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IEEE Conference on Control Technology and Applications (CCTA)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures Department of Electrical Computer and Systems EngineeringCenter for Advanced Technology in Automation Robotics & Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring down" matrix which renders a system passive by using a linear combination of all collocated and non-collocated sensor/actuator pairs. The design uses experimental transfer functions and does not require the knowledge of the system model. The problem of finding the squaring down matrix is cast as a solution to a set of linear matrix inequalities (LMIs) subject to some additional performance considerations. The design procedure of the squaring down matrix assumes that velocity information is available from the sensors which is not generally the case. We show that the squaring down matrix can be implemented without the use of such velocity information. We provide experimental results gathered from the single link flexible beam setup in the C/sub La/MS laboratory at RPI to show that implementation of passive loops without velocity measurements provides very good results.

关键词： Feedback control Linear matrix inequalities intelligent sensors Control system synthesis Robust control Sensor systems Hydraulic actuators Transfer functions Laboratories Economic indicators

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Tetrobot: A Modular System for Hyper-Redundant Parallel robotics

Tetrobot: A Modular System for Hyper-Redundant Parallel Robo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.J. Hamlin A.C. Sanderson Electrical Computer and Systems Engineering Department Rensselaer Polytechnic InstituteNew York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute RPI Troy NY USA

A modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms is described. The Tetrobot system features a novel concentric multilink spherical (CMS) joint which allows an arbitrary number of links to share a common center of rotation. The CMS joint facilitates the construction of a wide variety of variable geometry truss mechanisms using an integrated control and computational framework. A distributed control algorithm is based on an iterative virtual force based solution which propagates the goal positions of target nodes to determine systematic adjustments of actuators. Capabilities of the Tetrobot system have been demonstrated by the construction of several configurations of up to 18 nodes, 48 links, and 15 actuators. Implementations of a double Stewart platform and a six-legged walker, constructed from the same set of parts, are described in this paper.

关键词： Parallel robots Collision mitigation Actuators Concurrent computing Design engineering systems engineering and theory Electric variables control Control systems Computational geometry Centralized control

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A robotic system to locate hazardous chemical leaks

A robotic system to locate hazardous chemical leaks

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.A. Russell D. Thiel R. Deveza A. Mackay-Sim Intelligent Robotics Research Centre Department of Electrical&Computer Systems Engineering Monash University Clavton VIC Australia School of Microelectronic Engineering Griffith University Brisbane QLD Australia School of Science Griffith University Brisbane QLD Australia

Tracing leaks of airborne radioactive, poisonous or flammable materials is a potentially dangerous activity that could be undertaken by robotic systems. This paper describes a practical investigation of the possibility of developing simple, low cost, autonomous robots to perform this task. It is envisaged that these robots would be used in large numbers. This would improve reliability through redundancy and provide large area coverage from a wide distribution of robots. Failure of a single unit would not jeopardise the overall sensing operation. Sensing and control techniques developed to perform leak location in a simplified laboratory environment are described and experimental results are presented.

关键词： Chemical hazards Robot sensing systems Mobile robots Chemical sensors Wheels intelligent robots Chemical technology Orbital robotics Computational geometry Vehicles

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Autonomous mobile robot self-referencing with sensor windows and neural networks

Autonomous mobile robot self-referencing with sensor windows...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： J.A. Janet R. Gutierrez-Osuna M.G. Kay R.C. Luo Dept. of Electr. & Comput. Eng. North Carolina State Univ. Raleigh NC USA Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

When navigating an environment a mobile robot can update its position and orientation by searching known landmarks and compare predictions with observations. This paper presents a method of mobile-robot self-referencing where every mapped object (obstacles to the global motion planner) in the environment can be used as potential sources of position and orientation information. This approach employs the efficiency of traversability vectors (t-vectors) for finding in-range geometric beacons and isolating surfaces visible to a sensor. Configuration-space (C-space) buffering (growing polygons to keep motion a safe distance from objects) will reduce the search time for finding in-range geometric beacons. Finally, a small multilayered neural network is used to provide a credence value for each predicted range that can be factored in to a filter or control strategy. This approach can be generalized to any ranging sensor that samples a region (e.g. IR sensors).

关键词： Mobile robots Neural networks Robot sensing systems intelligent sensors intelligent robots Filters Predictive models intelligent networks Machine intelligence computer networks

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Global self-localization for autonomous mobile robots using self-organizing Kohonen neural networks

Global self-localization for autonomous mobile robots using ...

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Proceedings 1995 IEEE/RSJ International Conference on intelligent Robots and systems. Human Robot Interaction and Cooperative Robots

作者： J.A. Janet R. Gutierrez-Osuna T.A. Chase M. White R.C. Luo Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA North Carolina State University Raleigh NC US Dept. of Electr. & Comput. Eng. North Carolina State Univ. Raleigh NC USA

An approach to global self-localization for autonomous mobile robots has been developed using self-organizing Kohonen neural networks. This approach categorizes discrete regions of space using mapped sonar data corrupted by noise of varied sources and ranges. Our approach is similar to optical character recognition (OCR) in that the mapped sonar data can, over time, assume the form of a character unique to that room. Hence, it is believed that an autonomous vehicle can be capable of determining which room it is in based on mapped sensory data ascertained by wandering through and exploring that room. With some pre-processing and a robust explore routine, the solution becomes time-, translation- and rotation-invariant.

