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A telerobotics construction set with integrated performance analysis

A telerobotics construction set with integrated performance ...

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

作者： M. Skubic G.V. Kondraske J.D. Wise G.J. Khoury R.A. Volz S. Askew Department of Computer Science Texas A and M University College Station TX USA Human Performance Institute University of Texas Arlington Arlington TX USA Department of Electrical and Computer Engineering Rice University Houston TX USA Automation and Robotics Division NASA-Johnson Space Center Houston TX USA

The Universities Space Automation and robotics Consortium (USARC) was established to promote research into robotics and telerobotics for remote applications. An important part of the work of the Consortium has been the design and implementation of the Telerobotic Construction Set (TCS), which enables the building of modular telerobotic networks. Online and off-line performance analyses are integrated into TCS using quantitative analytical models. This provides the capabilities of measuring and predicting performance and system work loads quantitatively under different conditions, such as different levels of remote autonomy or different operator interfaces. This paper presents the methodology used in the performance/workload analysis and describes experiments, measuring teleoperation performance under time delay.

关键词： Telerobotics robotics and automation Orbital robotics Performance analysis Educational institutions Modular construction Buildings Analytical models Time measurement Delay effects

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Visual programming and hypermedia implementation within a distributed laboratory environment

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Intelligent Automation and Soft Computing 1995年第1期1.0卷 43-62页

作者： Gertz, Matthew W. Maxion, Roy A. Khosla, Pradeep K. Microsoft Corporation Redmond WA 98052 United States School of Computer Science Carnegie Mellon University Pittsburgh PA 15213 United States Department of Electrical and Computer Engineering The Robotics Institute at Carnegie Mellon University Pittsburgh PA 15213 United States

Recent developments in reusable and reconfigurable real-time software make it possible to create distributed laboratories wherein applications for a sensor-based system located at a particular location can be created by assembling software modules designed at other sites, and executed in combination upon a robotic system at yet another site. Ultimately, such systems will lead to the development of virtual factories, wherein assembly can be performed remotely, using network-accessible time-shared facilities, from sites which otherwise would lack the necessary resources to accomplish such tasks. The benefits of these distributed laboratories and factories can be greatly enhanced by using hypermedia mechanisms. We have developed Onika, an iconically programmed human-machine interface with hypermedia capabilities, which interacts with reconfigurable software to assemble reusable code into applications. Onika can retrieve and use software modules created at other sites via hyper/inks, integrating them with modules created locally. Onika has been fully integrated with the Chimera real-time operating system in order to control several different robotic systems at Carnegie Mellon University and at other sites around the country, with control achieved both locally and remotely. Additionally, we have performed extensive user tests on Onika, which show that even users with little or no training in programming can effectively and quickly use our system to create code for sensor-based systems after a brief twenty-minute tutorial, with code being generated in minutes as opposed to days. © 1995 Taylor & Francis Group, LLC.

关键词： Graphical User Interfaces Hypermedia Robots Visual programming

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Adaptive load balancing: a study in multi-agent learning

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Journal of Artificial Intelligence Research 1995年第1期2卷

作者： Andrea Schaerf Yoav Shoham Moshe Tennenholtz Dipartimento di Informatica e Sistemistica Universitá di Roma "La Sapienza" Roma Italy Robotics Laboratory Computer Science Department Stanford University Stanford CA Faculty of Industrial Engineering and Management Technion Haifa Israel

We study the process of multi-agent reinforcement learning in the context of load balancing in a distributed system, without use of either central coordination or explicit communication. We first define a precise framework in which to study adaptive load balancing, important features of which are its stochastic nature and the purely local information available to individual agents. Given this framework, we show illuminating results on the interplay between basic adaptive behavior parameters and their effect on system efficiency. We then investigate the properties of adaptive load balancing in heterogeneous populations, and address the issue of exploration vs. exploitation in that context. Finally, we show that naive use of communication may not improve, and might even harm system efficiency.

