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Canadian Conference on Electrical and Computer engineering (CCECE)

作者： Xiangui Yu N.K. Loh G.A. Jullien W.C. Miller Department of Electrical Engineering University of Windsor Windsor ONT Canada Center for Robotics and Advanced Automation Dodge Hall of Engineering Oakland University Rochester MI USA

In this paper, two kinds of learning algorithms that have been developed for training multilayer feedforward neural networks with hard-limiting neurons are reviewed. For the modified backpropagation algorithms, their numerical performances of convergence speed and training efficiency are compared; for the architecture generating methods, the architecture sizes of the neural networks generated are compared and their generalization ability are discussed. For any given application problem, some criteria for selecting a suitable training algorithm are also discussed.< >

关键词： Multi-layer neural network Neural networks Feedforward neural networks Neurons Backpropagation algorithms Artificial neural networks robotics and automation Electronic mail Convergence of numerical methods Multilayer perceptrons

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Dynamic Modelling and Tracking Control of Nonholonomic Wheeled Vehicles

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IFAC Proceedings Volumes 1993年第2期26卷 61-64页

作者： G.J. Pappas K.J. Kyriakopoulos New York State Center for Advanced Technology in Automation and Robotics & Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY 12180-3590 USA

Nonholonomic vehicles are shown to be kinematically equivalent to unicycles. A dynamic model for mobile vehicles moving on planar surfaces under nonholonomic constraints is derived. The model is decomposed into a kinematic and a dynamic subsystem. The kinematic subsystem is shown to be globally stabilizable by using continuous control laws on reference trajectories that are nonstationary and continuously differentiable with respect to time. The continuity of the kinematic control inputs allows the extension of the vehicle control at the dynamic level. Stability of the overall closed loop system is examined using singular perturbation theory. Simulations verify all theoretical derivations.

关键词： Nonholonomic Control Vehicle Control Mobile Robots

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Modified backpropagation algorithms for training the multilayer feedforward neural networks with hard-limiting neurons

Modified backpropagation algorithms for training the multila...

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Canadian Conference on Electrical and Computer engineering (CCECE)

This paper introduces modified backpropagation algorithms for training multilayer feedforward neural networks with hard-limiting neurons. Transforming neuron activation functions are used in all the hidden layers, which are the modified continuous sigmoidal functions with an adaptive steepness factors. In the training process, this steepness factor varies from a small positive value to infinite with the decrease of the sum square error. Thus, a multilayer feedforward neural network can be trained with the resultant architecture only composed of hard limiting neurons. The learning algorithm is similar to the conventional backpropagation algorithm. Only the derivatives of the hidden neural activation functions are modified. Extensive numerical simulations are presented to show the feasibility of the proposed algorithm. In addition, the numerical properties of the proposed algorithm are discussed and comparisons of the proposed algorithm with other algorithms are made.< >

关键词： Multi-layer neural network Backpropagation algorithms Neural networks Feedforward neural networks Neurons Multilayer perceptrons Very large scale integration robotics and automation Electronic mail Numerical simulation

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Dynamic Control Technique for Nonholonomic Systems

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IFAC Proceedings Volumes 1993年第2期26卷 923-926页

作者： A. Kapitanovsky A.A. Goldenberg J.K. Mills Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto 5 King's College Road Ontario M5S 1A4 Canada

The paper addresses the synthesis of a smooth dynamic feedback for a class of nonlinear (nonholonomic) systems. The proposed technique provides asymptotic stability and exponential convergence to a desired equilibrium manifold. The manifold is a function of the generalized co-ordinates. Application of the proposed technique to control of a class of nonholonomic systems is presented. We also show that some nonholonomic systems (e.g. Brockett's bilinear system) controlled by the proposed time-invariant dynamic feedback converge asymptotically to an arbitrary small ball centered at the origin of the state space under certain circumstances.

关键词： Nonholonomic systems smooth feedback dynamic control equilibrium manifold asymptotic stability chained canonical systems

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Registration of dissimilar featureless models for inspection

Registration of dissimilar featureless models for inspection

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IEEE International Conference on robotics and automation (ICRA)

作者： G.H. Tarbox S.N. Gottschlich L.A. Gerhardt New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

General-purpose CAD-based inspection of a manufactured workpiece often involves comparing a part model created using intensity or range images of the part to a toleranced reference model of the part. Before this comparison can be made, however, the sensed object model must be registered to the reference object model. Most registration approaches assume that it is possible to identify and match features in the models and that the object models represent very similar geometries. A registration approach that deals with featureless dissimilar models is presented, and experimental results are demonstrated. Although the need for such an approach was motivated by needs in inspection, the approach is very general and can be used in a variety of other applications.< >

关键词： Inspection Casting robotics and automation Solid modeling Data structures Systems engineering and theory Geometry Valves Manufacturing processes Surface morphology

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Shape matching from grasp using a minimal representation size criterion

Shape matching from grasp using a minimal representation siz...

