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IEEE International Conference on robotics and Automation (ICRA)

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

This paper presents a novel cognitive architecture for simulated autonomous robots in an artificial world. The design principle of the architecture enables the robotic system to both react to the world and perform premeditated actions. The cognitive architecture is a modular structure composed of a number of multilevel interconnected components, each with distributed, module-specific memory. The modular structure allows for simple portability of the architecture across a variety of robotic platforms. The behavior of the robot is based on the automatic creation of composite behavior from a set of predefined atomic behaviors. Facts about the world are discovered as the robot performs its tasks. An autonomous robot embedded within an artificial world (named Machina Cogitans) is equipped with this architecture, and a number of experiments are presented.< >

关键词： Cognitive robotics Intelligent robots computer architecture robotics and automation Computational modeling Robot sensing systems Robotic assembly Intelligent systems Biological system modeling Artificial intelligence

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Utilizing spatial relations for natural language access to an autonomous mobile robot 18th

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18th Annual German Conference on Artificial Intelligence, KI 1994

作者： Stopp, Eva Gapp, Klaus-Peter Herzog, Gerd Laengle, Thomas Lueth, Tim C. SFB 314-Project VITRA FB 14 Informatik Universität des Saarlandes SaarbrückenD-66041 Germany Institute for Real-Time Computer Systems and Robotics Prof. Dr.-Ing. U. Rembold and Prof. Dr.-Ing. R. Dillmann Universität Karlsruhe KarlsruheD-76128 Germany

ISBN: (纸本)9783540584674

Natural language, a primary communication medium for humans, facilitates better human-machine interaction and could be an efficient means to use intelligent robots in a more flexible manner. In this paper, we report on our joint efforts at providing natural language access to the autonomous mobile two-arm robot KAMRO. The robot is able to perform complex assembly tasks. To achieve autonomous behaviour, several camera systems are used for the perception of the environment during task execution. Since natural language utterances must be interpreted with respect to the robot’s current environment the processing must be based on a referential semantics that is perceptually anchored. Considering localization expressions, we demonstrate how, on the one hand, verbal descriptions, and on the other hand, knowledge about the physical environment, i.e., visual and geometric information, can be connected to each other. © 1994, Springer Verlag. All rights reserved.

关键词： Intelligent robots

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A pivoting gripper for feeding industrial parts

A pivoting gripper for feeding industrial parts

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IEEE International Conference on robotics and Automation (ICRA)

作者： B. Carlisle K. Goldberg A. Rao J. Wiegley Adept Technology Inc. San Jose CA USA Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los Angeles CA USA Deparment of Computer Science University of Utrecht Utrecht Netherlands Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California USA

To be cost effective and highly precise, many industrial assembly robots have only four degrees of freedom (DOF) plus a binary pneumatic gripper. Such robots commonly permit parts to be rotated only about a vertical axis. However it is often necessary to reorient parts about other axes prior to assembly. In this paper the authors describe a way to orient parts about an arbitrary axis by introducing a rotating bearing between the jaws of a simple gripper. Based on this mechanism, the authors are developing a rapidly configurable vision-based system for feeding parts. In this system, a camera determines initial part pose; the robot then reorients the part to achieve a desired final pose. The authors have implemented a prototype version in their laboratory using a commercially-available robot system.< >

关键词： Grippers Costs Robotic assembly Robot vision systems Intelligent robots Machine vision Gravity Service robots robotics and automation Intelligent systems

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Speculative execution in a real-time system

Speculative execution in a real-time system

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IEEE Workshop on real-time Applications

作者： M.F. Younis T.J. Marlowe A.D. Stoyenko 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 New Jersey Institute of Technology Newark NJ US

Compiler techniques can help enhance average case execution and extract parallelism opportunities in distributed real time systems. We show that there are situations in which speculative execution with rollback can improve the performance of a hard real time system, either by improving average performance while not affecting the worst-case, or by actually decreasing worst-case execution time. We also show how related strategies for partial or total precomputation can lead to improved performance. We briefly discuss possible practical compiler transformation tools to detect chances of profitable speculative execution in real-time applications.< >

关键词： real time systems Parallel processing Concurrent computing Laboratories Information science Mathematics computer science Data mining Processor scheduling Collaborative work

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Feature-based visual servoing and its application to telerobotics

Feature-based visual servoing and its application to telerob...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G.D. Hager G. Grunwald G. Hirzinger Department of Computer Science Yale University New Heaven CT USA DLR German Aerospace Research Establishment Institute for Robotics and Systems Dynamics Munchenerst Germany

Advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, however they must be initialized on task-relevant features in order to be applied. Consequently, they are particularly well-suited to telerobotics systems where an operator can initialize the system but round-trip delay prohibits direct operator feedback during motion. This paper describes the basic theory behind feature-based visual servoing, and discusses the issues involved in integrating visual servoing into the ROTEX space teleoperation system.< >

关键词： Visual servoing Telerobotics Orbital robotics Calibration Space technology Robot vision systems Manipulator dynamics Robustness robotics and automation Robotic assembly

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Meeting the strict real-time requirements of distributed continuous multimedia applications

Meeting the strict real-time requirements of distributed con...

