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检索条件"机构=Computer Vision and Robotics Laboratory Department of Electrical Engineering"

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An efficient neural network model for path planning of car-like robots in dynamic environment

An efficient neural network model for path planning of car-l...

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Canadian Conference on electrical and computer engineering (CCECE)

作者： Xianyi Yang M. Meng ART Advanced Robotics & Teleoperation Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

A neural network model is proposed for real-time path planning with obstacle avoidance of car-like robots in a dynamic environment. Each neuron in this biologically inspired, topologically organised neural network has only local lateral connections. The real-time collision-free path is planned through the dynamic neural activity landscape of the neural network without explicitly searching over the free workspace nor the collision paths, without explicitly optimising any cost functions, without any prior knowledge of the dynamic environment, without any learning procedures, and without any local collision checking procedures. Therefore it is computationally efficient. The stability and convergence of the neural network system is proved using Lyapunov stability analysis. The effectiveness and efficiency of the proposed approach are demonstrated through simulation studies.

关键词： Neural networks Path planning Biological system modeling Robots Neurons Cost function Stability analysis Convergence Lyapunov method Computational modeling

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Frequency analysis of a flexible robot manipulator

Frequency analysis of a flexible robot manipulator

引用

Canadian Conference on electrical and computer engineering (CCECE)

作者： D. Wang M. Meng ART (Advanced Robotics & Teleoperation) Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

In this paper, the effect of longitudinal elongation of a flexible robot manipulator is investigated using frequency analysis. The dynamic model of a flexible manipulator without longitudinal elongation is considered and the basic frequency of the flexible manipulator is computed. With the increasing length and weight of the manipulator, the basic frequency decreases. The instability of the dynamic response will occur when the angular velocity exceeds the basic frequency. In order to avoid the unstable dynamics, the longitudinal elongation that is caused by the flexible deformation is considered in the dynamic model. From the frequency analysis, with the increase of angular speed of the manipulator, the basic frequency will rise.

关键词： Frequency Robots Manipulator dynamics Angular velocity Deformable models Solid modeling Equations Resonance Propellers Nonlinear dynamical systems

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Sensory motor control of wing beat in locust

Sensory motor control of wing beat in locust

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： S.X. Yang M. Meng ART (Advanced Robotics & Teleoperation) Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

In this paper, a neural network architecture is proposed for sensory motor control of wing beat in a locust. The proposed neural network model is based on the neural anatomy and function of the neurons and sense organs involved in the flight control of wing beat in a locust. This model consists of a central pattern generator and a sensory motor network. Both the central nervous mechanisms and the sensory feedback are essential for the generation of the rhythmic output in the motoneuron. A larger input amplitude results in a higher frequency of the central pattern generator signal through a shorter down-strike duration. The feedback from sensory organs increase the wing beat frequency by generating an early, rapid increasing component and by modifying the late component of the elevator motoneuron activity. The model predictions are in qualitative agreement with the corresponding data.

关键词： Motor drives Neural networks Sense organs Frequency Anatomy Neurons Aerospace control Output feedback Neurofeedback Signal generators

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Real-time tracking control of robot manipulators with online learning based approach

Real-time tracking control of robot manipulators with online...

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Canadian Conference on electrical and computer engineering (CCECE)

作者： Xianyi Yang M. Meng ART (Advanced Robotics & Teleoperation) Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

An online learning based approach to real-time tracking control of robot manipulators is proposed. This controller involves a single-layered neural network together with a traditional PD feedback loop, which inherits advantages from both the neural networks and the PD controller. It is capable of achieving real-time fine tracking control of robot manipulators under significant uncertainties, without any prior knowledge of the robot dynamics, and without any off-line training procedures. In addition, it is capable of quickly compensating sudden changes of robot dynamics. The proposed controller is computationally simple. The global system stability and convergence are proved using Lyapunov stability analysis. A model variation is presented in the discussion. The effectiveness and the efficiency are demonstrated through simulation and comparison studies.

关键词： Robot control Neural networks Manipulator dynamics Feedback loop PD control Uncertainty Stability analysis Convergence Lyapunov method Computational modeling

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A neural network approach to real-time motion planning and control of robot manipulators

A neural network approach to real-time motion planning and c...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Xianyi Yang M. Meng Art Advanced Robotics & Teleoperation Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

Real-time motion planning and control of multi-joint robot manipulators are studied using neural networks. The proposed neural network approach consists of two modules: one for real-time collision-free motion planning, the other for real-time fine control of the robot manipulators. The motion planning module is a biologically inspired, parallel connected, topologically organised neural network, where each neuron is characterised by a shunting equation, whose state space is the robot configuration joint space. This module is capable of planning a real-time optimal path for robot manipulators through the dynamic activity landscape of the neural network. The motion control module involves of a feedforward neural network together with a traditional PD feedback loop. It is capable of achieving real-time fine motion control of robot manipulators under significant uncertainties and without any prior knowledge of the robot dynamics. This module can quickly compensate sudden changes in the robot dynamics. The real-time fine control of robot manipulators is achieved through the online learning of the neural network. Both the motion planning and motion control modules are computationally efficient, and their global stabilities are proved using Lyapunov stability theory.

