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Information, Decision and Control (IDC)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D.H. Owens Institute of Robotics and Software Engineering Technical University of Zielona Góra Zielona Gora Poland Department of Electronics and Computer Science Image Speech and Intelligent Systems Research Group University of Southampton Southampton UK Institute of Computer Engineering and Electronics Technical University of Zielona Góra Zielona Gora Poland School of Engineering Centre for Systems and Control Engineering University of Exeter Exeter UK

Repetitive, or multipass, processes are a class of 2D systems of both practical and algorithmic/theoretical interest whose dynamics cannot be analysed or controlled using standard (1D) systems theory. Recently it has been shown that the modelling of the boundary conditions, also known as the process initial conditions, is a crucial feature in the analysis and control of these processes. This paper presents some further results on the effects of so-called 'dynamic' process initial conditions on the controllability and stability properties of discrete linear repetitive processes. Previous work has shown that these dynamic process initial conditions alone can destroy the stability properties of these processes. Hence their effects must be 'adequately' accounted for the process modelling stage in order to ensure that subsequent analysis does not lead to incorrect results/conclusions. The main results developed in this paper can be summarised as follows. (i) Computationally efficient stability tests which can, in effect, be applied using standard, or 1D, linear systems tests. (ii) Characterisation of so-called pass controllability in the form of matrix rank based conditions. (iii) Conditions under which the dynamic process initial conditions can be selected to ensure stability and pass controllability.

关键词： Stability Controllability System testing Control system analysis Algorithm design and analysis Control systems Boundary conditions Process control Standards development Linear systems

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Range image registration for free-form surfaces using curvature information as invariance 9

Range image registration for free-form surfaces using curvat...

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9th European Signal Processing Conference, EUSIPCO 1998

作者： Rieder, Markus Guir, Nicolas Dillmann, R. Department for Computer Science Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe76128 Germany Department of Computer Architecture University of Malaga Malaga Spain

A curvature based technique for fast range image registration is described in this work. With this technique the rotation and the displacement of a surface with respect to another one is calculated. The proposed algorithm uses Gaussian curvature information from each image point to extract a number of feature points. Two bounds are applied to the curvature values. Points with these bound curvature value are classified into two classes of feature points. In order to calculate the rotation angle between the two range images, the feature points are paired. That means the angle and the distance of the point pairs have to be transformed into a general view coordinate system. In the orientation matching procedure, we compare each pairing in the first image with each possible in the second one. This process is independent of the translation calculation which is calculated in a sequencing step. This pipelining principle speeds up the registration process if correspondences are calculated constantly.

关键词： Image registration

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Fault detection and identification in a mobile robot using multiple-model estimation 15

Fault detection and identification in a mobile robot using m...

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15th IEEE International Conference on robotics and Automation, ICRA 1998

作者： Roumeliotis, Stergios I. Sukhatme, Gaurav S. Bekey, George A. Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los AngelesCA90089-0781 United States

ISBN: (纸本)078034300X

This paper introduces a method to detect and identify faults in wheeled mobile robots. The idea behind the method is to use adaptive estimation to predict (in parallel) the outcome of several faults. Models of the system behavior under each type of fault are embedded in the various parallel estimators (each of which is a Kalman filter). Each filter is thus tuned to a particular fault. Using its embedded model each filter predicts values for the sensor readings. The residual (the difference between the predicted and actual sensor reading) is an indicator of how well the filter is performing. A fault detection and identification module is responsible for processing the residual to decide which fault has occurred. As an example the method is implemented successfully on a Pioneer I robot. The paper concludes with a discussion of future work. © 1998 IEEE.

关键词： Mobile robots

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Microassembly planning for manufacturing by flexible microrobots

Microassembly planning for manufacturing by flexible microro...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Fatikow R. Mounassypov Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Department of Technical Cybernetics Ufa State Aviation Technical University Bashkortostan Russia

Automation of highly precise microassembly steps will make it easier to realize low cost microsystems. For this, a microrobot-based microassembly desktop station is being developed at the University of Karlsruhe. In this paper, we suggest a common microassembly model for a computer-aided microassembly planning-which is based on geometric reasoning-and discuss its components in detail. The feasibility criteria for the generation of feasible assembly sequences and the optimization criteria for selecting the optimal assembly plan are described. For both these planning steps, the algorithms for an automatic procedure have been developed and implemented. For stations employing several microrobots, a method for decomposition and allocation of an assembly plan is suggested. Finally, we discuss the structure of the station's planning system.

关键词： Microassembly Flexible manufacturing systems Robotic assembly Microscopy robotics and automation Glass Sensor systems Robot sensing systems Intelligent robots Process planning

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Inter-completion time scheduling (ICTS): non-preemptive scheduling to maximize the minimum inter-completion time

Inter-completion time scheduling (ICTS): non-preemptive sche...

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IEEE International Conference on Engineering of Complex computer systems

作者： C.C. Amaro A.D. Stoyen S.K. Baruah Department of Computer & Information Science Dependable Real-Time Systems Laboratory New Jersey Institute of Technology Newark NJ USA Department of Computer Science University of Vermont Burlington VT USA

Temporal load-balancing, spreading out the executions of tasks over time, is desirable in many applications in complex systems. A form of temporal load balancing is discussed, scheduling to maximize minimum inter-completion time (MICT-scheduling) and minimum global inter-completion time (MGICT-scheduling). It is shown that MICT- and MGICT-scheduling are, in general, NP-hard. A number of restricted classes of task systems are identified, which can be efficiently MICT- and MGICT-scheduled.

