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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Tilbury J.-P. Laumond R. Murray S. Sastry G. Walsh Electronics Research Laboratory Department of Electrical Engineering and Computer Science University of California Berkeley CA USA Department of Mechanical Engineering California Institute of Technology Pasadena CA USA

Methods for steering car-like robots with trailers are investigated. A connection is demonstrated between Murray and Sastry's (1990, 1991) work of steering with integrally related sinusoids and Sussmann and Liu's (1991) recent work on asymptotic behavior of systems with high-frequency sinusoids as inputs. The merits of coordinate transformations, relative to the convergence properties, are discussed. Simulation results for a car-like robot with two trailers are presented.< >

关键词： Control systems Robot kinematics Optimal control Algebra Frequency Laboratories Control theory Fingers Mobile robots Sun

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Stabilization of trajectories for systems with nonholonomic constraints

Stabilization of trajectories for systems with nonholonomic ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G. Walsh D. Tilbury S. Sastry R. Murray J.-P. Laumond Electronics Research Laboratory Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA Department of Mechanical Engineering California Institute of Technology Pasadena CA USA

A technique for stabilizing nonholonomic systems to trajectories is presented. It is well known that such systems cannot be stabilized to a point using smooth static-state feedback. The authors suggest the use of control laws for stabilizing a system about a trajectory, instead of a point. Given a nonlinear system and a desired nominal feasible trajectory, an explicit control law which will locally exponentially stabilize the system to the desired trajectory is given. The theory is applied to several examples, including a car-like robot.< >

关键词： Control systems Feedback Open loop systems Sensor systems Time varying systems Mobile robots Error correction Laboratories Ear Constraint theory

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A video pattern generator for vision test

A video pattern generator for vision test

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Midwest Symposium on Circuits and Systems (MWSCAS)

作者： M.S. Obaidat D.S. Abu-Saymeh G. Cibis D. Pierce Comput. Eng. Res. Lab. Missouri Univ. Columbia MO USA Computer Engineering Research Laboratory Department of Electrical & Computer Engineering University of Missouri Columbia USA Transoft Limited Kansas City MO USA

A hardware and software system for the generation of video patterns that can be used for various vision tests, particularly depth perception, is presented. Among the capabilities of the system is generation of static and dynamic random dot stereograms that can be used to test depth perception. The system generates the patterns in real time, which provides the ability of moving the objects in the stereogram. The system is based on the TMS34010 graphics processor, operating at 40 MHz. The processor is interfaced to 512 Kb of video random access memory (VRAM), 256 Kb of dynamic random access memory (DRAM), and 16 Kb of erasable programmable read only memory (EPROM). The system also has an RS-232C serial communication part for communicating with a host computer and a red, green, and blue (RGB) video output for connection to an RGB color video monitor which displays the various video patterns. The software developed produces the various patterns and test experiments. A monitor program was also written to aid in developing any new software needed to produce new patterns or test experiments.< >

关键词： Test pattern generators Software testing System testing Random access memory EPROM computer displays computerized monitoring Hardware Software systems Real time systems

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SENSOR-DRIVEN INTELLIGENT robotics

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ADVANCES IN computerS 1991年第C期32卷 105-148页

作者： TRIVEDI, MM CHEN, CX Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department The University of Tennessee Knoxville Tennessee

Intelligent robotic systems should be capable of performing a range of complex tasks in unstructured and dynamic environments. This chapter discusses a number of important items associated with intelligent robots, role of vision sensing in intelligent robotics, and architecture for the design of an intelligent robot. The chapter also describes the computational task hierarchy that governs a model-based robot vision system, and presents a detailed tutorial on two important components of this hierarchy: image segmentation and matching. The main capabilities that intelligent robotic systems should possess include ability for perception of their environment, planning of their actions, and execution of the planned action. The two important components of a model-based vision system are image segmentation and the matching module. A procedure that allows transformation of 2D image coordinates into 3D world coordinates is also discussed in the chapter. The architecture and control aspects of an integrated sensor-based robotic system consist of six modules: supervisor, task planner, perception, motor, user interface, and knowledge-base. Intelligent, sensor-driven systems pose many challenging basic-research problems from a broad range of scientific and technological disciplines; however, there are many important application areas where such systems would be of significant value and utility, including hazardous environments such as nuclear plants, underwater, and space as well as many industrial-automation tasks. Recent advancements in the VLSI, computer-architectures, sensor-and robot-hardware, and artificial-intelligence fields may aid to the development of robust, practical, and cost-effective intelligent robotic systems for a wide variety of applications.