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IEEE International Conference on robotics and automation (ICRA)

作者： R. Joshi A.C. Sanderson New York Center for Advanced Technology in Automation and Robotics USA Electrical Computer and Systems engineering Department Rensselaer Polytechnic Institute Troy NY USA

A robust polynomial-time algorithm for model-based pose estimation from tactile grasp data is presented. A minimal representation criterion is used to formulate the matching problem as a global optimization. The hypothesize-and-test paradigm is invoked to search for the optimal solution. A three-on-three match of model features to data features is used to reduce the transform search space to polynomial size. A polynomial-time assignment algorithm is used to compute the optimal correspondence for each hypothesized pose. The strength of the algorithm lies in its ability to perform with noisy or incomplete data and with missing or spurious features. It is capable of rejecting outliers and finding partial matches, and it produces sensible results even in the presence of large noise. The algorithm has been implemented and tested on actual data.< >

关键词： Shape Polynomials robotics and automation Testing Robustness Kinematics Least squares approximation Fingers Data engineering Systems engineering and theory

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Nonholonomic path planning with inequality constraints

Nonholonomic path planning with inequality constraints

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IEEE Conference on Decision and Control

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

A class of Newton-type algorithms is effective in solving the kinematic path planning problem for a system with nonholonomic equality constraints. A key result in this approach has been the generic full rank condition of a certain gradient operator. We have extended this method to path planning problems with inequality constraints and shown its efficacy in solving some challenging problems, but a similar genericity result is not currently available. In this paper, we present some extension of our algorithm for nonholonomic path planning with equality and inequality constraints and show the generic full rank condition for a special case. Simulation examples involving a steerable tractor-trailer vehicle and experiment results of a quarter-scale car with a trailer are presented.< >

关键词： Path planning Control systems Nonlinear control systems Controllability robotics and automation Systems engineering and theory Kinematics Space vehicles Velocity control Nonlinear systems

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Automatic synthesis and verification of compliance mappings

Automatic synthesis and verification of compliance mappings

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IEEE International Conference on robotics and automation (ICRA)

作者： S. Vougioukas S. Gottschlich New York State Center for Advanced Technology in Robotics and Automation USA Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute NY USA

When the uncertainty is large compared to clearances between objects, some form of compliance is required for a robot to manipulate these objects. Such situations include, but are not restricted to, assembly operations. Compliance can be thought of as a task-dependent mapping from sensed forces to corrective motions which bring the robot closer to its goal. A methodology for the automated synthesis of this mapping is described. The possible erroneous configurations of the robot together with their resulting contact forces are computed, and a corrective motion is identified for each configuration. The validity of the mapping is checked to ensure that the sensed forces will provide unambiguous information during the actual execution of the planned compliant motion.< >

关键词： robotics and automation Robot sensing systems Uncertainty Robotic assembly Path planning Motion planning Damping Systems engineering and theory Technology planning Sensor systems

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A PRODUCT MODELER FOR DISCRETE COMPONENTS

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INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH 1993年第9期31卷 2017-2044页

作者： NNAJI, BO LIU, HC REMBOLD, U Department of Industrial Engineering and Operations Research Automation and Robotics Laboratory University of Massachusetts at Amherst MA United States Institut für Prozessrechentechnik and Robotik Fakultät Für Informatik Universität Karlsruhe Germany

In designing a product, the product specifications are developed first, which conceptually constrains the geometry and functions of the product. Subsequently, its components are designed with the form in mind and achieve the functional requirements according to the specifications required. Conventional CAD systems are made for generating the geometric form of a part. This is meant to take the place of manual drafting. However, a system such as the one described above is incapable of capturing the non-geometric aspects of the designer's intent in a form that can be used for automatic process planning. The result is that tolerance, parts relationships, surface finish, etc. cannot be specified by the designer in the CAD environment unless some form of annotation is provided for. Product Modeller (ProMod) provides a concurrent product design environment for designers to assign the product specifications onto the parts' nominal geometry through a spatial relationships engine. With this information, the detailed design requirements, such as, tolerance and surface finish are generated by a dimension engine and tolerance propagation engine. Based on the functional requirements, the features of individual part are extracted through a form-function interpreter engine, then, they are mapped to the form and function database to establish manufacturing specifications such as machines and tools selection. Design evaluator evaluates the machinability and assemblability of features in accordance with the design rules, machine capability and geometric interference. Design advisor provides a way of incorporating modifications to improve the design. Design simulation unit formulates the problems which come from prototype design experiments and they are submitted to a design evaluator for further evaluation. When the iterative design procedures have been completed, the information, topology model, geometry model, dimension and tolerance model, form-function model, form-feature model, e

关键词： Product design

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Stewart-platform-based inlet duct painting system

Stewart-platform-based inlet duct painting system

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IEEE International Conference on robotics and automation (ICRA)

作者： K. Liu R. Glenn T.J. Lawley F.L. Lewis Automation & Robotics Research Institute University of Texas Arlington Fort Worth TX USA Department of Mechanical Engineering University of Texas Arlington Arlington TX USA

A special in-pipe robotic system, the Stewart-platform-based inlet duct painting system (SPPS), is proposed. The system consists of three isolated subsystems: the mobile base, the Stewart platform, and the painting manipulator. It can automatically navigate in an inlet duct which has large irregular noncircular cross sections. The SPPS is needed in painting tasks in the air inlet duct of an aircraft which are costly and hazardous for humans. It also can be used as a pipeline robot to monitor and repair inlet duct interiors.< >

关键词： Ducts Painting Wheels Mobile robots Manipulators robotics and automation Pipelines Arm Service robots Stability

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