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IEEE International Conference on systems, Man and Cybernetics

作者： W.A. Halang P.A. Laplante A.D. Stoyenko Faculty of Electrical Engineering FernUniversität Hagen Hagen Germany Department of Mathematics and Computer Science Fairleigh Dickinson University Madison NJ USA Real Time Computing Laboratory Department of Computer and Information Sciences New Jersey Institute of Technology Newark NJ USA

In this paper we discuss synchronization techniques-and specifically their implementation at the hardware, operating system and high-level language levels-that can be used to achieve deadline satisfaction. In particular, it is shown that by endowing process control computers with fully parallel input and output mechanisms making use of exact time specifications, synchronization and deadline satisfaction can be achieved at the same time without any jitter. Continuous multimedia applications require accurate synchronization of the clocks in different processors. The available solutions have considerable accuracy or applicability. Local clock synchronization by radio transmitted time information turns out to be the only general purpose and high accuracy technique that is applicable with reasonable effort.< >

关键词： Application software Synchronization Multimedia computing Virtual reality Colored noise Hardware Operating systems TV Clocks Multimedia systems

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Multiple-Goal Objective Functions For Optimization of Task Assignment in Complex computer systems

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IFAC Proceedings Volumes 1994年第6期27卷 55-60页

作者： T.J. Marlowe A.D. Stoyenko P.A. Laplante R.S. Daita C.C. Amaro C.M. Nguyen S.L. Howell Department of Mathematics and Computer Science Seton Hall University South Orange NJ 07079 USA Real- Time Computing Laboratory New Jersey Institute of Technology Newark NJ 07102 USA Real-Time Computing Laboratory NJIT Newark NJ 07102 USA Department of Mathematics and Computer Science Fairleigh Dickinson University Madison NJ 07940 USA Naval Surface Warfare Center Dahlgren Division Code B40 10901 New Hampshire Ave. Silver Spring MD 20903-5640 USA

Complex systems are large applications, typically running on distributed, heterogeneous networks, driven by a number of distinct constraints and desiderata on goals such as performance, real-time behavior, and fault tolerance. These requirements frequently conflict, and satisfaction of these design objectives interacts strongly with assignment of system tasks to processors. The NSWC design framework DESTINATION provides an assignment module which can be used to optimize the system, as measured by the value of a weighted combination of objective cost functions. For even modest-sized systems and networks, assignment space is too large to search exhaustively. We have implemented algorithms which generate heuristically good assignments. However, compile-time evaluation of many interesting design factors, even those clearly related to assignment, is impossible without some estimate of the schedule. We therefore provide approaches for determining a reasonable “pseudo-schedule” for a given system, network, and assignment, and use this to simulate execution in evaluating cost functions.

关键词： Complex real-time systems allocation scheduling heuristics assignment

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APPLICATIONS OF FUZZY-LOGIC CONTROL IN AUTONOMOUS ROBOT systems

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INTERNATIONAL JOURNAL OF systems science 1993年第10期24卷 1885-1904页

作者： ZHANG, JW Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

The development of autonomous robots involves the imitation of human decision-making abilities with the aid of diverse sensor information. Fuzzy logic, which is based on fuzzy modelling and approximate reasoning, can be applied in different levels of control tasks. We first present the research results of applying fuzzy logic control in the motion execution of mobile systems and sensor-guided fine-motion of a manipulator. To realize real-time 'reactive' control, suitable hardware which supports the acceleration of fuzzy inference should be developed. The design and development of a VME-bus compatible fuzzy co-processor is also described.

关键词： Fuzzy inference

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A fuzzy control approach for executing subgoal guided motion of a mobile robot in a partially-known environment

A fuzzy control approach for executing subgoal guided motion...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Zhang P. Bohner Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Germany

A fuzzy control approach is proposed for controlling a mobile robot by effectively using the static knowledge of a partially-known environment and the dynamic sensor data. To describe the global structure of the static environment, a tangent-graph is first constructed and a sequence of subgoals is generated for guiding the global path direction. During the execution of these subgoals, a motion executor using the concept of fuzzy control evaluates the sensor data and the robot current status, and adjusts the moving speed and direction of the robot.< >

关键词： Fuzzy control Mobile robots Robot sensing systems Path planning Control systems Humans Motion control Robot control Roads Robot motion

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ORIENTING POLYGONAL PARTS WITHOUT SENSORS

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ALGORITHMICA 1993年第2-4期10卷 201-225页

作者： GOLDBERG, KY 1. Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California 90089-0273 Los Angeles CA USA

In manufacturing it is often necessary to orient parts prior to packing or assembly. We say that a planar part is polygonal if its convex hull is a polygon. We consider the following problem: given a list of n vertices describing a polygonal part whose initial orientation is unknown, find the shortest sequence of mechanical gripper actions that is guaranteed to orient the part up to symmetry in its convex hull. We show that such a sequence exists for any polygonal part by giving an O(n2 log n) algorithm for finding the sequence. Since the gripper actions do not require feedback, this result implies that any polygonal part can be oriented without sensors.

关键词： robotics PARTS FEEDING PLANNING GRASPING COMPLIANCE MOTION PLANNING WITH UNCERTAINTY COMPLIANT MOTION PLANNING

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