A structure for sensory information organization and robot task planning is introduced, and HMP, a hierarchical multiprocessor computer architecture, is developed to support the real-time execution of the defined info...
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A structure for sensory information organization and robot task planning is introduced, and HMP, a hierarchical multiprocessor computer architecture, is developed to support the real-time execution of the defined information structure. Queuing network analysis indicates that this hierarchical multiprocessor computer architecture, at least for the sets of loads defined, performs better than currently proposed systems based on single buses. All classes of data, except for large video data that have longer interarrival times, are transferred within 10 milliseconds, and most data are transferred at rates that are very close to their theoretical maximum speed. The gates, used for partitioning the buses, have also been successful; data transfers among processors inside the segment isolated by the gate have been speeded up while the transfer between clusters has either stayed the same or has been reduced slightly, compared to a system without gates.< >
The problem of obtaining reliable estimates of the optic flow field and its variation is discussed. It is argued that circuitry in the middle temporal (MT) visual area is arranged to provide mean field approximations ...
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The problem of obtaining reliable estimates of the optic flow field and its variation is discussed. It is argued that circuitry in the middle temporal (MT) visual area is arranged to provide mean field approximations of the optical flow field, that is, the maximal neighborhood over which the local field can be well-approximated as uniform, parallel translation. In addition, the way the mean field approximation varies with neighborhood size and position is informative about the variation of the flow field. It is shown how receptive fields can be synthesized to represent the first-order differential information about the flow field. The same ideas are applicable to the binocular disparity vector field, and lead one to predict the existence of extrastriate neurons that are specialized for the local shear and stretch of the disparity and motion vector fields.< >
A robotic system that can visually track and intercept an arbitrary object which is traveling in 2‐D at an unknown velocity on a conveyor is to be presented. An eye‐in‐hand vision system developed by the robotics a...
A patient data management system (PDMS) based on a local area network linking fourteen bedside instrument monitors to a personal computer is presented. The PDMS acquires real-time data and graphically displays their t...
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A patient data management system (PDMS) based on a local area network linking fourteen bedside instrument monitors to a personal computer is presented. The PDMS acquires real-time data and graphically displays their trends using interactive menus. Fluid balance data, medical dosage calculations based on the patient data, and medical observations are also managed by the PDMS. It provides this information for online use by the medical personnel, produces the special forms and summary reports, and archives this data for storage and retrieval. The PDMS is designed and developed for an IBM PS/2 running under the OS/2 multitasking operating system and equipped with an 8514/A high-resolution color video display. The design of the PDMS is described here, with added emphasis on its software structure. Sample results are presented.< >
A mathematical framework for reconditioning additive-type models is proposed, and a neuro-operator, based on the chaotic relaxation paradigm, whose resulting dynamics is neither concurrently synchronous nor sequential...
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A mathematical framework for reconditioning additive-type models is proposed, and a neuro-operator, based on the chaotic relaxation paradigm, whose resulting dynamics is neither concurrently synchronous nor sequentially asynchronous is derived. Necessary and sufficient conditions guaranteeing concurrent asynchronous convergence are established in terms of contracting operators. Lyapunov exponents are also computed to characterize the network dynamics and to ensure that throughput-limiting chaotic behavior in models reconditioned with concurrently asynchronous algorithms has been eliminated.< >
This paper proposes two simple schemes for adaptive control of robot manipulator, to achieve trajectory tracking. The state feedback controller consists of feedforward from the reference position trajectory, feedback ...
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This paper proposes two simple schemes for adaptive control of robot manipulator, to achieve trajectory tracking. The state feedback controller consists of feedforward from the reference position trajectory, feedback from the actual trajectory, and an auxiliary input. The feedforward/feedback controller is different from the state feedback controller in that it consists of feedforward from the reference position, velocity, and acceleration trajectory based on “inverse” dynamics of robot manipulator. The feedforward and feedback gains and the auxiliary input are adapted using adaptive control theory based on Lyapunov's direct method, and using only the local information of the corresponding joint. The proposed control schemes are computationally fast and do not require a priori knowledge of the parameter of the manipulator or the payload. Simulation results are presented in support of the proposed schemes.
A method for controlling a 6-degrees-of-freedom robotic manipulator based on a decomposition of its full dynamical model in two 3-degrees-of-freedom submodels (one for the lower part and one for the upper part) is pre...
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An an application of robotics in physical rehabilitation therapy, a robotic system consisting of two planar robot arms, each with two degrees of freedom, is considered. This robotic system, when coupled across a human...
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An an application of robotics in physical rehabilitation therapy, a robotic system consisting of two planar robot arms, each with two degrees of freedom, is considered. This robotic system, when coupled across a human joint, provides a vehicle for rehabilitation of the joint following surgery or trauma. A novel approach for estimation of body segment parameters is formulated that uses state and output information from the robot system to improve these estimates. In addition, redundant sensors are used to improve the accuracy of the estimates. The dynamic equations for a single robot arm are provided and the system is simulated. Therapeutic applications of the robotic system are discussed and the sensitivity of the measured forces with respect to the robot arm joint angles is studied in order to find an optimum orientation of the system for the best possible estimation. The application of this system to both rehabilitation and sports medicine is also discussed.< >
While it may not be practical to realize a tentative robot design as an actual robot, there is no question of the practicality of a simulation, ROBOT_S is a program in which the foundation for a comprehensive simulati...
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