transformation can be easily carried out by using a nonlinear dynamic system called “joint space command generator.” In this paper, an adaptive version of the command generator is proposed. The main feature of this command generator is that the inverse Jacobian is estimated on-line (using least-squares algorithms), thus the explicit form of the inverse Jacobian is not required. Since the Jacobian is dependent on the end-effector orientation representation, the adaptive command generator is then inherently flexible in accommodating any choice of orientation representation during Cartesian trajectory planning. The only knowledge required is the forward kinematics of the robot. Thus inverse kinematic transformation of robot trajectories can be carried out with a minimum amount of kinematic information. Extensive simulation studies of the proposed scheme have been carried out which showed that the adaptive command generator is computationally feasible and highly accurate. Different orientation representations have been tested with equal success. Some typical simulation results are presented to illustrate the performance of the adaptive command generator.
Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external &quo...
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Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external ". Examples of the first group are position or velocity, while the second group includes proximity, touch, or vision to name a few. The other important problem in manufacturing is interfacing with the environment within a cell. The object of this tutorial paper is to survey the two issues of "sensing" and "interfacing" in robotics and manufacturing.
An approach to intelligent PID (proportional integral derivative) control of industrial systems which is based on the application of fuzzy logic is presented. This approach assumes that one has available nominal contr...
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An approach to intelligent PID (proportional integral derivative) control of industrial systems which is based on the application of fuzzy logic is presented. This approach assumes that one has available nominal controller parameter settings through some classical tuning technique (Ziegler-Nichols, Kalman, etc.). By using an appropriate fuzzy matrix (similar to Macvicar-Whelan matrix), it is possible to determine small changes on these values during the system operation, and these lead to improved performance of the transient and steady behavior of the closed-loop system. This is achieved at the expense of some small extra computational effort, which can be very easily undertaken by a microprocessor. Several experimental results illustrate the improvements achieved.< >
Class of deductions where their conclusions persist even though some components of justification are no more valid, pose some difficulty in reasoning about change. A partial solution is found in the notion called ines...
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In this paper, a novel approach to solve the mobile robot path planning problem in an unknown environment is presented. Inherently, the obstacle information from robot perception is contaminated with uncertainties, an...
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To improve the performance of autonomous vehicles operating in a factory environment, it is important to develop an intelligent planning system to avoic. vehicle collisions as well as to design a good path network whi...
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Surface reconstruction from cross-sectional contours has become increasingly important in medical image applications. In this paper, a method of reconstructing the surface of an object based on the descriptions of cro...
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The objective of this paper is to present a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor...
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If database management systems are to play an important role in CAD/CAM technologies, building engineering indices must be a primary task even though it is beyond conventional database practice. Information regarding ...
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If database management systems are to play an important role in CAD/CAM technologies, building engineering indices must be a primary task even though it is beyond conventional database practice. Information regarding design semantics or functionalities is often embedded in the geometric description of design objects, and is therefore not directly available for indexing. Presented in this paper is an efficient and flexible indexing mechanism for retrieving design objects that possess similar design features as described by the user. The underlying database is composed of rotational objects represented by constructive solid geometry (CSG). Although domain-specific representation schemes and algorithms are involved, the main objective of this paper is to emphasize the importance of engineering indices and to illustrate the effort required to build as well as to use such indices.
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