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International Conference on Computer Integrated Manufacturing

作者： S. Lee Y.G. Shin Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Computer Science Department University of Southern California Los Angeles CA USA

A system is presented which automatically constructs an assembly partial-order graph from an object-oriented model describing parts and their connections. The construction is based on the principle of assembly by disassembly and on assembly heuristics representing criteria for preferred subassemblies. The system first identifies disassemblable parts and subassemblies by reasoning geometric and physical constraints as well as resource requirements, and then assigns preference to the identified disassembly options based on assembly heuristics. The recursive application of this process to the selected disassemblies results in a hierarchical partial-order graph (HPOG). The HPOG not only specifies the required precedence in part assembly but also provides parallelism for implementing multiple-robot distributed and cooperative assembly. The software is organized under the cooperative-problem-solving paradigm.< >

关键词： Robotic assembly Assembly systems robotics and automation Process planning Job shop scheduling Robot sensing systems Intelligent robots Throughput Parallel robots Motion planning

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Learning expert systems for robot fine motion control

Learning expert systems for robot fine motion control

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IEEE International Symposium on Intelligent Control (ISIC)

作者： S. Lee M.H. Kim Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Computer Science Department Sung Kyun Kwan University Seoul South Korea

The authors present a learning expert system which enables a robot to acquire fine motion skills automatically. The system follows the paradigm of Expert Assisted Robot Skill Acquisition (EARSA) proposed by the authors (1987). EARSA is mainly concerned with the self-discovery of skills by a robot in conjunction with the transfer of human skills to a robot and emphasizes the distinctive difference in perceptual and physical capabilities between a human and a robot. The authors review the theory and mechanism of EARSA, describe the robot fine motion skill learning algorithm formulated on the basis of EARSA, and present the details of simulation on the robot learning of two-dimensional peg-hole insertion skills. The results of simulation indicate the dramatic improvement of performance as a result of skill learning.< >

关键词： Expert systems Motion control robotics and automation Robot sensing systems Intelligent robots Cognitive robotics Motion planning Robotic assembly Automatic control Humans

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Optimal Safe Path For Robots

Optimal Safe Path For Robots

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IEEE International Workshop on Intelligent Robots

作者： Tsu-tian Lee B.K. Lee T.K. Chen Department of Electrical Engineering and Also with Center for Robotics and Manufacturing Systems University of Kentucky Lexington KY USA Institute of Electronics National Chiao Tung University Hsinchu Taiwan

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Minimization of energy in quasistatic manipulation

Minimization of energy in quasistatic manipulation

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Peshkin A.C. Sanderson Robotics Institute Carnegie Mellon University Pittsburgh PA USA Mechanical Engineering Department Northwestern University Evanston IL USA Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

Quasistatic mechanical systems, in which mass or acceleration is sufficiently small for the inertial term ma in F=ma to be negligible compared to dissipative forces, are discussed. It is pointed out that many instances of robotic manipulation can be well approximated as quasistatic systems, with the dissipative force being dry friction. Energetic formulations of Newton's laws have often been found useful in the solution of mechanics problems involving multiple constraints. An intuitive minimum power principle is outlined which states that a system chooses at every instant the lowest-energy, or 'easiest', motion in conformity with the constraints. Surprisingly, the principle is in general false; but it is proved that the principle is correct in the useful special case that Coulomb friction is the only dissipative or velocity-dependent force acting in the system.< >

关键词： Friction Robots Mechanical systems Motion analysis Shape Credit cards Fingers Acceleration Energy dissipation Energy loss

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Expert self-learning controller for robot manipulator

Expert self-learning controller for robot manipulator

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IEEE Conference on Decision and Control

作者： Z. Geng M. Jamshidi Department of Electrical Engineering and Computer Science George Washington University Washington D.C. DC USA CAD Laboratory of Systems / Robotics Department of ECE University of New Mexico Albuquerque NM USA

Real-time expert system techniques and applications to robot manipulator control systems are discussed. A novel type of intelligent controller structure, the expert learning controller prototype ELEC (expert learning controller), is developed for the trajectory tracking control in repeat operations. ELEC, acting as an intelligent real-time controller in a closed-loop system, can modify the control series in a human-expert-like manner using the experience of previous operations in order to force the system output to converge to the prespecified desired trajectory. ELEC does not require the knowledge of system models, so it can be used in a fairly wide range of control problems. A numerical example for a two-link robot manipulator is given which shows the satisfactory performance of ELEC.< >

关键词： Robot control Manipulators Control systems Real time systems Intelligent robots Force control Expert systems Intelligent structures Prototypes Trajectory

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Thin‐layer p–n junction fabrication using Ga and In focused ion beam implantation

Journal of Vacuum Science & Technology B: Microelectronics P...

