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Mobility evaluation of a wheeled microrover using a dynamic model

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

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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Preface

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Lecture Notes in computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 1997年 1212卷 I-IV页

作者： Bowen, Jonathan P. Hinchey, Michael G. Till, David The University of Reading Department of Computer Science Whiteknights PO Box 225 Reading Berks United Kingdom New Jersey Institute of Technology Real-Time Computing Laboratory University Heights NewarkNJ United States University of Limerick Dept. of Computer Science and Information Systems National Technological Park Castletroy Limerick Ireland City University Department of Computer Science Northampton Square London United Kingdom

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computer vision research at the University of Southern California

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INTERNATIONAL JOURNAL OF computer VISION 1996年第1-2期20卷 5-9页

作者： Nevatia, R Medioni, G Institute of Robotics and Intelligent Systems University of Southern California Computer Science Department 90089 Los Angeles CA USA

A broad computer research program that includes many topics of basic research such as perceptual grouping, stereo and motion analysis, shape description and object recognition as well as many application areas such as aerial image analysis, moving target analysis and vehicle navigation are being conducted at the University of Southern California. The objective of the research is to construct 'generic' vision system. A generic system is one that is capable of working in a variety of domains, or at least is capable of being reconfigured rapidly to do so.

关键词： computer vision

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Programming by demonstration: A machine learning approach to support skill acquision for robots 3rd

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3rd International Conference on Artificial Intelligence and Symbolic Mathematical Computation, AISMC 1996

作者： Dillmann, R. Friedrich, H. University of Karlsruhe Institute for Real-Time Computer Systems and Robotics Kaiserstr. 12 KarlsruheD-76128 Germany

ISBN: (纸本)3540617329

Programming by Demonstration (PbD) is a programming method that allows to add new functionalities to a system by simply showing the desired task or skill in form of few examples. In the domain of robotics this paradigm offers the potential to reduce the complexity of robot task programming and to make programming more "natural". In case of programming an assembly task PbD allows with the help of a video or a laser camera and a data glove the automatic generation the necessary robot program for the assembly task. In addition, the demonstration of the task with few different assembly situations and strategies may achieve a generalized assembly function for all possible variants of the class. In order to realize such a PbD system at least two major problems have to be solved. First, the sensor data trace of a demonstration has to be interpreted and transformed into a high-level situation-action representation. This task is not yet well understood nor solved in general. Second, if a generalization is required, induction algorithms must be applied to the sensor data trace, to find the most general user-intended robot function from only few examples. In this paper mainly the second problem is focused. The described experimental PbD environment consists of an industrial robot, a 6D space mouse used as input device, and some sensors. Various data can be recorded during a demonstration for further processing in the PbD system implemented on a workstation. The objective is to exploit the possibilities of integrating learning and clustering algorithms for automated robot programming. In particular it is investigated how human interaction with the PbD system as well as user-initiated dialogs can support inductive learning to acquire generalized assembly programs and skills. © Springer-Vedag Berlin Heidelberg 1996.

关键词： Demonstrations

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THE LIQUID MODEL LOAD BALANCING METHOD

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Parallel Algorithms and Applications 1996年第3-4期8卷 285-307页

作者： Dominik Henrich[a] [a] Institute for Real-Time Computer Systems and Robotics Computer Science Department University of Karlsruhe Karlsruhe D Germany

Load balancing is one of the central problems that have to be solved in parallel computation. Here, the problem of distributed, dynamic load balancing for massive parallelism is addressed.A new local method, which realizes a physical analogy to equilibrating liquids in multi-dimensional tori or hypercubes, is presented. It is especially suited for communication mechanisms with low set-up to transfer ratio occurring in tightly-coupled or SIMD systems. By successive shifting single load elements to the direct neighbors, the load is automatically transferred to lightly loaded *** to former methods, the proposed Liquid model has two main advantages. First, the task of load sharing is combined with the task of load balancing, where the former has priority. This property is valuable in many applications and important for highly dynamic load distribution. Second, the Liquid model has high efficiency, Asymptotically, it needsO(D K Ldiff) load transfers to reach the balanced state in aD-dimensional torus withKprocessors per dimension and a maximum initial load difference ofLdiff. The Liquid model clearly outperforms an earlier load balancing approach, the *** a survey of related research, analytical results within a formal framework are derived. These results are validated by worst-case simulations in one- and two-dimeasional tori with up to two thousand processors.

关键词： Distributed computing parallel algorithms load sharing load balancing rings tori hypcrcubes.

