检索结果-内蒙古大学图书馆

Measuring the distance and orientation of a planar surface using nonstructured lighting

SYSTEMS AND COMPUTERS IN JAPAN 1996年第8期27卷 83-92页

作者： Tsukiyama, T Member Electrotechnical Laboratory Tsukuba Japan 305 Tosbifumi Tsukiyama:graduated in 1972 from the Biological Engineering Department Osaka University where he also received his Dr. of Eng. degree. He joined Electrotechnical Laboratory Ministry of Tread and Industry (Japan) in 1972. At present he is Senior Researcher at Computer Vision Section Intelligent Systems Division ETL. He was a Visiting Researcher at University of Illinois during 1984–1985. He has been interested in vision system for mobile robots and image processing architectures. He is a member of the Society of Instrumental and Control Engineers Japan Robotics Society of Japan and Information Processing Society of Japan.

This paper proposes a method of 3-dimensional measurement of a planar surface by using two fixed light sources and a TV camera. A set of two images is recorded by the camera switching on each light alternately. The peak of the luminance distribution in each image is detected, and the orientation and distance of the planar surface are calculated. The position of the peak of a luminance distribution can be estimated accurately by using an image processing. The light sources can be conventional apparatus with no particular structure. The method is simple and suitable for a vision system on an indoor mobile robot.

关键词： distance to surface orientation of planar surface point light source luminance distribution ring light

来源：评论

学校读者我要写书评

暂无评论

SCHEDULING DEPENDENT TASKS ON IDENTICAL MACHINES USING A NOVEL HEURISTIC CRITERION - A ROBOTIC COMPUTATION EXAMPLE

引用

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1995年第3期12卷 229-237页

作者： TZAFESTAS, S TRIANTAFYLLAKIS, A RIZOS, G Intelligent Robotics and Control Unit Department of Electrical and Computer Engineering National Technical University of Athens Zografou Greece

The problem of scheduling n dependent tasks, with arbitrary processing times, on m identical machines so as to minimize the makespan criterion is considered. Since this problem is NP-hard in the strong sense, it can be solved only suboptimally using heuristic approaches. Two new heuristic algorithms (dispatching rules), namely MVT/MISF acid DMVT/MISF algorithms, for this problem are proposed. These algorithms are then used, together with the existing ones CP/MISF and DHLF/MISF, as a dispatching rule base of a new adaptively weighted combinatorial dispatching (AWCD) rule. This combinatorial dispatching rule has a superior behaviour compared to simple dispatching rules. Extended experimentation with these algorithms supports this argument. Here a representative robotic dynamics computation example is included. In addition, some empirical rules are derived and proposed for the selection of a simple dispatching rule (heuristic) if such a selection is required, for each particular input data set. These methods, as well as the existing optimal algorithms for special solvable cases of the considered problem, have been integrated in a decision support system (DSS).

关键词： SCHEDULING PROBLEMS DISPATCHING RULES HEURISTIC ALGORITHMS DEPENDENT TASKS MAKESPAN CRITERION LIST SCHEDULING ALGORITHMS

来源：评论

学校读者我要写书评

暂无评论

FORCE-controlLED FUZZY-LOGIC-BASED ROBOTIC DEBURRING

引用

control engineering PRACTICE 1995年第2期3卷 189-201页

作者： LIU, MH Department of Control Engineering Control System Theory and Robotics Group Technical University of Darmstadt Landgraf-Georg-Str. 4 64283 Darmstadt Germany

In this paper a three-step active deburring strategy is proposed based on fuzzy logic and force feedback control. A strategy for automatic contour following is developed to identify unknown workpiece contours, to automatically generate desired robot motions, and to detect unknown burr sizes and positional inaccuracies. Under the deburring strategy the robot motion and force control are planned actively according to the detected burr sizes and positional inaccuracies. A fuzzy man-machine interface is built to make use of the knowledge of human operators to simplify the burr detection. A fuzzy model of the deburring process is developed to support the planning of deburring procedures. Implementation of and experiments with the proposed strategies are described.