关键词： Neural networks Motion control Motion planning Manipulator dynamics Orbital robotics Robot control Neurons Equations State-space methods Parallel robots

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Virtual reality in telerobotics: the state-of-the-art

Virtual reality in telerobotics: the state-of-the-art

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： S.G. Tzafestas C.S. Tzafestas Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National and Technical University of Athens Athens Greece

This paper presents state-of-the-art issues concerning virtual reality (VR) as applied to robotics and control. After a short outline of the fundamental VR notions, the use of VR in robot (manipulator, mobile) telecontrol is discussed and some principal results are provided. Two representative examples are briefly described along with some concluding remarks.

关键词： Virtual reality Telerobotics Robot control Virtual environment Mobile robots Humans Geometry Intelligent robots robotics and automation Laboratories

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Influence of shear, rotary inertia on the dynamic characteristics of flexible manipulators

Influence of shear, rotary inertia on the dynamic characteri...

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： D. Wang M. Meng Y. Liu ART (Advanced Robotics & Teleoperation) Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

The influence of shear, rotary inertia on the dynamic characteristics of flexible manipulators is studied through frequency analysis. In terms of the various geometric effects, dynamic models of flexible manipulators are set up and characteristic equations are derived. By using the analysis, the influences of shear, rotary inertia, axial force on the flexible manipulator are given.

关键词： Manipulator dynamics Frequency Deformable models Equations Nonlinear dynamical systems Payloads Subspace constraints Robots Solid modeling Energy consumption

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The analysis of underwater acoustic data via 3-D segmentation

The analysis of underwater acoustic data via 3-D segmentatio...

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Asilomar Conference on Signals, Systems & computers

作者： T.R. Reed R.E. Loke J.M.H. du Buf Department of Electrical and Computer Engineering University of California Davis CA USA Vision Laboratory Department of Electronics and Computer Science University of Algarve Portugal

The analysis of seabed structure is important in a wide variety of scientific and industrial applications. In this paper, underwater acoustic data produced by bottom-penetrating sonar (Topas) are analyzed using unsupervised volumetric segmentation, based on a three dimensional Gibbs-Markov model. The result is a concise and accurate description of the seabed, in which key structures are emphasized. This description is also very well suited to further operations, such as the enhancement and automatic recognition of important structures. Experimental results demonstrating the effectiveness of this approach are shown, using Topas data gathered in the North Sea off Horten, Norway.

关键词： Underwater acoustics Nearest neighbor searches Application software Iterative algorithms computer industry Sonar Monitoring Statistics Sea measurements Data analysis

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Planning of regrasp operations

Planning of regrasp operations

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.A. Stoeter S. Voss N.P. Papanikolopoulos H. Mosemann Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Institute for Robotics and Process Control Technical University of Braunschweig Germany

Robotic manipulators in contemporary work-cells are often incapable of solving even simple pick-and-place operations. More specifically, most systems require each object to be supplied in the same and pre-defined way. Introducing regrasping to the production cycle relaxes the constraints imposed on supply mechanisms. Regrasping describes the operation that must be performed whenever an object's pick-up grasp is incompatible with its put-down grasp. The paper presents a novel approach to solve the regrasp problem for robots equipped with parallel-jaw end-effecters. The proposed method first evaluates the object's possible grasps and placements. These are subsequently combined to form grasp-placement-grasp triples. A regrasp sequence leading from the pick-up to the put-down grasp is generated by searching through the resulting space of compatible grasp-placement-grasp triples. The algorithm takes kinematic and geometric constraints of both the manipulator and the objects into account. Computational concerns are addressed by subdividing the calculation into an off-line and a fast online phase.

关键词： Intelligent robots Robot vision systems Belts Path planning Artificial intelligence Laboratories computer science Process control Manipulators Production

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Adaptive force tracking impedance control of robot for cutting nonhomogeneous workpiece

Adaptive force tracking impedance control of robot for cutti...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Seul Jung T.C. Hsia Robotics & Computational Intelligence Laboratory(ROCIL) Department of Mechatronics Engineering Chungnam National University Taejon South Korea Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

This paper presents the feasibility study of an adaptive impedance force control application to deburring/milling process. The proposed control regulates desired force on nonhomogeneous workpiece in regardless of unknown location and stiffness of the workpiece. The adaptive technique of minimizing the force error between the desired and the actual force is used to compensate for uncertainties in unknown workpiece. Effect of selecting the impedance damping gain with different workpiece stiffness on force tracking is analytically determined. Analyzing the stability of the proposed adaptive force control yields the bound of the adaptive gain for stability. Simulation studies of deburring/milling process show the excellent force tracking and confirm stability bound for stable force tracking.

关键词： Force control Programmable control Adaptive control Impedance Robot control Deburring Milling Stability analysis Process control Uncertainty

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