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Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： Myungsoo Jun S.I. Roumeliotis G.S. Sukhatme Department of Electrical Engineering-Systems USA Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

Presents a technique to accurately estimate the state of a robot helicopter using a combination of gyroscopes, accelerometers, inclinometers and GPS. Simulation results of state estimation of the helicopter are presented using Kalman filtering based on sensor modeling. The number of estimated states of helicopter is nine : three attitudes(/spl theta/,/spl phi/,/spl psi/) from the gyroscopes, three accelerations(x/spl ***/,y/spl ***/,z/spl ***/) and three positions (x, y, z) from the accelerometers. Two Kalman filters were used, one for the gyroscope data and the other for the accelerometer data. Our approach is unique because it explicitly avoids dynamic modeling of the system and allows for can elegant combination of sensor data available at different frequencies. We also describe the larger context in which this work is embedded, namely the design and implementation of an autonomous robot helicopter.

关键词： State estimation Helicopters Kalman filters Gyroscopes Accelerometers Filtering Robot sensing systems Global Positioning System Acceleration Sensor systems

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Dynamic process initial conditions in repetitive processes. Controllability and stability analysis

Dynamic process initial conditions in repetitive processes. ...

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1999 Information, Decision and Control, IDC 1999

作者： Galkowski, K. Rogers, E. Gramacki, A. Gramacki, J. Owens, D.H. Technical University of Zielona Gora Institute of Robotics and Software Engineering Zielona Gora Poland University of Southampton Image Speech and Intelligent Systems Research Group Department of Electronics and Computer Science SouthamptonSO17 lBJ United Kingdom University of Exeter Centre for Systems and Control Engineering School of Engineering ExeterEX4 4QF United Kingdom

ISBN: (纸本)0780352564

Repetitive, or multipass, processes are a class of 2D systems of both practical and algorithmic/theoretical interest whose dynamics cannot be analysed or controlled using standard (1D) systems theory. Recently it has been shown that the modelling of the boundary conditions, also known as the process initial conditions, is a crucial feature in the analysis and control of these processes. This paper presents some further results on the effects of so-called 'dynamic' process initial conditions on the controllability and stability properties of discrete linear repetitive processes. Previous work has shown that these dynamic process initial conditions alone can destroy the stability properties of these processes. Hence their effects must be 'adequately' accounted for the process modelling stage in order to ensure that subsequent analysis does not lead to incorrect results/conclusions. The main results developed in this paper can be summarised as follows. (i) Computationally efficient stability tests which can, in effect, be applied using standard, or 1D, linear systems tests. (ii) Characterisation of so-called pass controllability in the form of matrix rank based conditions. (iii) Conditions under which the dynamic process initial conditions can be selected to ensure stability and pass controllability. © 1999 IEEE.

关键词： Controllability

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Lyapunov stability theory for linear repetitive processes - The 1D equation approach

Lyapunov stability theory for linear repetitive processes - ...

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1999 European Control Conference, ECC 1999

作者： Rogers, E. Gramacki, J. Gramacki, A. Galkowski, K. Owens, D.H. Department of Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom Department of Robotics and Software Engineering Technical University of Zielona Gora ul. Podgorna 50 Zielona Gora65-246 Poland Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom

ISBN: (纸本)9783952417355

This paper reports further development of the so-called ID Lyapunov equation based approach to the stability analysis of differential linear repetitive processes. In particular, it is shown that this approach leads to stability tests which can be implemented by computations with matrices which have constant entries, and that if the example under consideration is stable then physically meaningful information concerning one key aspect of 'transient' performance is available for no extra cost. The computational efficiency of these new stability tests against alternatives is also discussed and some areas for short to medium term further research briefly noted. © 1999 EUCA.

关键词： Linear systems

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Higher order discretization of differential linear repetitive processes

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IFAC Proceedings Volumes 1999年第2期32卷 1903-1908页

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D.H. Owens Departments of Robotics and Software Engineering/Electronics and Informatics Technical University of Zielona Gora Poland. Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK School of Engineering and Computer Science University of Exeter Exeter EX4 4QF UK.

Differential linear repetitive processes are a class of linear systems which can be used, for example, to model industrial processes such as long-wall coal cutting operations. The key feature of interest in this paper is the fact that information propagation in one of the two separate directions in such processes evolves continuously over a finite fixed duration and in the other it is, in effect, discrete. This paper develops discrete approximations for the dynamics of these processes and examines the effects of the approximation techniques used on two key control related properties, i.e. stability and the 2D linear systems structure of the resulting discrete stale space models.

