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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Casals X. Cufi J. Freixenet J. Marti X. Munoz Department of Automatic Control and Computer Engineering Polytechnic University of Catalonia Catalonia Spain Computer Vision and Robotics Group EIA-IIiA University of Girona Catalonia Spain

This paper presents an interface for the interaction between a human and an adapted kitchen where different elements, including a robot, have to be controlled. After the global structure of the interface is described a more detailed explanation is presented on the way the interface offers the user an easy and friendly way to select the desired objects and to provide their position to the robot for their manipulation.

关键词： robotics and automation Robot vision systems Computer vision control engineering computing Human robot interaction Automatic control Research and development Ergonomics Cameras Layout

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Robust adaptive control of formationkeeping for a pair of satellites

Robust adaptive control of formationkeeping for a pair of sa...

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American control Conference (ACC)

作者： Zhi Wang F. Khorrami W. Grossman Control/Robotics Research Laboratory (CRRL) Department of Electrical Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA Applied Systems Engineering Inc. Gambrills MD USA

Two robust adaptive control schemes (state-feedback and output-feedback) for formationkeeping of a pair of satellites are proposed. In contrast to most existing results, both control schemes are based on the nonlinear model directly, not on the simplified linearized model. In addition, the uncertainties and disturbances in the system such as the effects due to solar pressure, noncentral gravitational field, air drag, etc. are all considered. The objective of the control design is to force the relative position between two satellites to track a given reference signal while maintaining the desired Keplerian trajectory (in this case circular) for the master satellite. The results of this paper may be easily generalized to formationkeeping of a number of satellites.

关键词： Robust control Adaptive control Satellites Spaceborne radar control systems Uncertainty Trajectory Nonlinear optics Optical interferometry Interferometers

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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Design of a parallel-type gripper powered by pneumatic actuators

Design of a parallel-type gripper powered by pneumatic actua...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： B.-J. Yi H.Y. Ra J.H. Lee Y.S. Hong J.S. Park S.-R. Oh I.H. Suh W.K. Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Advanced Robotics Research Center KIST South Korea Intelligent System Control Research Center KIST South Korea Department of Control and Instrumentation Engineering Korea University South Korea

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.

关键词： Grippers Pneumatic actuators Force control Tracking Valves Shape Kinematics Motion analysis Pressure control Size control

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Identification of Aircraft Gas-Turbine Dynamics using B-splines Neural Networks

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IFAC Proceedings Volumes 2000年第6期33卷 123-128页

作者： J.C. Lopes A.E. Ruano P.J. Fleming Unidade de Ciências Exactas e Humanas Universidade do Algarve Campus de Gambelas 8000 Faro Portugal Institute of System & Robotics Portugal Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

This paper describes preliminary results regarding the development of a B- splines neural network model of the fuel feed to shaft-speed dynamics of a twin-shaft gas turbine engine. Data recorded from practical testing of the turbine to a multisine input were employed, and models were identified at different points along the turbine operating curve. B-splines neural networks have been found to be good models of the system, delivering good results especially for long-range predictions.

关键词： Gas Turbines Systems Identification Neural Networks

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Strong practical stability for a class of 2D linear systems

Strong practical stability for a class of 2D linear systems

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D. Owens Institute of Robotics and Software Engineering Technical University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton UK Institute of Computer Science and Electronics Technical University of Zielona Gora Poland Department of Automatic Control and Systems Engineering University of Sheffield UK

Linear repetitive processes are a distinct class of 2D linear systems of both theoretical and practical interest. The stability theory for these processes currently consists of two distinct concepts termed asymptotic stability and stability along the pass respectively where the former is a necessary condition for the latter. Recently applications have arisen where asymptotic stability is too weak and stability along the pass is too strong for meaningful progress to be made. This paper develops the concept of strong practical stability for such cases.

关键词： Linear systems Asymptotic stability Computer science State-space methods robotics and automation Software engineering Systems engineering and theory Metals industry Iterative algorithms Electrical equipment industry

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A Planning System for Object Reconfiguration with Robotic Hand and the Real Time Realization of the Motion

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IFAC Proceedings Volumes 2000年第28期33卷 291-296页

作者： Gábor Vass Béla Lantos Shahram Payandeh Budapest University of Technology and Economics Department of Control Engineering and Information Technology H-l 117 Budapest Pázmány Péter sétány 1/D. Hungary Simon Fraser University Experimental Robotics Laboratory School of Engineering Science Barnaby British Columbia Canada V5A IS6

An object manipulation algorithm for a three-fingered dextrous robotic hand mounted on a 6 DOF robotic arm is proposed. The paper is divided into two parts. The first part describes a (currently) off-line planning system for object reconfiguration design based on simulated annealing, while the second part deals with the real time realization of the determined motion path. The presented model-based motion planner algorithm for object re-configuration uses simulated annealing (SA) algorithm for generating the relative motion between the object and the end-points of the fingers.

关键词： Robotic manipulators planning object manipulation

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of Computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Object Reconfiguration with Multiple Robotic Arms Using An Additional Static Contact Surface

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IFAC Proceedings Volumes 2000年第27期33卷 267-272页

作者： Gábor Vass Shahram Payandeh Béla Lantos Budapest University of Technology and Economics Department of Control Engineering and Information Technology H-1117 Budapest Pázmány Péter sétány 1/D. Hungary Simon Fraser University Experimental Robotics Laboratory School of Engineering Science Burnaby British Columbia Canada V5A 1S6

An algorithm of manipulation of a geometrically constrained object with multiple 6 DOF robotic arms in 3D is proposed. The motion of the end effectors relative to the object can be pure sliding and pure rolling. In the algorithm a static surface of the environment (working table, etc.) can be applied to make contact with the object, so an additional contact point may be used to help the manipulation. The presented model-based motion planner algorithm for object reconfiguration uses simulated annealing (SA) algorithm for generating the relative motion between the object and the end-points of the manipulators.

关键词： Robotic manipulators planning object manipulation

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Extensions of Nonlinear control Concept to Object Manipulation with Finger Relocation

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IFAC Proceedings Volumes 2000年第27期33卷 81-86页

作者： István Harmati Béla Lantos Shahram Payandeh Budapest University of Technology and Economics Department of Control Engineering and Information Technology H-1117 Budapest Pázmány Péter sétúny 1/D. Hungary Simon Fraser University Experimental Robotics Laboratory School of Engineering Science Burnaby British Columbia Canada V5A 1S6

The paper provides a powerful basic concept for object manipulation with finger relocation and extends the previous approaches in the area of stratified manipulation. The algorithm gives also some improvements of the developed software for smooth and stratified motion planning (MP). The key element of the approach is based strongly on the theory of stratified control for nonlinear systems. The discussed manipulation concept exploits the information about the shape of the object and endeavors to discover its most important physical properties. In connection with the subject, the paper investigates the finger gaiting manipulation (based on finger relocation) in the context of stratified nonlinear control.

关键词： Nonlinear control Manipulation Differential geometric methods Differential equations Robotic manipulators

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