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Compensation of friction in mechanical drives for a three fingered robot gripper

Compensation of friction in mechanical drives for a three fi...

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems. IROS '96

作者： T. Doersam P. Duerrschmied Department for Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly nonlinear friction problems and plant uncertainties require intensive fine-tuning of a controller. This paper gives insight into the frictional behaviour of geared finger links. The behaviour has been approximated by a friction model. Considering the estimated system parameters two kinds of controllers are developed: a simple PD controller with switchable I-part and a PD-controller with a fuzzy friction compensation working in parallel. The results of both controllers are presented and compared in this paper.

关键词： Friction Control systems Robots High performance computing Uncertainty Fingers Parameter estimation PD control Fuzzy control Fuzzy systems

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Using a distributed knowledge base to coordinate autonomous mobile systems

Using a distributed knowledge base to coordinate autonomous ...

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International Workshop on Database and Expert systems Applications

作者： S. Stoehr Research Institute for Robotic and Real-Time Systems Department of Computer Science Technical University Munich Munich Germany

The autonomy of mobile systems increases constantly. That means that the flexibility of their task execution, their capabilities to handle local conflicts and the usage of their local knowledge increase. The paper shows that because of this autonomy coordination in a factory must be reconsidered and that global coordination is still able to improve the efficiency and the safety of autonomous mobile systems. It suggests a knowledge structure for coordination containing global information which is called section knowledge. This section knowledge helps the mobile systems to coordinate themselves. Furthermore, some agents, using the section knowledge, are introduced which can advise the mobile systems. The section knowledge is stored in the distributed knowledge base, whose features of preventing the section knowledge of becoming a bottleneck are explained.

关键词： Sensor systems Intelligent sensors Mobile computing Mobile robots Robot kinematics Production facilities Job shop scheduling Communication system traffic control real time systems computer science

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A potential field algorithm for fixture synthesis in 2d

A potential field algorithm for fixture synthesis in 2d

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ASME 1996 Design Engineering Technical Conferences and computers in Engineering Conference, DETC-CIE 1996

作者： Penev, Kamen Requicha, Aristides A. G. Programmable Automation Laboratory Computer Science Department and Institute for Robotics and Intelligent Systems University of Southern California Los AngelesCA90089-0781 United States

ISBN: (纸本)9780791897621

A fixture is an arrangement of fixturing modules that locate and hold a workpart during a manufacturing operation. In this work we address the fixturing problem in the plane. We consider fixtures with frictionless point contacts. The focus is on contact point placement and its integration with fixture analysis. A novel method for planar fixture synthesis has been developed. It is a non-deterministic, 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. © 1996 by ASME.

关键词： Fixtures (tooling)

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A concept of data migration in a distributed, object-oriented knowledge base

A concept of data migration in a distributed, object-oriente...

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International Workshop on Database and Expert systems Applications

作者： O. Schmid Research Institute for Robotic and Real-Time Systems Department of Computer Science Technical University Munich Munich Germany

The article presents the development of a concept for the distribution and migration of data to several databases within a distributed knowledge base. Thus a concept for a load-dependent and application-specific migration of data is introduced which takes into consideration the number and sort of accesses to the data. The main part of the migration method is a distribution function, which generates an optimal distribution of data on the databases according to the defined aims. It uses all information of the profile of accesses and evaluates this information with the help of several decision parameters of different priority. A quick reaction on changes in the profile of accesses is guaranteed by a cycle protocol, which consists of three parallelly running phases with a sort of pipeline structure.

关键词： Intelligent robots Mobile robots Distributed databases Object oriented modeling Runtime real time systems computer science Object oriented databases Pipelines Production

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The allocation and scheduling of precedence- and timing-constrained tasks with communication delays

The allocation and scheduling of precedence- and timing-cons...

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IEEE International Conference on Engineering of Complex computer systems

作者： Bo-Chao Cheng A.D. Stoyenko T.J. Marlowe S. Baruah Department of Computer and Information Science Real-Time Computing Laboratory New Jersey Institute of Technology Newark NJ USA

The problem of non-preemptively scheduling a set of n tasks on m identical processors with communication overhead subject to precedence and deadline constraints is considered. A new heuristic with the time complexity of O(n/sup 2/m), Least Space-time First (LSTF), is proposed to minimize the maximum tardiness. From simulation results, it is shown that LSTF outperforms other heuristic algorithms.

关键词： Processor scheduling Optimal scheduling Delay effects Information science Space technology Heuristic algorithms Concurrent computing Distributed computing Hardware

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