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Supercomputing Conference

作者： P.-K. Hsiung R.H. Thibadeau C.B. Cox R.H.P. Dunn Department of Electrical & Computer Engineering Carnegie Mellon University Pittsburgh PA USA Imaging Systems Laboratory The Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Physics Carnegie Mellon University Pittsburgh PA USA Department of Art Carnegie Mellon University Pittsburgh PA USA

The authors extend their previous effort in visualizing the spatial aspect of relativistic effects, and treat the phenomenon of time dilation, an inherent temporal effect of special relativity. Here, the authors demonstrate through still-frame images and live animations that, in observing the viewing-independent time dilation, the finite light transit time involved in performing the observation makes the observed time dilation also depend on the viewing condition. As the authors introduce the physics of special relativity into ray-tracing and make time to pass as a ray travels through space, they are able to link the spatial and temporal dimensions in a fundamental and consistent way in their simulations, and generate images that reveal the spatial and temporal properties of the 4D geometry of spacetime. The present exploration highlights the interplay of the imaging process and the imaged physical events in producing the final images.< >

关键词： Visualization Physics Time measurement Ray tracing Space exploration Geometry Clocks Laboratories Orbital robotics Motion measurement

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RADIAL PROJECTION - AN EFFICIENT UPDATE RULE FOR RELAXATION LABELING

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IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 1989年第8期11卷 886-889页

作者： PARENT, P ZUCKER, SW Department of Electrical Engineering Computer Vision and Robotics Laboratory Montreal QUE Canada

Relaxation labeling uses contextual information for finding consistent labelings of graphs. Although relaxation labeling is parallel and iterative, the complexity of updating with standard rules is too costly for practical implementation. A description is given of a computationally more efficient updating rule that utilizes radial projection instead of normal projection to avoid the complexities incurred by previous update rules when boundaries to the labeling space are encountered. This reduction in complexity is achieved by first restricting support vectors to the positive quadrant, and then using radial projection onto the constraint instead of normal projection. Crucial order information is conserved through smooth convergence towards the optimum and a rate of convergence proportional to the magnitudes of the support functions.

关键词： Picture Processing Pattern Recognition Update Rule Relaxation Labeling Contextual Information Graphs Radial Projection Convergence Convergence Of Numerical Methods Graph Theory Iterative Methods Pattern Recognition Picture Processing

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TRACE INFERENCE, CURVATURE CONSISTENCY, AND CURVE DETECTION

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IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 1989年第8期11卷 823-839页

作者： PARENT, P ZUCKER, SW Department of Electrical Engineering Computer Vision and Robotics Laboratory McGill University Montreal QUE Canada

An approach is described for curve inference that is based on curvature information. The inference procedure is divided into two stages: a trace inference stage, which is the subject of the present work, and a curve synthesis stage. It is shown that recovery of the trace of a curve requires estimating local models for the curve at the same time, and that tangent and curvature information are sufficient. These make it possible to specify powerful constraints between estimated tangents to a curve, in terms of a neighborhood relationship called cocircularity, and between curvature estimates, in terms of a curvature consistency relation. Because all curve information is quantized, special care must be taken to obtain accurate estimates of trace points, tangents, and curvatures. This issue is addressed specifically to the introduction of a smoothness constraint and a maximum curvature constraint. The procedure is applied to two types of images: artificial images designed to evaluate curvature and noise sensitivity, and natural images.

关键词： Picture Processing Pattern Recognition Curvature Consistency Curve Detection Curve Inference Curvature Information Tangent Cocircularity Trace Points Artificial Images Natural Images Inference Mechanisms Pattern Recognition Picture Processing

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ON ROBUST DECENTRALIZED CONTROL OF A 5-AXIS ROBOT

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robotics AND computer-INTEGRATED MANUFACTURING 1989年第4期6卷 309-316页

作者： JAMSHIDI, M TSENG, CS CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering The University of New Mexico Albuquerque NM 87131 U.S.A.

In this paper, a dynamic model of a robot manipulator is first derived based on the Euler-Lagrange equation and a state-space representation is derived for it. A number of non-adaptive robot control schemes are then reviewed. A robust decentralized control is then proposed for a 5-axis robot manipulator. Numerical simulation results are presented to verify the theory.

关键词： Robots, Industrial

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A NEW TECHNIQUE FOR ROBUST-CONTROL OF SERVO SYSTEMS

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1989年第1期36卷 1-7页

作者： HSIA, TCS Robotics Research Laboratory Department Electrical Engineering and Computer Science University of California Davis Davis CA USA

The robust controller has very simple structures and can be divided into two separate parts: a servo controller and an auxiliary controller. The two controllers are designed independently. The function of the auxiliary controller is to cancel out the plant uncertainties directly without the use of the high loop gain principle. Interpretation of robot controller as a signal-synthesis adaptive controller is given. Practical implementation issues of the auxiliary controller are discussed. Simulations of a design example with large parameter uncertainty, nonlinearity, and external disturbance are presented to demonstrate the effectiveness of the design technique. This technique is further tested with success in an experimental study of joint position control of a PUMA 560 robot arm.< >

关键词： Robust control Servomechanisms Uncertainty DC motors Servomotors Adaptive control Robot control Programmable control Uncertain systems Testing