关键词： Mobile robots Sonar Optical noise Optical character recognition software Neural networks Optical computing Optical sensors Character recognition Remotely operated vehicles Robustness

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PLACING REGISTRATION MARKS

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1994年第1期41卷 51-59页

作者： RAO, AS GOLDBERG, KY Department of Computer Science University of Utrecht Utrecht Netherlands Departments of Computer Science and Electrical Engineering-Systems Institute of Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

In industrial assembly, a registration mark can be placed on parts to aid a computer vision system in determining the position and orientation (pose) of parts. However, when sensor noise and limits on resolution introduce errors in the measured location of the registration mark, these errors can propagate into the measurement of part pose. In this paper, we define the registration mark problem: given an n-sided rigid planar polygonal part-and a set of k poses for the part, locate a point on the surface of the part that maximizes the minimum distance between transformed points. A registration mark at this point will be maximally robust to sensor imperfections. We give an 0(n log n + k4 log k log* k) time algorithm to solve this planar problem using a result from Schwartz and Sharir [21], and demonstrate the algorithm using a commercial vision system. Our results extend to classes of curved planar parts and polyhedral parts.

关键词： computer vision computer errors Noise measurement Manufacturing automation robotics and automation computer science intelligent robots computer industry Assembly systems Robustness

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STATE-SPACE SIZE ESTIMATION OF PETRI NETS - A BOTTOM-UP PERSPECTIVE

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1994年第4期10卷 555-561页

作者： WATSON, JF DESROCHERS, AA Center for Intelligent Robotic Systems for Space Exploration Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

Petri nets are a popular system modeling methodology, although the typical state-space explosion is problematic. An estimate of the state-space size has many uses: determining the appropriateness of a particular analysis technique;evaluating the trade-off between model detail and solution complexity;and providing data for state-space size reduction algorithms. This paper presents an estimation algorithm based on subnets and interconnections (i.e., a bottom-up approach). The algorithm allows relatively arbitrary subnets and is extendable via development of additional interconnections. Several subnets and interconnections are developed, and a multi-workcell manufacturing example is pesented.

关键词： State estimation Petri nets intelligent robots Algorithm design and analysis Orbital robotics Space exploration Explosions Power system interconnection intelligent systems systems engineering and theory

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T-vectors make autonomous mobile robot motion planning and self-referencing more efficient

T-vectors make autonomous mobile robot motion planning and s...

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1994 IEEE/RSJ International Conference on intelligent Robots and systems, IROS 1994

作者： Janét, Jason A. Luo, Ren C. Kay, Michael G. Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

ISBN: (纸本)0780319338

A motion planning and self-referencing approach has been developed, simulated and applied to an actual robot. Although there are several novelties to these approaches, the fact that both are based on traversability vectors (t-vectors) is one aspect of this research that is unique. Through their application it has been found that t-vectors enhance the detection of path obstructions and geometric beacons and expedite the identification of features that are visible (or hearable) to sensors in both static and dynamic environments. T-vectors also reduce the data size and complexity of standard V-graphs and variations thereof. This paper provides the t-vector models step-by-step so that the reader will be able to apply them to mobile robot motion planning and self-referencing. © 1994 Institute of electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Vectors

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A stereo vision teleoperated robotic vehicle

A stereo vision teleoperated robotic vehicle

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Australian and New Zealand Conference on intelligent Information systems

作者： R. Jarvis Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

Some quite precise teleoperated navigation of a simple radio controlled robotic vehicle can be achieved by providing colour video camera based stereo vision feedback to the remote operator. With a little practice the operator is able to experience a degree of telepresence sufficient to render the navigation task natural and safe. This paper details the components of the systems and describes its use for teleoperated lawn mowing of a typical domestic backyard. This development is to be regarded as an intermediate stage between direct human control and fully autonomous operation, between which modes it is intended that the operator withdraw gracefully from the task at hand.< >

关键词： Stereo vision Robot vision systems intelligent robots Cameras Remotely operated vehicles Humans Road vehicles Radio navigation Radio control Feedback

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An optimal sonar array for target localization and classification

An optimal sonar array for target localization and classific...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Kleeman R. Kuc Intelligent Robotics Research Centre Department of Electrical & Computer Systems Eng Monash University Australia Intelligent Sensors Laboratory Department of Electrical Engineering Yale University USA

A novel sonar array for mobile robots is presented with applications to localization and mapping of indoor environments. The ultrasonic sensor localizes and classifies multiple targets in two dimensions to ranges of up to 8 meters. By accounting for effects of temperature and humidity, the system is accurate to within 1 mm and 6.1 degrees in still air. Targets separated by 10 mm can be discriminated. Targets are classified into planes, corners, edges and unknown, with the minimum of two transmitters and two receivers. A novel approach is that receivers are closely spaced to minimize the correspondence problem of associating echoes from multiple targets. A set of templates is generated for echoes to allow the optimal arrival time to be estimated, and overlapping echoes and disturbances to be rejected.< >

关键词： intelligent sensors Pulse measurements Transmitters Leg Sonar measurements Sensor arrays intelligent robots Robot localization Rough surfaces Surface roughness

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