关键词： DEBURRING FORCE control FUZZY SYSTEMS FUZZY MODELING GRINDING FUZZY MAN-MACHINE INTERFACE MACHINING POSITION control ROBOTS

来源：评论

学校读者我要写书评

暂无评论

EXPERIMENTAL RESULTS ON ADAPTIVE NONLINEAR control AND INPUT PRESHAPING FOR MULTILINK FLEXIBLE MANIPULATORS

引用

AUTOMATICA 1995年第1期31卷 83-97页

作者： KHORRAMI, F JAIN, S TZES, A School of Electrical Engineering and Computer Science Control/Robotics Research Laboratory (CRRL) Polytechnic University Brooklyn NY 11201 United States Department of Mechanical Engineering Control/Robotics Research Laboratory (CRRL) Polytechnic University Brooklyn NY 11201 United States

Adaptive input precompensators in conjunction with nonlinear controllers for multi-link flexible manipulators are considered in this paper. In an earlier paper, we had shown that application of a nonlinear inner-loop control reduces the variations in frequencies due to the geometrical configuration for multi-link flexible manipulators. This results in a better performance when input preshaping or any other controller based on a linear model is designed. To improve the performance of the system to parameter variations (e.g. changes in payload), an adaptive version of the advocated controller is utilized. This is achieved by estimating the time of application of the impulses for on-line preshaping and in the case of payload uncertainty, estimation of the payload and real-time adjustment of the nonlinear inner-loop based controller. Frequency domain Time-Varying Transfer Function Estimate (TTFE) and Empirical Transfer Function Estimate (ETFE) system identification algorithms are proposed for estimation of vibrational modes and unknown payload. Experimental results on a two-link flexible manipulator with adaptive nonlinear control and preshaping are provided to show the effectiveness of the advocated controllers. Overall, the present paper completely generalizes the adaptive input preshaping technique for multi-link flexible manipulators.

关键词： FLEXIBLE MANIPULATORS VIBRATION DAMPING NONLINEAR control INPUT PRESHAPING IDENTIFICATION ADAPTIVE control

来源：评论

学校读者我要写书评

暂无评论

AN IMPLEMENTATION OF FAST GLOBALLY-STABLE ADAPTIVE ROBOT control ON A MULTIPROCESSOR NETWORK

引用

control engineering PRACTICE 1995年第11期3卷 1553-1562页

作者： ZIAUDDIN, SM ZALZALA, AMS Department of Automatic Control and Systems Engineering Robotics Research Group University of Sheffield Mappin Street Sheffield Sl 4DU UK

This paper is concerned with efficient and fast computations of adaptive control algorithms for robot manipulators. Adaptive controllers employing the highly coupled and non-linear dynamics of manipulators are computationally complex, which presents a major obstacle in their real-time implementation for industrial applications. A solution to this problem is suggested by utilising a parallel-processing approach. The controller algorithm is implemented for a robot manipulator with six degrees of freedom, utilising a transputer network, for which programming is performed in C. The execution times achieved by the distributed algorithm are well within the limit acceptable for real-time control.

关键词： ADAPTIVE control ROBOTIC MANIPULATORS GLOBAL STABILITY PARALLEL PROCESSING MULTIPROCESSORS

来源：评论

学校读者我要写书评

暂无评论

Transputer control System with a GAs Motion Planner for the PUMA560 Industrial Robotic Manipulator

引用

IFAC Proceedings Volumes 1995年第22期28卷 77-82页

作者： Q. Wang A.M.S. Zalzala Robotics Research Group Department of Automatic Control & Systems Engineering University of Sheffield Mappin Street Sheffield SI 3JD UK