关键词： Processor scheduling real time systems Load management

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Non-Preemptive Scheduling to Maximize the Minimum Global Inter-Completion time (MGICT) 1

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IFAC Proceedings Volumes 1998年第14期31卷 135-140页

作者： Carlos C. Amaro Sanjoy K. Baruah Alexander D. Stoyen Wolfgang A. Halang Dependable Real- Time Systems Laboratory Department of Computer & Information Science New Jersey Institute of Technology University Heights Newark NJ 07102 USA Department of Computer Science The University of Vermont Burlington VT 05405 Faculty of Electrical Engineering Fernuniversität 58084 Hagen Germany

Temporal load-balancing - "spreading out" the executions of tasks over time - is desirable in many applications. A form of temporal load-balancing is discussed: scheduling to maximize minimum global inter-completion time (MGICT-scheduling). It is shown that MGICT-scheduling is, in general, NP-hard. A number of restricted classes of task systems are identified, which can be efficiently MGICT-scheduled.

关键词： non-preemptive scheduling independent tasks multiple processors loadbalancing

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IMACS: A case study in real-world planning

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IEEE Intelligent systems and Their Applications 1998年第3期13卷 49-60页

作者： Gupta, Satyandra K. Nau, Dana S. Regli, William C. Robotics Institute Carnegie Mellon University United States Computer Science Department Institute for Systems Research University of Maryland United States Dept. of Math. and Computer Science Drexel University United States Robotics Institute United States Grad. Sch. of Indust. Administration Carnegie Mellon University United States University of Maryland United States Amercian Soc. of Mech. Engineers Society of Manufacturing Engineers United States Robotics Inst. Carnegie Mellon Univ. Pittsburgh PA 15213 United States University of Maryland Department of Computer Science Institute for Systems Research United States Systems Integration Research Group Electro-Mech. Syst. Des. Plan. R. United States Comp.-Intgd. Mfg. Laboratory United States Duke University United States AAI United States Computer Science Dept. Univ. of Maryland College Park MD 20742 United States ACM ASME IEEE Computer Society United States Dept. of Math. and Computer Science Drexel Univ. Philadelphia PA 19104 United States

This article discusses the complexities of real-world planning and how to create planning systems to address them. IMACS, an automated designer's aid, evaluates machined parts and suggests design modifications to improve their manufacturability, offering advantages over planning techniques used in classical planning systems. IEEE intelligent systems.

关键词： computer aided software engineering Process planning Artificial intelligence Manufacturing processes Machining computer science Meeting planning Design automation computer aided manufacturing Virtual manufacturing

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Implementing robots in hardware as a tool for integration

Implementing robots in hardware as a tool for integration

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IEEE International Symposium on Intelligent Control (ISIC)

作者： G.S. Sukhatme J.F. Montgomery G.A. Bekey Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

We suggest that integration in robotics research is facilitated and enhanced by the process of building embodied robots. It is in the translation of conceptual and simulated models into hardware that the integration takes place. Further, multiple techniques that address similar aspects of the same robotic task have to be merged to achieve good overall performance. In this paper we present two examples of successful integration and cross platform validation namely: 1. A walking and a wheeled robot used for planetary exploration (both used the same obstacle avoidance technique but the implementation was necessarily different) and, 2. Two robot helicopters (where behavior-based control used on the first robot is augmented using learning and enriched sensing on the second). The paper reports both case studies and discusses a list of lessons learned in the process of implementation.

关键词： Hardware Mobile robots Legged locomotion Intelligent robots Robot sensing systems Fabrication Orbital robotics Testing Mars Infrared sensors

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Learning helicopter control through "teaching by showing"

Learning helicopter control through "teaching by showing"

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IEEE Conference on Decision and Control

作者： J.F. Montgomery G.A. Bekey Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

A model-free "teaching by showing" methodology is developed to train a fuzzy-neural controller for an autonomous robot helicopter. The controller is generated and tuned using training data gathered while a teacher operates the helicopter. A hierarchical behavior-based control architecture is used, with each behavior implemented as a hybrid fuzzy logic controller (FLC) and general regression neural network controller (GRNNC). The FLCs and GRNNCs are generated through "teaching by showing". The FLCs are built during initial controller generation, remain static once created, and provide coarse control of the helicopter. The GRNNCs are incrementally built and modified whenever the controller does not meet performance criteria, are dynamic, and provide fine control, enhancing the control of the FLCs. The methodology has been successfully applied in simulation and, in the future, will be applied on a radio control model helicopter for real world validation.

关键词： Helicopters Education Humans Control system synthesis Control systems Mathematical model Automatic control Intelligent robots Training data Radio control

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Sensor fault detection and identification in a mobile robot

Sensor fault detection and identification in a mobile robot

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Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

作者： S.I. Roumeliotis G.S. Sukhatme G.A. Bekey Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

Multiple model adaptive estimation (MMAE) is used to detect and identify sensor failures in a mobile robot. Each estimator is a Kalman filter with a specific embedded failure model. The filter bank also contains one filter which has the nominal model embedded within it. The filter residuals are postprocessed to produce a probabilistic interpretation of the operation of the system. The output of the system at any given time is the confidence in the correctness of the various embedded models. As an additional feature the standard assumption that the measurements are available at a constant, common frequency, is relaxed. Measurements are assumed to be asynchronous and of varying frequency. The particularly difficult case of 'soft' sensor failure is also handled successfully. A system architecture is presented for the general problem of failure detection and identification in mobile robots. As an example, the MMAE algorithm is demonstrated on a Pioneer I robot in the case of three different sensor failures.

关键词： Fault detection Fault diagnosis Mobile robots Intelligent sensors Robot sensing systems Filter bank State estimation Aircraft Intelligent robots Adaptive estimation

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