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Journal of Vacuum Science & Technology B: Microelectronics Processing and Phenomena 1988年第3期6卷 977-981页

作者： C‐M. Lin A. J. Steckl T. P. Chow Center for Integrated Electronics and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy New York 12181 General Electric Co. Corporate Research and Development Center Schenectady New York 12301

The fabrication of shallow p–n junction impurity profiles using Ga and In focused ion beam (FIB) implantation in conjunction with rapid thermal annealing is reported. A 75‐keV focused ion beam with 80 mA/cm2 current density and 0.5‐μm beam diameter was used to implant Ga+ and In+ into (100) Si substrates at doses ranging from 1×1013 to 5×1015/cm2. The annealing temperature was varied from 600 to 1000 °C for various times, 10–30 s. Secondary ion mass spectrometry and spreading resistance profiling were used to measure the implanted species atomic and carrier concentration depth profiles. As compared to the conventional broad beam implantation, the FIB implanted Ga concentration depth profiles exhibit higher activation percentage in the end‐of‐range and tail region. This results in thicker layers and deeper p+–n junctions, but with lower sheet resistance and leakage current. A similar phenomenon is also observed in In FIB‐implanted samples. The damage generated by the high dose rate implantation is possibly responsible for this phenomenon. p+–n diodes fabricated using Ga FIB doping exhibit very good diode electrical characteristics: ideality factor as low as 1.01, leakage current density below 1 nA/cm2 at −1 V reverse bias, and breakdown voltage of ∼35 V. Diodes fabrication with In generally exhibit shallower junctions, but higher leakage current. Bipolar transistors have been fabricated using FIB‐implanted Ga and In thin base layers. Common emitter current gain of 70 and 10 were obtained for Ga and In FIB‐implanted bipolar transistors, respectively.

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Approaches on multi-sensor fusion under time-evolving conditions

Approaches on multi-sensor fusion under time-evolving condit...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： R.C. Luo W.S. Yang M.-H. Lin Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering Department North Carolina State University Raleigh NC USA Dept. of Electr. & Comput. Eng. North Carolina State Univ. Raleigh NC USA

A paradigm for optimum estimation of fused multiple sensor data is developed in order to best use the sensor information in the time evolving environment. Two basic approaches have been developed: dynamic moving quadratic curve fitting and weighted least mean square error. These two approaches are shown to be advantageous in terms of accuracy, speed, and versatility. The theoretical frameworks presented are supported by sets of simulation data.< >

关键词： Sensor fusion Robot sensing systems Intelligent robots Intelligent sensors Sensor systems Uncertainty Military aircraft Machine intelligence Mobile robots Sensor phenomena and characterization

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Identification and control of a single-link flexible manipulator

Identification and control of a single-link flexible manipul...

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IEEE Conference on Decision and Control

作者： K.S. Rattan V. Feliu H.B. Brown Department of Electrical Systems Engineering Wright State University Dayton OH USA Departamento Ingenieria Electrica Electronica y Control UNED (Spanish National University of Distance Education) Madrid Spain Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Model identification and control of a single-link, very flexible manipulator is carried out. The objective is first to find the transfer functions relating the tip position to the motor position and the motor position to the motor current, and then to use the transfer functions to control the tip position of the manipulator. Because of the nonlinearities introduced by the static friction of the motor and due to very low damping of the manipulator, classical frequency-domain techniques cannot be used to find the transfer functions, so a novel method is proposed. A set of experiments has been performed, and transfer functions which fit this data have been obtained. The control scheme contains an inner loop for the motor position and an outer loop for the tip position. For the outside loop, feedforward control and the computed torque techniques are evaluated.< >

关键词： Transfer functions Friction Manipulators Torque control Wire Weight control Control systems Frequency domain analysis Optimal control Robots

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Refining edges detected by a LoG operator

Refining edges detected by a LoG operator

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： F. Ulupinar G. Medioni Dept. of Electr. Eng. & Comput. Sci. Univ. of Southern California Los Angeles CA USA Institute for Robotics and Intelligent Systems Department of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The Laplacian of Gaussian (LoG) operator is one of the most popular operators used in edge detection. This operator, however, has some problems: zero-crossings do not always correspond to edges, and edges with an asymmetric profile introduce a symmetric bias between edge and zero-crossing locations. The authors offer solutions to these two problems. First, for one-dimensional signals, such as slices from images, they propose a simple test to detect true edges, and, for the problem of bias, they propose different techniques: the first one combines the results of the convolution of two LoG operators of different deviations, whereas the others sample the convolution with a single LoG filter at two points besides the zero-crossing. In addition to localization, these methods allow them to further characterize the shape of the edge. The authors present an implementation of these techniques for edges in 2-D images.< >

关键词： Image edge detection Laplace equations Detectors Intelligent robots Convolution Shape Intelligent systems Testing Filters Image segmentation

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Decentralized adaptive control (robot)

Decentralized adaptive control (robot)

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IEEE International Conference on robotics and Automation (ICRA)

作者： B.J. Oh M. Jamshidi H. Seraji CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA Dept. of Electr. & Comput. Eng. New Mexico Univ. Albuquerque NM USA Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

A decentralized adaptive control is proposed to stabilize and track the nonlinear interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive control theory based on Lyapunov's direct method. The adaptive gains consist of sigma , proportional, and integral combination of the measured and reference values of the corresponding subsystem. The proposed control is applied to the joint control of a two-link robot manipulator, and the performance in computer simulation corresponds with what is expected in theoretical development.< >

关键词： Adaptive control Control systems Programmable control Laboratories Manipulators Robot sensing systems Nonlinear control systems Couplings Robust control Propulsion

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