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ADAPTIVE EDGE-FOLLOWING FORCE CONTROL OF AN INDUSTRIAL ROBOT

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robotics AND computer-INTEGRATED MANUFACTURING 1989年第4期6卷 331-337页

作者： LIOU, JN JAMSHIDI, M STARR, GP CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 United States Robotic Research Laboratory Department of Mechanical Engineering University of New Mexico Albuquerque NM 87131 United States

Control of tool-workpiece interaction force is of vital importance in automated assembly. Using a simple linear continuous model of an edge-following system to predict the appropriate accomodation gains in a force control loop, previous work has shown that force control by accomodation is feasible. Following up this work, this paper describes the analysis, simulation and implementation of an adaptive force control in a two-dimensional edge-following task with a PUMA 560 robot and wrist force sensor. First, a discrete-time model of an edge-following system is developed and then used as the plant; second, a model reference adaptive control (MRAC) scheme is applied to achieve both tracking and regulation purposes. The reference (tracking) model can be determined by experimental reference input and desired model output information; the reference (regulation) model can be obtained by simulation to smooth out the plant output and improve the augmented filtered plant-model error. Study is done on the values of the adaptation gains in the adaptive mechanism, and hence can be adjusted to insure the best plant output performance.

关键词： Robots, Industrial

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Hardware and software for intelligent robotic systems

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Journal of Intelligent and Robotic Systems 1989年第4期1卷 343-373页

作者： Valavanis, Kimon P. Yuan, Peter H. Robotics Laboratory Department of Electrical and Computer Engineering Northeastern University Boston 02115 MA United States Thayer School of Engineering Dartmouth College Hanover 03755 NH United States

A hardware and software methodology for the design of the three interactive levels of intelligent robotic systems is proposed. The organization level is modeled as an expert system, the coordination level as a loosely coupled parallel processing system and the execution level as a series of specific hardware components which execute specific tasks. Microprocessor-based configurations and discrete logic design techniques are utilized for the overall system hardware configuration. The proposed methodology, does not violate the system hierarchical structure. A case study demonstrates the feasibility of the approach. © 1989 Kluwer Academic Publishers.

关键词： Parallel processing systems

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Optimal object localization using dual number quaternions 7

Optimal object localization using dual number quaternions

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Applications of Artificial Intelligence VII 1989

作者： Walker, Michael W. Shao, Lejun Volz, Richard A. Robotics Research Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann ArborMI48109-2110 United States

This paper presents a new algorithm for determining the position and orientation of objects. The problem is formulated as an optimization problem using dual number quaternions. It is shown that this reduces to an eigenvalue problem for which standard software library routines can be used to obtain the solution. © 1989 SPIE. All rights reserved.

关键词： Eigenvalues and eigenfunctions

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Combined vision/ultrasonics for multi-dimensional robotic tracking

Combined vision/ultrasonics for multi-dimensional robotic tr...

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Sensor Fusion: Spatial Reasoning and Scene Interpretation

作者： Luo, Ren C. Mullen, Robert E. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

ISBN: (纸本)9780819400383

An intelligent robotic system for multi-sensor based tracking and interception of moving objects which travel at unknown velocities is presented. The capability for multi-sensor assisted object tracking has been achieved through the development of techniques to track in multiple dimensions for both the static and dynamic cases. These methods are realized via the fusion of the best attributes of visual and acoustic sensing into an effective configuration that is ideal for real time tracking purposes. The kinematic information for a moving object is extracted via end effector mounted vision and ultrasonic sensors. A hybrid position/force servo-controlled gripper developed at NCSU has been used for the system implementation. One parallel actuation gripper finger houses a fiber optics based Eye-in-Hand vision sensor, while the other accommodates an ultrasonic range sensor. The primary intent of this work is to develop approaches for performing the tasks of: generalized visual/ultrasonic tracking of known rectangular entities;3-D tracking of arbitrary pseudo-planar objects that can change orientation about the optical axis;and a real time paradigm for the tracking of motion in 3-D with variable orientation about the optical axis. This discussion includes both a description of the underlying principles and the initial experimental results.

关键词： Grippers

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Adaptive coordinated motion control of two manipulator arms

Adaptive coordinated motion control of two manipulator arms

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.W. Walker D. Kim J. Dionise Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan USA

An adaptive controller is presented for the coordinated motion control of two manipulators handling an object of unknown mass. Global convergence in tracking of both position and internal force trajectories of the object is proved, assuming perfect models for both manipulators. The computational algorithm is similar to the Newton-Euler inverse dynamics algorithm with complexity linear in the number of links in the manipulators. A significant feature of the control method is that both manipulators use the identical computational algorithm. Thus, the concept of master/slave relationship between the two manipulators is avoided. Two simulations are presented. The first assumes an ideal model for each manipulator. As expected, the controller is stable and provides excellent tracking ability of the manipulator. The second simulation investigates the effects of modeling errors in the mass properties of each arm. The position trajectories track very close to their desired values; however, they never completely converge.< >

关键词： Programmable control Adaptive control Motion control Arm Manipulator dynamics Trajectory Computational modeling Weight control Convergence Heuristic algorithms

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