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共 363 条记录，以下是101-110 订阅

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Online path planning with optimal C-space discretization

Online path planning with optimal C-space discretization

引用

Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and applications (Cat. No.98CH36190)

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of Karlsruhe Karlsruhe Germany

The paper is based on a path planning approach for industrial robot arms with 6 degrees of freedom in an online given 3D environment. It has online capabilities by searching in an implicit and discrete configuration space and detecting collisions in the Cartesian workspace by distance computation based on the given CAD model. Here, we present different methods for specifying the C-space discretization. Besides the usual uniform and heuristic discretization, we investigate two versions of an optimal discretization for a user-predefined Cartesian resolution. The different methods are experimentally evaluated. Additionally, we provide a set of 3-dimensional benchmark problems for a fair comparison of the path planner. For each benchmark, the run-times of our planner are between only 3 and 100 seconds on a Pentium PC with 133 MHz.

关键词： Path planning Service robots Orbital robotics Robotic assembly process control Intellectual property computer science Defense industry Manipulators Runtime

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Remotely controllable mobile microrobots acting as nano positioners and intelligent tweezers in scanning electron microscopes (SEMs)

Remotely controllable mobile microrobots acting as nano posi...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： F. Schmoeckel H. Worn Institute for Process Control and Robotics Computer Science Department Universität Karlsruhe Karlsruhe Germany

ISBN: (纸本)0780365763

In the scanning electron microscope, many studies require micromanipulation tools that can be flexibly and comfortably used for the handling and positioning of objects ranging from a few millimeters down to fractions of microns. In the paper, some aspects of the control of small mobile microrobots by teleoperation are addressed facing the special behavior of their piezoelectric actuators and the challenge of handling tasks in ranges of very different orders of magnitude (100 nm-100 mm). In order to give the teleoperated tweezers a kind of low-level "intelligence", a control loop using the SEM as a sensor system is being developed. In different open-loop handling experiments, the employed 6D-mouse proves satisfactory as an intuitive user interface.

关键词： Scanning electron microscopy Electron mobility Piezoelectric actuators Intelligent control Intelligent sensors Intelligent actuators Open loop systems control systems Sensor systems User interfaces

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State controller with Improved Response Speed for Linear Discrete SISO Systems

State Controller with Improved Response Speed for Linear Dis...

引用

2022 International Conference Automatics and Informatics, ICAI 2022

作者： Nikolov, Nikola Alexandrova, Mariela Gaziyeva, Rano Ubaydullayeva, Shakhnoza Technical University of Varna Faculty of Computer Sciences and Automation Department of Automation Varna9010 Bulgaria National Research University Tashkent Institute of Irrigation and Agricultural Mechanization Engineers Department Automation and Control of Technology Process in Production Tashkent100000 Uzbekistan

ISBN: (数字)9781665476256

ISBN: (纸本)9781665476256

This paper presents an opportunity to create a linear discrete system (LDS) with a modal state controller for Single Input Single Output objects control. The created controller has an integrating element and a relationship between the set point (SP) and the control object (CO), implemented with an inverse model on the object. The proposed system guarantees handling of the perturbances and providing an improvement in the system performance as in PID-controller systems. In structure proposed, an LQR state controller could be used instead of the MSC. © 2022 IEEE.

关键词： Three term control systems

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On-line path planning by heuristic hierarchical search

On-line path planning by heuristic hierarchical search

引用

Annual Conference of Industrial Electronics Society

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of Karlsruhe Karlsruhe Germany

In this paper, the problem of path planning for robot manipulators with six degrees of freedom in an on-line provided three-dimensional environment is investigated. As a basic approach, the best-first algorithm is used to search in the implicit discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The basic approach is extended by three simple mechanisms and results in a heuristic hierarchical search. This is done by adjusting the stepsize of the search to the distance between the robot and the obstacles. As a first step, we show encouraging experimental results with two degrees of freedom for five typical benchmark problems.

关键词： Path planning Service robots Orbital robotics Robotic assembly Computational geometry Motion planning process control Intellectual property computer science Manipulators

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An integrative framework for global self-localization

An integrative framework for global self-localization

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： J. Weber L. Franken K.-W. Jorg K. Schmitt E. von Puttkamer Computer Science Department Robotics & Process Control Research Group University of Kaiserslautern Kaiserslautern Germany

Concerning the robustness of mobile robot navigation, global self-localization is a key feature for many service applications. In this paper we describe an efficient Bayesian approach for hybrid topological/metric navigation, which is designed to exploit information from multiple sources of sensor data. Experiments with a combination of odometry/laserscans/computer vision show the system was able to generate initial position hypotheses, to cope with environmental ambiguities and to recover from severe position errors.

关键词： Sensor phenomena and characterization Mobile robots Navigation Service robots Robustness Sensor fusion computer science process control Robust control Application software

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6 DOF path planning in dynamic environments-a parallel online approach

6 DOF path planning in dynamic environments-a parallel onlin...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of karlsruhe Karlsruhe Germany

Presents an approach to parallel path planning for industrial robot arms with six degrees of freedom in an online given 3D environment. The method is based a best-first search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on polyhedral models of the robot and the obstacles. By decomposing the 6D configuration space into hypercubes and cyclically mapping them onto multiple processing units, a good load distribution can be achieved. We have implemented the parallel path planner on a workstation cluster with 9 PCs and tested the planner for several benchmark environments. With optimal discretisation, the new approach usually shows very good speedups. In online provided environments with static obstacles, the parallel planning times are only a few seconds.

