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IeeE Conference on Decision and Control

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

A model-free "teaching by showing" methodology is developed to train a fuzzy-neural controller for an autonomous robot helicopter. The controller is generated and tuned using training data gathered while a teacher operates the helicopter. A hierarchical behavior-based control architecture is used, with each behavior implemented as a hybrid fuzzy logic controller (FLC) and general regression neural network controller (GRNNC). The FLCs and GRNNCs are generated through "teaching by showing". The FLCs are built during initial controller generation, remain static once created, and provide coarse control of the helicopter. The GRNNCs are incrementally built and modified whenever the controller does not meet performance criteria, are dynamic, and provide fine control, enhancing the control of the FLCs. The methodology has been successfully applied in simulation and, in the future, will be applied on a radio control model helicopter for real world validation.

关键词： Helicopters Education Humans Control system synthesis Control systems Mathematical model Automatic control intelligent robots Training data Radio control

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Plan Management Issues for Cognitive robotics: Project Overview

Plan Management Issues for Cognitive Robotics: Project Overv...

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1998 AAAI Fall Symposium

作者： Horty, John F. Pollack, Martha E. Philosophy Department Institute for Advanced Computer Studies University of Maryland College ParkMD20742 United States Department of Computer Science Intelligent Systems Program University of Pittsburgh PittsburghPA15260 United States

Progress in cognitive robotics can comeeither fromefforts to provide physical robots with more autonomy, or from efforts to make AI techniques more generally applicable to the needs of robotic agents. Weare conducting research on dynamic plan management, whichis an instance of the latter type of effort. In this paper, we provide an overview of our research project. Plan managementis the process (or set of related processes) by which a goal-directed agent coordinates, updates, and monitors its plans in response to ongoing changes in its environment. We discuss the main challenges in automating plan management, and then illustrate our approach by focusing on one plan management task: evaluating options for action in the context of existing plans. We also briefly describe the Plan Management Agent (PMA), a system weare building as a testbed for our plan management theories. Although PMA is not a robotic system, weare interested in also applying dynamicplan managementechniques to mobile robots, whichis whyweare participating in this symposium. © 1998, AAAI (***). All rights reserved.

关键词： robotics

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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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IeeE International Workshop on intelligent Robots and systems (IROS)

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 (KIST) Seoul South Korea

ISBN: (纸本)0780344650

A new paradigm of event-based robotic and telerobotic control, referred to 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 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 peg-hole insertion experiment.

关键词： Programmable control Adaptive control Impedance Telerobotics Robot control Trajectory intelligent robots Robot kinematics Strain control Force control

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IMACS: A case study in real-world planning

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IeeE intelligent systems and Their Applications 1998年第3期13卷 49-60页

作者： Gupta, Satyandra K. Nau, Dana S. Regli, William C. Robotics Institute Carnegie Mellon University United States Computer Science Department Institute for Systems Research University of Maryland United States Dept. of Math. and Computer Science Drexel University United States Robotics Institute United States Grad. Sch. of Indust. Administration Carnegie Mellon University United States University of Maryland United States Amercian Soc. of Mech. Engineers Society of Manufacturing Engineers United States Robotics Inst. Carnegie Mellon Univ. Pittsburgh PA 15213 United States University of Maryland Department of Computer Science Institute for Systems Research United States Systems Integration Research Group Electro-Mech. Syst. Des. Plan. R. United States Comp.-Intgd. Mfg. Laboratory United States Duke University United States AAI United States Computer Science Dept. Univ. of Maryland College Park MD 20742 United States ACM ASME IEEE Computer Society United States Dept. of Math. and Computer Science Drexel Univ. Philadelphia PA 19104 United States

This article discusses the complexities of real-world planning and how to create planning systems to address them. IMACS, an automated designer's aid, evaluates machined parts and suggests design modifications to improve their manufacturability, offering advantages over planning techniques used in classical planning systems. IeeE intelligent systems.

关键词： computer aided software engineering Process planning Artificial intelligence Manufacturing processes Machining computer science Meeting planning Design automation computer aided manufacturing Virtual manufacturing

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Generalizing over aspect and location for rooftop detection

Generalizing over aspect and location for rooftop detection

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IeeE Workshop on Applications of computer Vision (WACV)

作者： M.A. Maloof P. Langley T.O. Binford R. Nevatia Department of Computer Science George town University Washington D.C. DC USA Institute for the Study of Learning and Expertise Palo Alto CA USA Robotics Laboratory Department of Computer Science University of Stanford Stanford CA USA Institute for Robotics and Intelligent Systems School of Engineering University of Southern California Los Angeles CA USA

We present the results of an empirical study in which we evaluated cost-sensitive learning algorithms on a rooftop detection task, which is one level of processing in a building detection system. Specifically, we investigated how well machine learning methods generalized to unseen images that differed in location and in aspect. For the purpose of comparison, we included in our evaluation a handcrafted linear classifier, which is the selection heuristic currently used in the building detection system. ROC analysis showed that, when generalizing to unseen images that differed in location and aspect, a naive Bayesian classifier outperformed nearest neighbor and the handcrafted solution.