关键词： robotics

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A LITERATURE-REVIEW - ROBOTS IN MEDICINE

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IEEE engineering IN MEDICINE AND BIOLOGY MAGAZINE 1991年第2期10卷 13-&页

作者： PREISING, B HSIA, TC MITTELSTADT, B Robotics Research Lab Department of Electrical Engineering and Computer Science University of California Davis USA

Robotic systems employed in the laboratory, in rehabilitation, and in surgery are reviewed. The advantages of using a robot system over manual procedures in the laboratory to prepare samples is discussed, and some of the obstacles are noted. A typical laboratory robot is described. Rehabilitative applications in the major research areas of tactile sensors, assistive devices for the blind, prosthetics, and orthotics are examined. Manipulators that can help a disabled individual with important everyday tasks and other assistive robotic systems in rehabilitation are described. A variety of robots that assist or perform surgery is surveyed. These applications include positioning in stereotactic neurosurgery, patient manipulation, an in vivo spinal kinematic instrument, and robotic radial keratotomy, among others.< >

关键词： Medical robotics Rehabilitation robotics Robot sensing systems Laboratories Surgery Tactile sensors Prosthetics Orthotics Manipulators Neurosurgery

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Active exploration of robotic workcell

Active exploration of robotic workcell

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IEEE International Conference on Systems, Man and Cybernetics

作者： H.P. Gadagkar M.M. Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

A description is given of research efforts directed towards the development of an active exploration system performing acquisition, processing, and integration of sensory inputs from vision, point laser range, tactile, and force/torque sensors. An attempt is made to bring out the rationale that robotic workcell exploration can benefit by utilizing noncontact (e.g., vision, range, and proximity) as well as contact (e.g., tactile and force/torque) sensors while accomplishing tasks such as object identification, object localization, object grasping and object manipulation. The experimental results presented indicate that the rationale utilized in the design of the multisensory robotic active exploration scheme can work successfully.< >

关键词： Robot sensing systems Sensor phenomena and characterization Robot vision systems Force sensors Torque Tactile sensors Humans Capacitive sensors computer vision Laboratories

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Localized measurement of image fractal dimension using gabor filters

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Journal of Visual Communication and Image Representation 1991年第2期2卷 114-128页

作者： Super, Boaz J. Bovik, Alan C. Department of Computer Sciences The University of Texas at Austin Austin TX 78712 United States Laboratory for Vision Systems Department of Electrical and Computer Engineering The University of Texas at Austin Austin TX 78712 United States

We present a method for making accurate, optimally localized measurements of the fractal dimension of images modeled as locally fractal Brownian surfaces. Fractal Brownian surfaces are good models for the multiscale and irregular image textures arising from natural scenes and for elevation maps of terrain. To obtain accurate local values of the fractal dimension, spatio-spectrally localized measurements are necessary. Our method employs Gabor filters, which optimize the conflicting goals of spatial and spectral localization as constrained by the functional uncertainty principle. The outputs from multiple Gabor filters are fitted to a fractal power-law curve whose parameters determine the fractal dimension. The algorithm produces a local value of the fractal dimension at every point in the image. We also introduce a variational technique for enforcing a smoothness constraint on the computed fractal dimension function. This technique is implemented using an iterative relaxation algorithm. We demonstrate the method on synthetic images, real images of natural textures, and U.S. Geo-Data digital elevation maps of real terrain. We discuss the ways in which real images depart from the fractal Brownian surface model. © 1991.

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NEW INVERSE KINEMATIC ALGORITHMS FOR REDUNDANT ROBOTS

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JOURNAL OF ROBOTIC SYSTEMS 1991年第1期8卷 117-132页

作者： HSIA, TC GUO, ZY Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA 95616

New inverse kinematic algorithms for generating redundant robot joint trajectories are proposed. The algorithms utilize the kinematic redundancy to improve robot motion performance (in joint space or Cartesian space) as specified by certain objective functions. The algorithms are based on the extension of the existing "joint-space command generator" technique in which a null space vector is introduced which optimizes a specific objective function along the joint trajectories. In this article, the algorithms for generating the joint position and velocity (PV) trajectories are extensively developed. The case for joint position, velocity, and acceleration (PVA) generation is also addressed. Application of the algorithms to a four-link revolute planar robot manipulator is demonstrated through simulation. Several motion performance criteria are considered and their results analyzed.

关键词： Robots

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Nonlinear analog networks for image smoothing and segmentation

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Journal of VLSI Signal Processing 1991年第1-2期3卷 53-68页

作者： Lumsdaine, A. Wyatt Jr., J.L. Elfadel, I.M. Research Laboratory of Electronics Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge 02139 MA United States

Image smoothing and segmentation algorithms are frequently formulated as optimization problems. Linear and nonlinear (reciprocal)resistive networks have solutions characterized by an extremum principle. Thus, appropriately designed networks can automatically solve certain smoothing and segmentation problems in robot vision. This paper considers switched linear resistive networks and nonlinear resistive networks for such tasks. Following [1] the latter network type is derived from the former via an intermediate stochastic formulation, and a new result relating the solution sets of the two is given for the "zero temperature" limit. We then present simulation studies of several continuation methods that can be gracefully implemented in analog VLSI and that seem to give "good" results for these nonconvex optimization problems. © 1991 Kluwer Academic Publishers.

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On force-tracking impedance control of robot manipulators

On force-tracking impedance control of robot manipulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： T.A. Lasky T.C. Hsia Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davisburg CA USA

A reference force-tracking impedance control system is proposed, consisting of a conventional impedance controller in the inner-loop and a trajectory modifying controller in the outer-loop for force-tracking. The design of the outer-loop is presented and the stability of the two-loop control system is analyzed. A computationally efficient control algorithm for the inner-loop is suggested. Simulation results are presented. The controller is able to achieve excellent position and force-tracking with unknown environment stiffness and the presence of a burr on the tracking surface.< >

关键词： Force control Robot control Control systems Robot kinematics Manipulator dynamics Surface impedance Friction Velocity control Automatic control Algorithm design and analysis

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