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An Extended Kalman Filter for frequent local and infrequent global sensor data fusion

An Extended Kalman Filter for frequent local and infrequent ...

引用

Conference on Sensor Fusion and Decentralized Control in Autonomous Robotic systems

作者： Roumeliotis, SI Bekey, GA Department of Electrical Engineering Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)0819426415

In this paper we compare the performance of a dead-reckoning system for robot navigation to a system using an Extended Kalman Filter (EKF). Dead-reckoning systems are able to approximate position and orientation by feeding data (provided usually by local sensors) to the kinematic model of the vehicle. These systems are subject to many different sources of error. EKFs have the ability to combine the same information and compensate for most of these errors to yield a better estimate. Our simulation results using a simplified kinematic model of Rocky 7 (an experimental rover used in the Mars exploration program at Jet Propulsion Laboratory (JPL)) show that an improvement in performance up to 40% (position error) can be achieved. The local sensors used are: wheel encoders, steering angle potentiometer and gyroscope. Involvement of global sensor measurements can drastically increase the accuracy of the estimate. The lack of GPS or magnetic field on Mars narrows our choices for global localization. Landmarks, such as the sun can be used as natural beacons (reference point for absolute measurements). A sun sensor (SS) that measures the absolute orientation of the rover has been built by Lockheed Martin and now is part of the sensor suite of Rocky 7. The SS measurement is crucial for the estimation filter and we show that the accuracy of the estimation decreases exponentially as the frequency of the SS data fed to the EKF decreases.

关键词： robot localization sun sensor Extended Kalman Filter

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Assembly sequence planning for manufacturing by microrobots

Assembly sequence planning for manufacturing by microrobots

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

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

The authors present a microassembly system model based on geometric reasoning. Its components, which include an X-Y positioning table with a glass plate fixed on top of it, operating microrobots on the plate, and a CCD-camera, are discussed in detail. Feasibility criteria for the generation of possible assembly sequences and optimisation criteria for selecting the best assembly plan, which reflect the specific features of microassembly, are suggested. For both planning steps, algorithms for an automatic procedure have been developed and implemented. An important advantage of te suggested bottom-up search procedure is that the assembly plan is determined at each step of the algorithm, so that the searching of all feasible sequences and the selection of the best one are integrated into one automated planning procedure. This allows one to replan the assembly process during plan execution, starting from the current process state and without exploring the space of all possible assembly plans. For a multirobot system, a method for decomposition of an assembly plan and its implementation is suggested.

关键词： Manufacturing Robotic assembly Microassembly Service robots robotics and automation Microscopy Glass Sensor systems Robot sensing systems Intelligent robots

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A language support environment for complex distributed real-time applications 3

A language support environment for complex distributed real-...

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3rd IEEE International Conference on Engineering of Complex computer systems (ICECCS 97)

作者： Stoyen, AD Marlowe, TJ Younis, M Petrov, P Real- Time Computing Laboratory Department of Computer and Information Science New Jersey Institute of Technology Newark 07102 NJ United States Department of Mathematics and Computer Science Seton Hall University South Orange 07079 NJ United States AlliedSignal Aerospace Microelectronics and Technology Center 9140 Old Annapolis Road/MD 108 Columbia 21045 MD United States

ISBN: (纸本)0818681268

Engineering of complex distributed real-time applications is one of the hardest tasks faced by the software profession today. All aspects of the process, from design to implementation, are made more difficult by the interaction of behavioral and platform constraints. Providing tools for this task is likewise not without major challenges. In this paper, we discuss a tool suite at New Jersey institute of Technology's real-time Computing Lab which supports the development of complex distributed real-time applications in a suitable high-level language (CRL). The suite's component tools include a compiler, a transformer-optimizer, an allocator-migrator, schedulability analyzers, a debugger-monitor, a kernel and a (simulated) network manager. The overall engineering approach supported by the suite is to provide as simple and natural an integrated development paradigm as possible. The suite tools address complexity due to distribution, scheduling, allocation and other sources in an integrated manner (largely) transparent to the developer. To reflect the needs of propagation of functional and non-functional requirements throughout the development process, a number of robust code transformation and communication mechanisms have been incorporated into the suite. To facilitate practical use of the suite, the developed programs compile-transform to a safe subset of C++ with appropriate libraries and runtime support.

关键词： Cosine transforms

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Exact and efficient analysis of schedulability in fixed-packet networks: a generic approach

Exact and efficient analysis of schedulability in fixed-pack...

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IEEE Annual Joint Conference: INFOCOM, IEEE computer and Communications Societies

作者： S. Gorinsky S. Baruah T.J. Marlowe A.D. Stoyenko Real Time Computing Laboratory Department of Computer and Information Science New Jersey Institute of Technology Newark NJ USA Department of Computer Science and Electrical Engineering University of Vermont Burlington VT USA Department of Mathematics and Computer Science Seton Hall University South Orange NJ USA Real Time Computing Laboratory Department of Computer and Information Science New Jersey Institute of Technology Newark NJ USA

A general model for traffic flows on packet-switched, virtual-circuit based, fixed-packet networks is introduced, and an exact schedulability test is obtained for systems of such flows. Rules are derived that make the evaluation of this schedulability test feasible and efficient under certain circumstances. The practical relevance of this approach is demonstrated by applying it to a number of standard traffic models.

关键词： Intelligent networks Processor scheduling Telecommunication traffic Traffic control computer networks Delay Laboratories Information science computer science real time systems

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Navigating a mobile service-robot in a natural environment using sensor-fusion techniques

Navigating a mobile service-robot in a natural environment u...

