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New concepts in tele-autonomous systems

New concepts in tele-autonomous systems

引用

AIAA/NASA/USAF 2nd Symposium on Automation, robotics and Advanced Computing for the National Space Program,1987

作者： Conway, Lynn Volz, Richard Walker, Michael Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48109 United States

We have taken up the challenge of integrating telemanipulation technology and autonomous system technology. We are seeking methods for integration at a fundamental rather than an ad-hoc level. We believe that success in this effort can open up new space and defense applications now beyond reach of either technology alone. In our presentation at this symposium, we introduce a series of concepts for "tele-autonomous" systems. The concepts involve new system architectures and associated new system interface controls including "time clutches", "position clutches" and "time brakes". Taken, together, the concepts enable effective, efficient intermingling of real-time cognition and manipulation tasks performed by either humans or machines. The concepts also yield simple mechanisms and protocols for handoffs of such tasks between multiple agents. In this presentation we focus primarily on the tutorial introduction of the basic tele-automation concepts. We then briefly describe our environment for exploring this new technology and the results of our initial experiments. Further details concerning tele-autonomous system architecture and our initial experimental results can be found in an attached reference [CON87]. © 1987 by the American institute of Aeronautics and Astronautics, Inc.

关键词： computer architecture

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Fourier optics and pattern recognition

Fourier optics and pattern recognition

引用

1986 International Optical Computing Conference

作者： Kandel, Abraham Langholz, Gideon Computer Science Department Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States Department of Electrical Engineering Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States

In Fourier optics, the Fourier transformation is performed on the amplitude of the electromagnetic wave, whereas in the computational method the transformation is usually applied to the grayness of its image which is ...

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Modeling impact dynamics for robotic operations

Modeling impact dynamics for robotic operations

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yu Wang M. Mason Department of Mechanical Engineering and The Robotics Institute Carnegie-Mellon University Department of Computer Science and The Robotics Institute Carnegie-Mellon University

The motion of an object to be manipulated is determined by the forces applied to the object. During a collision, impulsive forces may dominate all other forces, and determine the ultimate success or failure of a task. More effective planning and control of manipulators should be possible if the impact process, including the effects of friction and elasticity, is better understood. This paper explores the planar impact of two objects, and develops simple graphical methods for predicting the mode of contact, the total impulse, and the resultant motions of the objects. In the special case of a perfectly plastic collision, the fundamental motion of the object-whether an angular acceleration will occur, and if so in what direction-is the same as predicted in earlier work on quasi-static pushing.

关键词： Robots Elasticity Manipulator dynamics Friction Angular velocity Mechanical engineering Motion planning Process planning Plastics Acceleration

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Tele-autonomous systems: Methods and architectures for intermingling autonomous and telerobotic technology

Tele-autonomous systems: Methods and architectures for inter...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： L. Conway R. Volz M. Walker Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Michigan

As a result of recent advances in artificial intelligence, human cognitive modelling, autonomous systems and telerobotics, there is an opportunity to broaden our concepts of technology for projecting action at a distance. We draw on these advances to develop a conceptual and architectural framework that enables efficient projection in time and space of intermingled manipulation and cognition tasks. Where AI-based autonomous systems have previously been concerned with human supervisory intervention primarily at a cognitive level, we add methods for rendezvous, capture and rehandoff of embedded manipulation tasks. Where telerobotics has been concerned with the projection of sensory-motor manipulation, we add the projection of cognitive processing. Thus extended, the two technologies mirror one another and merge into one of "tele-autonomous systems". We introduce notions of how the sensory, cognitive and motor functions of tele-autonomous systems can be factored and transferred back and forth between human and machine. We illustrate how the times to complete tele-autonomous tasks can be reduced through time and space constraint relaxations effected through simple controls: We employ the concepts of forward simulation and predictor display, augmented by "time and position clutches", "time ratio controls" and "time brakes", to control the resulting manipulation paths and event transitions. We sketch some generic architectural and human interface implications of these methods. Finally, we describe our environment for exploring these methods and the results of some recent experiments.

关键词： Telerobotics Humans Space technology Artificial intelligence Cognition Mirrors Time factors Predictive models Discrete event simulation Displays

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Range image segmentation and surface parameter extraction for 3-D object recognition of industrial parts

Range image segmentation and surface parameter extraction fo...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Joonhee Han R. Volz T. Mudge Department of Electrical Engineering and Computer Science Robotics Research Laboratory The University of Michigan Ann Arbor MI

This paper addresses the problem of extracting certain types of surfaces for 3-dimensional object recognition in the presence of partial occlusion and noise using range information. We restrict consideration to man made industrial parts. In this case, we need only work with a small set of surface shapes such as planes, cylinders, and spheres since such shapes are common in industrial parts and it is only necessary to recognize and locate a sufficient set of surface regions to uniquely distinguish the part being observed from all others that might be present. We describe a way of extracting the parameters of these types of surfaces using normal analysis. The use of surface parameters then allows efficient and robust use of a matching process for object recognition and pose determination even though there are many undefined or occluded surface regions.