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Steady‐state security evaluation of electrical power systems by means of artificial neural network

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European Transactions on Electrical Power 1995年第2期5卷 91-97页

作者： Chiodo, E. Menniti, D. Testa, A. Picardi, C. Elio Chiodo (1959) received the degree in Electronics Engineering in 1985 and the Ph.D. degree in Computational Statistics both from the University of Naplefltaly. He is a Researcher at the Department of Electrical Engineering of the University of Naples and a member of the Italian Statistical Society. His areas of interest include probabilistic methods applied to electric power systems analysis. (University of Naples Fedrrico 11. Electrical Engineering Dept.via Claudio 21 1-80125 Naplefltaly T +3981/7683226 Fax+3981/2396897) Daniele Menniti (1958) received the degree in Electrical Engineering from the University of Calabria. Cosenzataly and the Ph.D. degree in Electrical Engineering from the University of NapleslItaly in 1984 and 1989 respectively. He is a researcher at the Electronic. Computer and Systems Science Department of the University of Calabria. Italy. Hiscurrent research interests concern electric power system analysis real-time control and automation. (University of Calabria Electronic Computer and Systems Science Dep. Arcavacataji Rende (CS). 1-87036 CosenzdItaly T +39984/494707. Fax +39984/4947 13) Alfredo Testa (1950) received the degree in Electrical Engineering from the University of Naples/Italy in 1975. He is an Associate Professor in Electrical Power Systems at the Department of Electrical Engineering of the University of Naples. He is engaged in researches on electrical power systems reliability and harmonic analysis. (University of Naples Federico 11. Electrical Engineering Dep. via Claudio '2 1 1-80 I25 NapleslItaly T + 39 8 I/7 68 3'2 11. Fax+3981/2396897) Ciro Picardi (1949) received the degree in Electronics Engineering from the University of Naples/Italy in 1975. He is currently Associate Professor in Process Control at the Department of Electronic Computer and System Science of the University of Calabria. Italy. His current research interests are in the area of electrical drives robotics neural networks and fuzzy control. (University of Calabria Electronic. Compu

An artificial‐neural‐network (ANN) application for steady‐state security evaluation of electrical power systems is presented. Such application is based upon a combined use of a multilayer back‐propagation neural network and of an opportune electrical system model, previously proposed by some of the authors. In the paper, the definition of steady‐state security and the problems arising from its on‐line evaluation are briefly recalled. Then, the ANN utilized is described with particular reference to the solutions adopted by the authors. Afterwards, some remarks on the system model utilized are reported. Finally, numerical applications on the AEP‐14 bus system are presented and the results obtained with different ANN configurations are analyzed. Copyright © 1995 John Wiley & Sons, Ltd.

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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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Face recognition: The problem of compensating for changes in illumination direction 3rd

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3rd European Conference on computer Vision, ECCV 1994

作者： Moses, Yael Adini, Yael Ullman, Shimon Department of Applied Mathematics and Computer Science The Weizmann Institute of Science Rehovot76100 Israel Robotics Group Dept Engineering Science Oxford University Parks Rd OX1 3PJ United Kingdom

ISBN: (纸本)9783540579564

Recognizing faces is a difficult problem due to the generally similar shape of faces combined with the considerable variability in images of the same face under different viewing conditions. In this paper we consider image variation due mainly to illumination conditions. We study several image representations that are often considered insensitive to changes of illumination conditions, such as edge maps, derivatives of the grey-level image, and the image convolved with Gabor filters. For each of these representations, we compare the differences between images of the same face under different imaging conditions, with differences between images of distinct faces. The comparison is performed using a controlled database of faces, in which each of the imaging parameters (illumination, viewing position, and expression) is controlled separately. The main result of these studies is that the variations between the images of the same face due to illumination and viewing directions are almost always larger than image variations due to a change in face identity. For illumination changes, this reversal is ahnost complete except for representations that emphasized the horizontal features. However, even for these representations, systems based only on comparing such representations will fail to recognize up to 30% of the faces in our database. We conclude that these representations are insufficient by themselves to overcome the variation between images due to changes in illumination direction as well as changes due to viewing position and expression. © Springer-Verlag Berlin Heidelberg 1994.

关键词： Gabor filters

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A multiresolution framework for stereoscopic image sequence compression

A multiresolution framework for stereoscopic image sequence ...

