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IEEE International Conference on Engineering of Complex computer systems

作者： A.D. Stoyen T.J. Marlowe M. Younis P. Petrov Real-Time Computing Laboratory Department of Computer and Information Science New Jersey Institute of Technology Newark NJ USA Department of Mathematics and Computer Science Seton Hall University South Orange NJ USA Allied Signal Aerospace Microelectronics and Technology Center Columbia MD USA

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： Application software Process design Distributed computing High level languages Processor scheduling Kernel Computational modeling Analytical models computer network management Robustness

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Collision-free path planning with neural networks

Collision-free path planning with neural networks

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Lee G. Kardaras Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

We present an efficient path planning approach which represents a path by a series of via points connected by elastic strings that are subject to displacement due to collisions with obstacles as well as constraints pertaining to the domain to which path planning is applied. Obstacle regions are represented by a potential field created by a multilayered neural network. A fast simulated annealing approach is used for local minima problems from the potential field. The automatic generation and removal of via points is incorporated in the path planning approach to ensure collision-free planning regardless of the complexity of the environment (e.g., convex, concave or complicated obstacle regions). Our path planning approach is flexible due to the automatic generation and removal of via points based on the complexity of the domain of the path planning process, efficient due to the use of the necessary via points for the path representation at all times, and massively parallel due to the parallel computation of motions of via points with only local information.

关键词： Path planning Neural networks Simulated annealing computer networks Intelligent robots Concurrent computing Intelligent systems Intelligent networks Propulsion Laboratories

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Elastic string based global path planning using neural networks

Elastic string based global path planning using neural netwo...

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

We present an efficient potential-field based path planning approach for point or higher dimensional objects which avoids effectively any local extreme problems. The approach represents a path by a series of via points connected by elastic strings which are subject to displacement due to collisions with obstacle regions as well as constraints pertaining to the domain to which path planning is applied. Obstacle regions are represented by a potential field created by a multilayered neural network. A fast simulated annealing approach is used for local minima problems from the potential field. The automatic generation and removal of via points is incorporated in the path planning approach to ensure collision-free planning regardless of the complexity of the environment. Local and global bias on the potential field is used to avoid any existing singularities and local minima. Our path planning approach is flexible, efficient and massively parallel.

关键词： Path planning Neural networks Intelligent robots Data structures Joining processes Intelligent systems Propulsion Laboratories Multi-layer neural network Simulated annealing

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Evaluating the mobility of a wheeled robot using dynamic modeling *

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Advanced robotics 1997年第5期12卷 579-591页

作者： Sukhatme, Gaurav S. Brizius, Scott Bekey, George A. Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0781 United States

—This paper describes a multiple criteria, statistical technique for mobile robot evaluation. The evaluation method measures the time and energy costs of a particular class of exploratory mission. The method is implemented in the special case of a four-wheeled mobile robot inthe laboratory which was made to execute several (approximately 100) instances of the mission. It is proposed that a validated, dynamic model of the robot embedded in a simulated mission scenario be used to study alternate robot designs in a small 'neighborhood' of the existing physical *** a simulation was built and is described here. Results from trials with the physical robot and its simulated counterpart are compared and shown to agree well. The simulation is used to evaluate designs not constructed in the laboratory and the results are discussed. © VSP and robotics Society of Japan 1997.

关键词： Benchmarking Dynamic modelling Microrover Performance evaluation Wheeled robot

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Reference adaptive impedance control and its application to obstacle avoidance trajectory planning

Reference adaptive impedance control and its application to ...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： S. Lee S.-Y. Yi Jong-Oh Park Chong-Won Lee Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute of Robotics and Xntelligent Systems University of Southern California Los Angeles CA USA Korea Institute of Science and Technology Seoul South Korea

A new paradigm of event-based robotic control, called reference adaptive impedance control, is presented for partially constrained robots under uncertain or unknown environmental constraints. The reference adaptive impedance control determines the desired next state adaptively in such a way as to follow the optimal path from the current state, where the optimal path is generated with the environmental constraints updated through time. The embedded impedance control provides a mechanism for collecting more complete information on the environment. An application to obstacle avoidance trajectory planning is given with computer simulations.

关键词： Programmable control Adaptive control Impedance Trajectory Robot kinematics Robot control Error correction Force control Control systems Application software

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Reference adaptive impedance control: a new paradigm for event-based robotic and telerobotic control

Reference adaptive impedance control: a new paradigm for eve...