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Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and systems. Innovative robotics for real-World Applications. IROS '97

作者： P. Weckesser R. Dillmann U. Rembold Inst. of Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Department for Computer Science University of Karlsruhe 76128 Karlsruhe Germany

The mobile service robots described are designed to operate in dynamics and changing environments together with human beings and other static or moving objects. Sensors that are capable of providing the quality of information that is required for the described scenario are optical sensors, like digital cameras and laser scanners. In this paper the sensor integration and fusion for such sensors is described. Complementary sensor information is transformed into a common representation in order to achieve a cooperating sensor system. Sensor fusion is performed by matching the local perception of the laser scanner and camera system with a global model that is being build incrementally. The Mahalanobis distance is used as matching criterion and a Kalman filter is used to fuse matching features. A common representation including the uncertainty and the confidence is used for all scene features. The system's performance is demonstrated for the task of exploring an unknown environment and incrementally building of the geometrical model.

关键词： Navigation Sensor phenomena and characterization Sensor fusion Optical sensors Laser fusion Sensor systems Service robots Humans Digital cameras Laser modes

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A strategy for quadruped walking on uneven terrain

A strategy for quadruped walking on uneven terrain

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International Conference on Advanced robotics (ICAR)

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

We describe the design and construction of a quadruped robot which walks on uneven terrain. A control system which produces a statically stable gait has been implemented; results showing a straight and turning gait are presented. The control of quadruped robots poses interesting challenges due to a small stability margin (when compared to hexapods for example). For this reason most implemented systems for outdoor walking on uneven terrain have been hexapods. The system described here has the added virtue of using very few inexpensive sensors and actuators. One of the aims of this work is to build a reduced complexity (low power, low mass and direct drive) walking robot for statically stable walking. The other aim is to compare the performance of this robot with a wheeled robot roughly the same size and weight. In this paper we report on progress towards the first of these two goals.

关键词： Legged locomotion Robot sensing systems Mobile robots Control systems Turning Robot control Stability Sensor phenomena and characterization Sensor systems Actuators

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A cerebellar approach to adaptive locomotion for legged robots

A cerebellar approach to adaptive locomotion for legged robo...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

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

This paper describes a neural learning architecture for control of legged robots inspired by mammalian neurophysiology. Biological studies indicate that the cerebellum is a key part of an adaptive control system which enables mammals to display remarkable limb coordination during locomotion. We present a distributed control system using reinforcement learning methods and mechanisms inspired by the cerebellum. Embedded within a framework of base locomotion controllers, the system is tasked with learning modulatory control signals which optimize gait performance measures. We briefly describe simulation studies in progress for a four-legged robot.

关键词： Legged locomotion Robot kinematics Control systems Robot control Neurophysiology Adaptive control Displays Distributed control Learning Brain modeling

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The use of industrial-strength formal methods

The use of industrial-strength formal methods

引用

IEEE Annual International computer Software and Applications Conference (COMPSAC)

作者： J.P. Bowen M.G. Hinchey Department of Computer Science University of Reading Reading UK New Jersey Institute of Technology Real-Time Computing Laboratory Newark NJ USA

Formal methods are used in a surprisingly wide variety of applications and ways throughout the world. While they may still be considered a niche market, there is growing evidence that they can be used successfully in industry if applied judiciously. The paper discusses same of the issues concerning the successful application of formal methods and surveys a number of examples of industrial usage, with a large bibliography for further reading on the state of the art in this area.

关键词： Books Storms Surge protection Automatic control Floods computer science Application software Technology transfer Laboratories Computational Intelligence Society

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Automatic fixture synthesis in 3D

Automatic fixture synthesis in 3D

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IEEE International Conference on robotics and Automation (ICRA)

作者： K. Penev A.A.G. Requicha Programmable Automation Laboratory Computer Science Department and Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

A fixture is an arrangement of fixturing modules that locate and hold a workpart during a manufacturing operation. In this work we consider fixtures with frictionless point contacts and present a method for placement of contact points on a non-prismatic 3D workpart. It is a nondeterministic, potential field algorithm for contact point placement. The method provides a basic framework for the integration of heterogeneous high-level fixturing agents through an interface based on zones of attraction and repulsion on the workpart boundary. The algorithm may produce redundant fixtures, and can augment partial solutions to complete form closure fixtures.

关键词： Fixtures Manufacturing automation robotics and automation Intelligent robots Laboratories computer science Intelligent manufacturing systems computer aided manufacturing Machining Assembly

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Scalable hardware earliest-deadline-first scheduler for ATM switching networks

Scalable hardware earliest-deadline-first scheduler for ATM ...

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real-time systems Symposium (RTSS)

作者： Byung Kook Kim K.G. Shin Department of Electrical Engineering Korea Advanced Institute of Science and Technology Taejon South Korea Real Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

A fast, scalable hardware earliest deadline first (EDF) link scheduler for ATM switching network is developed. This EDF scheduler is a fast hardware solution suitable for real time scheduler on nodes in ATM switching networks up to 2.5 Gbps switching speed (scheduling within 0.17 /spl mu/s), capable of performing simultaneous input and output operations within two clock cycles (mostly in one clock cycle). The designed hardware is efficient since the architecture employs the minimum size EDF priority queue, combined with variable size FIFO queues for channels implemented with a two port memory buffer. Early traffic can be simply checked and delayed. Also, it is scalable with respect to the number of channels C and the total number of buffers N. Moreover, deadline folding technique eliminates the need to extend the deadline resolution. Simulation studies and layout design demonstrate the efficiency and utility of the proposed architecture.

关键词： Hardware Asynchronous transfer mode Communication switching Delay Traffic control Switches Bandwidth Processor scheduling Clocks Telecommunication traffic

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