关键词： Path planning Orbital robotics Defense industry Service robots Parallel robots Manipulators Hypercubes Workstations Personal communication networks Testing

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Application of Image processing and Machine Learning Technologies for Home Care Bed

Application of Image Processing and Machine Learning Technol...

引用

2022 International Conference on Electrical, computer, Communications and Mechatronics Engineering, ICECCME 2022

作者： Suponenkovs, Artjoms Lacis, Matiss Markovics, Zigurds Kovalovs, Mihails Platkajis, Ardis Kalnins, Andrejs Process Engineering and Equipment Manufacturing Company PERUZA Riga Latvia Riga Technical University Department of Computer Control and Computer Networks Riga Latvia Riga Technical University Faculty of Computed Science and Information Technology Riga Latvia Riga Stradins University Department of Radiology Riga Latvia

ISBN: (数字)9781665470957

ISBN: (纸本)9781665470957

The problem of analysing a bed bound patient (that is, a patient who is confined to their bed) is a relevant factor in whether or not they will receive timely medical care. This paper aims to investigate the challenges and possible solutions to such problems. It describes an approach and methods for such analysis, as well as for home care bed control. This paper also addresses the challenges of Image processing and Machine Learning. The experimental part describes important aspects regarding analysing brain activity, facial expression, blood flow, and human body pose. These experimental results and the proposed approach based upon them can be helpful for ensuring timely medical care. In addition, the results of this work can be useful for home care bed development. © 2022 IEEE.

关键词： Machine learning

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Guest editorial

引用

Robotics and Autonomous Systems 1998年第3-4期25卷 135-136页

作者： K.-W. Jörg University of Kaiserslautern Robotics and Process Control Research Group Computer Science Department PO Box 3049 67653 Kaiserslautern Germany

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Fuzzy Case-Based System for Classification Tasks on Missing and Noisy Data

Fuzzy Case-Based System for Classification Tasks on Missing ...

引用

International Conference on Hybrid Intelligent Systems (HIS)

作者： Yanet Rodríguez Carlos Morell Ricardo Grau Maria M. García Bernard De Baets Department of Computer Science UCLV Cuba Department of Applied Mathematics Biometrics and Process Control Ghent University Belgium

Hybrid models combine different technologies to obtain a product that shares their advantages and minimizes their deficiencies. The solutions given by a case-based system (CBS) rely on similar past experiences, which are commonly described in terms of both symbolic and continuous attributes. The nearest neighbor (NN) principle commonly followed to develop CBS for classification task proceeds from the assumption that similar cases have similar solutions, having the definition of the distance (similarity) function a central attention for obtaining a good accuracy on a given data set. This paper presents a hybrid model to solve classification tasks using NN principle but including generalized knowledge from the set of given instances to improve the performance in contrast to pure lazy learning algorithms. The fuzzy case-based system, referred as FuCiuS, interprets predictive numeric attributes in terms of fuzzy sets defining in a conceptually uniform way a one-dimensional (local) criterion to compare mixed and missing data. Experimental analysis show good performance for FuCiuS in comparison with well-known classifiers on missing and noisy data, while a more natural framework to include expert knowledge by using linguistic is provided guaranteeing both robustness and interpretable solutions.

关键词： Classification algorithms Distance measurement Accuracy Artificial neural networks Correlation Fuzzy sets Noise measurement

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Vision-based behavior control of autonomous systems by fuzzy reasoning 3rd

引用

3rd International Workshop on Modelling and Integration of Sensor Based Intelligent Robot Systems, 1998

作者： Li, Wei Wahl, Friedrich M. Zhou, Jiangzhong Z. Wang, Hong He, Kezhong Z. Department of Computer Science and Technology Tsinghua University Beijing100084 China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 BraunschweigD-38114 Germany Institute for Computer Peripherals Chinese Academic of Sciences Wuhan430050 China

ISBN: (纸本)3540669337

Vision-based motion control of an autonomous vehicle operating in real world requires fast image processing and robustness with respect to noisy sensor readings and with respect to varying illumination conditions. In order to improve vehicle navigation performance in out-door environments, this paper presents methods for recognizing landmarks based on fuzzy reasoning. Firstly, a fuzzy thresholding algorithm is proposed to segment roads and to extract white line marks on streets from images. Secondly, some special domain knowledge about edges on roads represented by fuzzy sets is integrated into the rule base of a fuzzy edge detector. Based on this, the fuzzy thresholding algorithm is adopted to recognize road edges. In addition, a method for path planning in sensor space is presented and a path following behavior based on a fuzzy rule base is defined to control vehicle motion. The proposed methods are applied to navigate the THMR-III autonomous vehicle in out-door environments. Some experimental driving maneuvers have been performed to prove their effectiveness and their robustness.…. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Fuzzy inference

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