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IEEE International Conference on Image Processing

作者： S. Sethuraman M.W. Siegel A.G. Jordan Department of Electrical and Computer Engineering The Robotics at the School of Computer Science Carnegie Mellon University Pittsburgh PA USA

Stereoscopic sequence compression typically involves the exploitation of the spatial redundancy between the left and right streams to achieve higher compressions than are possible with the independent compression of the two streams. In this paper the psychophysical property of the human visual system, that only one high resolution image in a stereo image pair is sufficient for satisfactory depth perception, has been used to further reduce the bit rates. Thus, one of the streams is independently coded along the lines of the MPEG standards, while the other stream is estimated at a lower resolution from this stream. A multiresolution framework has been adopted to facilitate such an estimation of motion and disparity vectors at different resolutions. Experimental results on typical sequences indicate that the additional stream can be compressed to about one-fifth of a highly compressed independently coded stream, without any significant loss in depth perception or perceived image quality.< >

关键词： Image resolution Image sequences Streaming media Image coding Spatial resolution Psychology Humans Visual system Bit rate MPEG standards

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Fault diagnosis in complex systems using artificial neural networks

Fault diagnosis in complex systems using artificial neural n...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Tzafestas Dalianis Intelligent Robotics and Control Unit (IRCU) Computer Science Division Electrical & Computer Engineering Department National and Technical University of Athens Athens Greece

Very complex technical and other physical processes require sophisticated methods of fault diagnosis and online condition monitoring. Various conventional techniques have already been well investigated and presented in the literature. However, in the last few years, a lot of attention has been given to adaptive methods based on artificial neural networks, which can significantly improve the symptom interpretation and system performance in a case of malfunctioning. Such methods are especially considered in cases where no explicit algorithms or models for the problem under investigation exist. In such problems, automatic interpretation of faulty symptoms with the use of artificial neural network classifiers is recommended. Two different models of artificial neural networks, the extended backpropagation and the radial basis function, are discussed and applied with appropriate simulations for a real world applications in a chemical manufacturing plant.< >

关键词： Feedforward neural networks Backpropagation Fault diagnosis Large-scale systems Chemical industry Neural network applications

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Towards a coordinated development of numerical CACSD software: the RASP/SLICOT compatibility concept

Towards a coordinated development of numerical CACSD softwar...

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IEEE International Symposium on computer Aided Control System Design (CACSD)

作者： G. Grubel A. Varga A. van den Boom A.J. Geurts Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Department of Electrical Engineering Eindhovan University of Technology Eindhoven Netherlands Department of Mathematics & Computer Science Eindhovan University of Technology Eindhoven Netherlands

The concept of mutual compatibility is introduced. It has arisen from the cooperation of the developers of the RASP and SLICOT libraries. With this concept it becomes feasible to coordinate the development of several libraries leading to a reduction of software implementation and testing efforts without giving up the identity of the separate libraries. A first development along the lines of the mutual compatibility concept is the recently developed model reduction library RASP-MODRED.< >

关键词： Software libraries MATLAB Data structures Software testing Mathematics Size control Lighting control Control design Design engineering Robot kinematics

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Sensorless manipulation using massively parallel microfabricated actuator arrays

Sensorless manipulation using massively parallel microfabric...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.-F. Bohringer B.R. Donald R. Mihailovich N.C. MacDonald Robotics & Vision Laboratory Department of Computer Science Cornell University Ithaca NY USA School of Electrical Engineering and The National Nanofabrication Facility Cornell University Ithaca NY USA

This paper investigates manipulation tasks with arrays of microelectromechanical structures (MEMS). We develop a geometric model for the mechanics of microactuators and a theory of sensorless, parallel manipulation, and we describe efficient algorithms for their evaluation. The theory of limit surfaces offers a purely geometric characterization of microscale contacts between actuator and moving object, which can be used to efficiently predict the motion of the object on an actuator array. It is shown how simple actuator control strategies can be used to uniquely align a part up to symmetry without sensor feedback. This theory is applicable to a wide range of microactuator arrays. Our actuators are oscillating structures of single-crystal silicon fabricated in a IC-compatible process. Calculations show that these actuators are strong enough to levitate and move, for example, a piece of paper.< >

关键词： Sensor arrays Actuators Microactuators Fabrication Micromechanical devices Laboratories Solid modeling Sensorless control Nanofabrication Robots

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