关键词： Image segmentation Parameter extraction Object recognition Shape Surface reconstruction Noise shaping Eigenvalues and eigenfunctions computer industry Equations Image analysis

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PAR: A representation scheme for rotational parts

PAR: A representation scheme for rotational parts

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yung-Chia Lee K. Jea The Robotics Research Laboratory Department of Electrical Engineering and Computer Science The University of Michigan Ann Arbor MI

A new representation scheme PAR (Principal Axis Representation) for rotational parts is proposed as an internal representation scheme for Constructive Solid Geometry (CSG). The main idea of PAR is to represent uniquely an object by its principal axis and a set of boundary curves so that geometrical properties of the part can be easily computed. In his paper, the PAR scheme is first described and followed by a proof of its equivalence to the CSG scheme. Also proved is the uniqueness of the PAR scheme. Finally, an algorithm that converts a CGS representation into PAR is briefly discussed along with examples.

关键词： Feature extraction Shape Lifting equipment Robots Laboratories Computational geometry Virtual manufacturing Solid modeling computer displays Pattern recognition

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PROGRESS--A graphical robot programming system

PROGRESS--A graphical robot programming system

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： A. Naylor Lejun Shao R. Volz R. Jungclas P. Bixel K. Lloyd Robotics Research Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI General Electric Company Bell Lab. of AT&T company

A graphical off-line robot programming system should not only be able to simulate various types of robot movement graphically, it should also be able to use graphics to interact with binary sensors, actuators and etc., in order to simulate logic-related and other functions of robot languages, such as testing and branching, looping, communication and external event handling graphically. We present a graphical off-line robot programming system which has some of these additional features. In particular, it incorporates a geometrical representation of logical conditions into the geometrical representation of the robot and workspace and it allows conditional statements to be programmed in a geometric setting.

关键词： Robot programming Graphics Displays Actuators Shape Robot sensing systems Grippers Sensor systems Control systems Temperature

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Languages for expert system building: A comparison 86

Languages for expert system building: A comparison

引用

1986 ACM SIGSMALL/PC Symposium on Small Systems, SIGSMALL 1986

作者： Hall, Lawrence O. Kandel, Abraham Institute for Expert Systems and Robotics Department of Computer Science Florida State University TallahasseeFL32306 United States Department of Computer Science and Engineering University of South Florida TampaFL33620 United States

ISBN: (纸本)089791211X

A study of some languages which may be used for expert system building is conducted. The characteristics necessary in an expert system building language are detailed. Languages that are unable to provide for many different types of expert systems to be built are not given much weight. Six relatively standard high level languages are studied, which include FORTRAN, Modula-2, Ada∗∗, Pascal, LISP and Prolog. Some of the newly developed expert system building languages are also studied. The study was done in conjunction with the development of the expert system known as Fess and a discussion of the reasons for the choice of its development language are given. The construction of the system has provided further insights for the language study. It is found that a best expert system building language may yet be developed. © 1986 ACM.

关键词： Expert systems

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Kinematic control and obstacle avoidance for redundant manipulators

Kinematic control and obstacle avoidance for redundant manip...

引用

IEEE Conference on Decision and Control

作者： A. K. Chassiakos M. A. Christodoulou Department of Computer Science School of Engineering and Robotics Institute University of Southern California Lafayette CA USA Department of Computer Engineering School of Engineering and Computer Technology Institute University of Patras Patras Greece

This paper considers the problem of steering a redundant manipulator from an initial to a final position in the work space (Cartesian space). An optimal control approach is employed, to avoid obstacles in the work spa... 详细信息

关键词： Manipulators Space technology Equations Optimal control computer science Robot kinematics Orbital robotics End effectors Null space Jacobian matrices

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Real-time interactive facilities associated with a 3-D medical workstation

Real-time interactive facilities associated with a 3-D medic...

引用

Application of Optical Instrumentation in Medicine XIV and Picture Archiving and Communication Systems (PACS IV) for Medical Applications 1986

作者： Goldwasser, S.M. Reynolds, R.A. Talton, D. Walsh, E. General Robotics and Active Sensory Processing Group Department of Computer and Information Science Moore School of Electrical Engineering/D2 University of Pennsylvania PhiladelphiaPA19104 United States Dynamic Digital Displays Inc. P.O.Box 15911 PhiladelphiaPA19103 United States

Biomedical workstations of the future will incorporate three-dimensional interactive capabilities which provide realtime response to most common operator requests. Such systems will find application in many areas of medicine including clinical diagnosis, surgical and radiation therapy planning, biomedical research based on functional imaging, and medical education. This paper considers the requirements of these future systems in terms of image quality, performance, and the interactive environment, and examines the relationship of workstation capabilities to specific medical applications. We describe a prototype physician's workstation that we have designed and built to meet many of these requirements (using conventional graphics technology in conjunction with a custom real-time 3-D processor), and give an account of the remaining issues and challenges that future designers of such systems will have to address. © 1986 SPIE. All rights reserved.

关键词： Medical applications

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