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International Conference on Advanced robotics (ICAR)

作者： Sukhan Lee Ming-Feng Jean Jong-Oh Park Chong-Won Lee Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Korea Institute of Science and Technology Seoul South Korea

ISBN: (纸本)0780341600

A new paradigm of event-based robotic and telerobotic control, referred to here as the reference adaptive impedance control, is presented for partially constrained robotic and telerobotic tasks under uncertain or unknown environmental constraints. The reference adaptive impedance control determines the desired next state adaptively, in such a way as to follow the optimal path from the current state, where the optimal path is generated with the environmental constraints updated through time. The embedded impedance control provides a mechanism for collecting more complete information on the environment. The reference adaptive impedance control also serves as a powerful tool for implementing shared control in teleoperation. A case study of robotic and telerobotic soil trenching is given with simulations.

关键词： Programmable control Adaptive control Impedance Telerobotics Robot control Intelligent robots Trajectory Robot kinematics Optimal control Strain control

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Emergence and Effectiveness of Communication Interface in a System of Distributed Intelligent Agents

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Journal of robotics and Mechatronics 1997年第2期9卷 146-151页

作者： Agah, Arvin Bekey, George A. Bio-Robotics Division Mechanical Engineering Laboratory AIST- Ministry of International Trade and Industry 1-2 Namiki Tsukuba305 Japan Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90089 United States

The emergence and effectiveness of communication interface in a colony of autonomous agents is discussed in this paper. The robotic agents sense the world within which they are embedded, while performing specific tasks in the world. Some of the tasks require the simultaneous cooperation of two robotic agents. These agents are able to sense other agents and communicate via simple, task-related messages. Using genetic algorithms, a colony of agents is evolved, producing agents with improved performance. It is shown that the tendency of the robotics agents to communicate increases through evolution, as the colony cooperates more, in order to perform more tasks. The concepts developed through computer simulation are tested for feasibility in a team of four small mobile-manipulator robots, each controlled autonomously via an on-board micro-processor. © Fuji Technology Press Ltd.

关键词： Multi agent systems

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Geometry-based part grouping for assembly planning

Geometry-based part grouping for assembly planning

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： H. Moradi K. Goldberg S. Lee Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Department of Industrial Engineering and Operation Research University of California Berkeley USA Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

One way to find an optimal plan is to enumerate all plans and evaluate a quality metric for each plan. However it is well known that N parts can have up to O(2/sup N/) assembly plans. Reducing N by grouping parts has been proposed earlier but to our knowledge has not been formally defined. In this paper we define two types of groups in terms of part geometry using the nondirectional blocking graph and binary adjacency matrices defined by Wilson and Latombe (1994). We give a polynomial time algorithm for identifying serial and parallel groups. We tested the algorithm on two planar assemblies where it reduced plan time by a factor of 4.

关键词： Robotic assembly Fasteners Intelligent robots Transmission line matrix methods Testing Design automation Product design Design engineering Process planning Terminology

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Geometric collision detection and potential field based time delay planning for dual arm systems

Geometric collision detection and potential field based time...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Sukhan Lee H. Moradi G. Kardaras Sung-Kwon Kim Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Production Engineering Center Samsung Electronics Company Limited Suwan South Korea

In this paper a method for collision detection and collision avoidance for dual arm robots is proposed. The collision detection, a fast geometric approach based on link intersection, detects the collision and constructs the collision region for given trajectories. The time delay planning determines the minimum necessary time delay to avoid collisions using a potential field representation for collision regions. The planning is based on a flexible, massively parallel approach. It effectively avoids any local minima problems due to the potential field representation and can be used regardless of the complexity of the collision region (e.g., concave or complicated regions).

关键词： Delay effects Robotic assembly Manipulators Orbital robotics Intelligent robots Parallel robots Parallel processing Assembly systems robotics and automation Path planning

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Mobility evaluation of a wheeled microrover using a dynamic model

Mobility evaluation of a wheeled microrover using a dynamic ...

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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： G.S. Sukhatme S. Brizius G.A. Bekey Dept. of Comput. Sci. Univ. of Southern California Los Angeles CA USA Department of computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

This paper describes a multiple criteria, statistical technique for mobile robot evaluation. The evaluation method measures the time and energy costs of a particular class of exploratory missions. The method is implemented in the special case of one wheeled mobile robot in the laboratory, which was made to execute several (approximately 100) instances of the mission. It is proposed that a validated, dynamic model of the robot embedded in a simulated mission scenario is to be used to study alternate robot designs in a small 'neighborhood' of the existing physical system. Such a simulation was built and is described here. Results from trials with the physical robot and its simulated counterpart are compared and shown to agree well. The simulation is used to evaluate designs not constructed in the laboratory, and results are discussed.

关键词： Mobile robots Robot sensing systems Mars Wheels Navigation Sonar detection Robot vision systems Cameras Energy measurement time measurement

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