关键词： Machine vision Buildings Machine learning computer science intelligent robots Learning systems Image analysis Nearest neighbor searches Robustness Head

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intelligent multi-modal systems

British Telecom technology journal

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British Telecom technology journal 1998年第3期16卷 134-144页

作者： Tsui, K.C. Azvine, B. Djian, D. Voudouris, C. Xu, L.Q. Hong Kong Polytechnic University Hong Kong University of Essex King's College London United Kingdom BT Laboratories United Kingdom ATM Traffic Management United Kingdom Manchester University United Kingdom Dynamics and Control Research Group Engineering Department Manchester University United Kingdom Contr. and Instrum. Research Group Staffordshire University United Kingdom Intelligent Systems Research Unit BT Laboratories United Kingdom Dept. of Engineering Mathematics Bristol University United Kingdom Europ. Netwk. Excellence U. Institut d'Informatique d'Entreprise France Oxford University Robotics Research Group United Kingdom University of Nice France Ecole des Mines de Paris France Natl. Technical University of Athens Greece University of Essex United Kingdom Department of Computer Science University of Essex United Kingdom Intelligent Systems Research Group BT Laboratories United Kingdom Southeast University Nanjing China Institute of Acoustics Chinese Academy of Sciences Beijing China University of East Anglia United Kingdom University of Sussex King's College London United Kingdom University of Abertay Dundee United Kingdom

Research in human/computer interaction has mainly focused on natural language, text, speech and vision primarily in isolation. Recently there have been a number of research projects that have concentrated on the integration of such modalities using intelligent reasoners. The rationale is that many inherent ambiguities in single modes of communication can be resolved if extra information is available. This paper describes an intelligent multi-modal system called the Smart Work Manager. The main characteristics of the Smart Work Manager are that it can process speech, text, face images, gaze information and simulated gestures rising the mouse as input modalities, and its output is in the form of speech, text or graphics. The main components of the system are the reasoner, a speech system, a vision system, an integration platform and the application interface. The overall architecture of the system will be described together with the integration platform and the components of the system which include a non-intrusive neural network based gaze-tracking system. The paper concludes with a discussion on the applicability of such systems to intelligent human/computer interaction and lessons learnt in terms of reliability and efficiency.

关键词： Learning systems

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The design and control of a prototype quadruped microrover

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AUTONOMOUS ROBOTS 1997年第2期4卷 211-220页

作者： Sukhatme, GS Robotics Research Laboratory Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles

We describe the design, construction and control 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 using a traverse across an obstacle field as an example.

关键词： quadruped robot static stability microrover walking robot

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Model-based process redesign

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JOURNAL OF intelligent MANUFACTURING 1997年第5期8卷 345-356页

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

A method is presented for the model-based redesign of enterprises. It consists of two main steps, the initialization step and the optimization step. During the initialization step, the processes are modelled and analysed. During the optimization step, the optimal configuration is found for the possible modifications of the processes. Emphasis is placed on the process analysis. The proposed approach is based on activity chains which describe the set of activities needed for the achievement of a given gear, and their execution order necessary to guarantee a low processing time. An algorithm is presented for filtering such activity chains from an enterprise model. It is based on graph theory and corresponds to the solution of an optimization problem, whereby the sum of weights of ail edges belonging to the solution graph should be maximized under some given constraints. Because of the high complexity of the problem, some complexity-reducing measures are presented, measures that arise from the earlier problem analysis.

关键词： process redesign process analysis activity chain graph theory

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Fast motion planning by parallel processing - A review

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JOURNAL OF intelligent & ROBOTIC systems 1997年第1期20卷 45-69页

作者： Henrich, D Institute for Real-Time Computer Systems and Robotics Computer Science Department University of Karlsruhe Kaiserstrasse 12 D-76128 Karlsruhe Germany

One of the many features needed to support the activities of autonomous systems is the ability to plan motion. This enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, the control loop comprising sensing, planning, and acting has not yet been closed for robots in dynamic environments. One reason involves the long execution times of the motion planning component. A solution for this problem is offered by the use of highly parallel computation. Thus, an important task is the parallelization of existing motion planning algorithms for robots so that they are suitable for highly parallel computation. In several cases, completely new algorithms have to be designed, so that a parallelization is feasible. In this survey, we review recent approaches to motion planning using parallel computation. As a classification scheme, we use the structure given by the different approaches to the robot's motion planning. For each approach, the available parallel processing methods are discussed. Each approach is assigned a unique class. Finally, for each research work referenced, a list of keywords is given.

关键词： robotics autonomous systems parallel algorithms parallelism and concurrency motion planning review

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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 ...

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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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