关键词： Repetitive dynamics discrete approximations stability 2D linear systems

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Smoother based 3D attitude estimation for mobile robot localization

Smoother based 3D attitude estimation for mobile robot local...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.I. Roumeliotis G.S. Sukhatme G.A. Bekey Department of Electrical Engineering University of Southern California Los Angeles CA USA Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

The mobile robot localization problem is decomposed into two stages; attitude estimation followed by position estimation. The innovation of our method is the use of a smoother, in the attitude estimation loop that outperforms other Kalman filter based techniques in estimate accuracy. The smoother exploits the special nature of the data fused; high frequency inertial sensor (gyroscope) data and low frequency absolute orientation data (from a compass or sun sensor). Two Kalman filters form the smoother. During each time interval one of them propagates the attitude estimate forward in time until it is updated by an absolute orientation sensor. At this time, the second filter propagates the recently renewed estimate back in time. The smoother optimally exploits the limited observability of the system by combining the outcome of the two filters. The system model uses gyro modeling which relies on integrating the kinematic equations to propagate the attitude estimates and obviates the need for complex dynamic modeling. The indirect (error state) form of the Kalman filter is developed for both parts of the smoother. The proposed approach is independent of the robot structure and the morphology of the ground. It can easily be transferred to another robot which has an equivalent set of sensors. Quaternions are used for the 3D attitude representation mainly for practical reasons discussed in the paper. Proposed innovative algorithm is tested in simulation and the overall improvement in position estimation is demonstrated.

关键词： Mobile robots Frequency Sensor fusion Filters Robot sensing systems Technological innovation Gyroscopes Sun Observability Kinematics

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Team scheduling by genetic search

Team scheduling by genetic search

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Proceedings of the International Conference on Intelligent Processing and Manufacturing of Materials, IPMM

作者： Tiehua Zhang W.A. Gruver M.H. Smith Intelligent Robotics and Manufacturing System Laboratory Simon Fraser University Burnaby BC Canada Department of Electrical Engineering and Computer Science University of California Berkeley Berkeley CA USA

We consider a photographic studio that must schedule multiple teams of photographers to a large number of elementary and secondary schools. The photographers' schedules are to be optimized so that time constraints are satisfied and each team is able to at least visit two schools daily. A multiple travelling salesman model is used where the total distance traveled and time consumed can be evaluated in a single cost function to achieve overall optimality. A genetic algorithm has been applied to solve the problem. The results show that this approach rapidly provides an effective means for solving the problem.

关键词： Genetics Job shop scheduling Educational institutions Processor scheduling Intelligent robots Packaging Manufacturing systems Laboratories USA Councils Cost function

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Automatic caption localization in compressed video

Automatic caption localization in compressed video

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IEEE International Conference on Image Processing

作者： Yu Zhong Hong-Jiang Zhang A.K. Jain Robotics Institute Carnegie Mellon University Pittsburgh PA USA Microsoft Research Limited Beijing China Department Computer Science& Engineering Michigan State University East Lansing MI USA

We present a method to automatically locate captions in MPEG video. Caption text regions are segmented from the background using their distinguishing texture characteristics. This method first locates candidate text regions directly in the DCT compressed domain, and then reconstructs the candidate regions for further refinement in the spatial domain. Therefore, only a small amount of decoding is required. The proposed algorithm achieves about 4.0% false reject rate and less than 5.7% false positive rate on a variety of MPEG compressed video containing more than 42,000 frames.

关键词： Video compression Image coding Transform coding Discrete cosine transforms Image reconstruction Information retrieval Image edge detection robotics and automation Decoding Content based retrieval

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Technical note Hybrid fuzzy P+ID control of manipulators under uncertainty

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Mechatronics 1999年第3期9卷 301-315页

作者： W. Li X.G. Chang F.M. Wahl S.K. Tso Department of Computer Science and Technology Tsinghua University Beijing 100084 Peoples Republic of China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany Center for Intelligent Design Manufacturing and Automation Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong KongPeoples Republic ofChina

Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.

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Dynamic process initial conditions in repetitive processes. Controllability and stability analysis

Dynamic process initial conditions in repetitive processes. ...

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Information, Decision and Control (IDC)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D.H. Owens Institute of Robotics and Software Engineering Technical University of Zielona Góra Zielona Gora Poland Department of Electronics and Computer Science Image Speech and Intelligent Systems Research Group University of Southampton Southampton UK Institute of Computer Engineering and Electronics Technical University of Zielona Góra Zielona Gora Poland School of Engineering Centre for Systems and Control Engineering University of Exeter Exeter UK

关键词： Stability Controllability System testing Control system analysis Algorithm design and analysis Control systems Boundary conditions Process control Standards development Linear systems

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Distributed flow control design for repetitive manufacturing processes

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IFAC Proceedings Volumes 1999年第2期32卷 1-6页

作者： M.B. Zaremba Z.A. Banaszak P. Majdzik K.J. Jedrzejek Département d'informatique Université du Québec Hull Quebec J8X 3X7 Canada Department of Robotics and Software Engineering Technical University of Zielona Gora 65-246 Zielona Gora Poland Department of Mathematics and Computer Science Kuwait University P.O. Box 5969 13060 Kuwait

This paper addresses resource allocation issues that are at the heart of a methodology proposed for the design of distributed control of a class of repetitive manufacturing systems. In particular, conditions sufficient for deadlock-free and starvation-free execution of a system of closed, sequential, repetitive manufacturing processes are considered. The relationship between system resource capacities and a set of admissible realizations of the component processes is discussed. Finally, a rapid prototyping procedure for designing systems with given performance parameters is presented.

关键词： manufacturing systems distributed control FMS rapid prototyping modeling

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