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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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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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Haptic output in multimodal user interfaces 97

Haptic output in multimodal user interfaces

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Proceedings of the 2nd international conference on intelligent user interfaces

作者： Stefan Münch Rüdiger Dillmann University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Systems and Robotics Kaiserstraβe 12 D-76128 Karlsruhe Germany

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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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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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Perception-net based geometric data fusion for state estimation and system self-calibration

Perception-net based geometric data fusion for state estimat...

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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： S. Lee S. Ro P. Schenker Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of EE-Systems and Computer Science University of Southern California Los Angeles CA USA

A method of automatically reducing uncertainties and calibrating possible biases involved in sensed data and extracted features by a system based on the geometric data fusion is proposed. The perception net, as a structural representation of the sensing capabilities of a system, connects features of various levels of abstraction, referred to here as logical sensors, with their functional relationships such as feature transformations, data fusions, and constraints to be satisfied. The net maintains the consistency of logical sensors based on the forward propagation of uncertainties as well as the backward propagation of constraint errors. A novel geometric data fusion algorithm is presented as a unified framework for computing forward and backward propagations through which the net achieves the self-reduction of uncertainties and self-calibration of biases. The effectiveness of the proposed method is validated through simulation.

关键词： State estimation Design for manufacture Ellipsoids Sensor fusion Noise measurement Gaussian noise Fusion power generation Current measurement Measurement uncertainty Error correction

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Uncertainty self-management with perception net based geometric data fusion

Uncertainty self-management with perception net based geomet...

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IeeE International Conference on robotics and Automation (ICRA)

作者： Sukhan Lee Sookwang Ro Jet Propulsion Laboratory California institute of Technology Pasadena CA USA Department of EE-Systems and Computer Science University of Southern California Los Angeles CA USA

ISBN: (纸本)0780336127

The capability of robotic systems to deal with uncertainties, biases, and errors automatically is crucial for the tasks defined in an unstructured environment. In this paper, we present a method of automatically reducing uncertainties and calibrating possible biases involved in sensed data and extracted features by a system based on the geometric data fusion. The perception net, as a structural representation of the sensing capabilities of a system, connects features of various levels of abstraction, referred to here as logical sensors, with their functional relationships such as feature transformations, data fusions, and constraints to be satisfied. The net maintains the consistency of logical sensors based on the forward propagation of uncertainties as well as the backward propagation of constraint errors. A novel geometric data fusion algorithm is presented as a unified framework for computing forward and backward propagations through which the net achieves the self-reduction of uncertainties and self-identification of biases. The effectiveness of the proposed method is validated through simulation by applying it to a mobile robot self-localization problem.

关键词： Uncertainty Sensor phenomena and characterization intelligent robots Robot sensing systems Sensor systems intelligent sensors intelligent actuators Tactile sensors robotics and automation Mobile robots

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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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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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Assembly planning for modular fixtures

Assembly planning for modular fixtures

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IeeE International Workshop on intelligent Robots and systems (IROS)

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

Fixtures are devices used in manufacturing to immobilize a part far operations such as assembly, inspection or machining. Modular fixtures are configurations of standard components. The goal of a automatic modular fixture design is to find algorithms to determine a set of fixturing contact points automatically, given a set of modular components and the fixturing requirements. This paper considers the problem of generating valid assembly sequences for a given modular future configuration. This is called assembly planning for modular fixtures. Because the application domain is known, we can devise an efficient assembly planning system taking advantage of the characteristics of the fixture domain. In this paper, we propose a fastener-based approach which considers the functionality of fasteners (to hold the fixture components together) to achieve both the efficiency in assembly planning and the stability of the generated assembly sequences. We also describe an accessibility measure that can be used to select preferred assembly sequences. This work complements automatic fixture design such that complete automation can be achieved from the design of a fixture to its assembly, which can be performed manually or with the aid of robots.

关键词： Fixtures Robotic assembly robotics and automation Manufacturing Inspection Machining Algorithm design and analysis Assembly systems Fasteners Stability

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