This paper describes a new control system for the PUMA 560 industrial robotic manipulator based on transputer networks, where both the hardware and software designs are detailed. A Transputer Interface Board (ТIB) establishing a transputer link to the 6503 microprocessors of the PUMA arm joints has been designed, built and tested. In addition to hardware implementation, software testing for this new system has been successfully accomplished. A great deal of flexibility can be achieved with this new system, yet without many difficulties, where it can be used as a platform to implement advanced control algorithms and develop sensor-based intelligent robotic structures which need much more computational power. Genetic Algorithms are used to plan the PUMA robot motion trajectory based on the new PUMA control platform, and the motion planner runs concurrently with the controller. Real-time experiments show that PUMA moves much more smoothly along the optimum planned trajectory.

关键词： Robot control Motion Planning Genetic Algorithms (GAs) Distributed control Interfaces

来源：评论

学校读者我要写书评

暂无评论

Decentralized adaptive output feedback control of large scale interconnected nonlinear systems

Decentralized adaptive output feedback control of large scal...

引用

American control Conference (ACC)

作者： S. Jain F. Khorrami Control/Robotics Research Laboratory CRRL Department of Electrical Engineering Polytechnic University Brooklyn NY USA

In this paper, we present a global, decentralized adaptive design procedure for a class of large scale nonlinear systems, which utilizes only local output feedback. The advocated scheme guarantees robustness to parametric and dynamic uncertainties in the interconnections, and also rejects any bounded disturbances entering the system. The uncertainties are assumed to be bounded by an unknown pth order polynomial in the outputs. The resulting controller maintains global uniform boundedness of all signals of the closed-loop system with good robustness and disturbance rejection properties.

关键词： Programmable control Adaptive control Output feedback Large-scale systems Uncertainty Nonlinear systems Robustness Nonlinear dynamical systems Polynomials control systems

来源：评论

学校读者我要写书评

暂无评论

An ANDECS-MATLAB Multicriteria Design for a Maglev Vehicle Comparing a ’Classical’ and a ’Modern’ control Structure

引用

IFAC Proceedings Volumes 1995年第23期28卷 113-118页

作者： J. Bals J.E. Paddison DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany Loughborough University of Technology Department of Electronic and Electrical Engineering Loughborough UK

For a low speed Maglev system of the single stage suspension type a control design study is described where a ’classical’ dynamic compensator control structure is compared with a ’modern’ LQG control structure. To properly tune the free parameters in the respective controller synthesis procedures the ANDECS-MATLAB design environment is used. The multi-objective design approach of ANDECS allows to simultaneously satisfy the suspension requirements corresponding to both random and deterministic inputs.

关键词： Computer-Aided Multi-Objective Design Magnetic Suspension Transportation

来源：评论

学校读者我要写书评

暂无评论

Neural networks in robotics: state of the art

Neural networks in robotics: state of the art

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： S.G. Tzafestas Intelligent Robotics and Control Unit Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

This paper provides a short review of the neural network approach to system control with reference to robotic systems. Starting with an exposition of the main neurocontrol architectures, the paper overviews the literature on the application of neural networks to robot kinematics, dynamics, path planning and motion control, including some work on neurofuzzy control. To appreciate better robot neurocontrol, an unsupervised robot neurocontroller is presented in some detail. The paper includes a discussion of the criticism made to the neural control paradigms, and an outline of some interesting areas for further research.

关键词： Neural networks Intelligent networks control systems Automatic control Biological neural networks Neurons Intelligent robots Adaptive control Neurocontrollers Humans

来源：评论

学校读者我要写书评

暂无评论

Global decentralized adaptive control for large scale nonlinear systems without strict matching

Global decentralized adaptive control for large scale nonlin...

引用

American control Conference (ACC)

作者： S. Jain F. Khorrami Control/Robotics Research Laboratory Department of Electrical Engineering Polytechnic University Five Metrotech Center Brooklyn NY USA

Decentralized adaptive control design is developed for a class of large-scale interconnected nonlinear systems which do not satisfy the strict matching restriction. To this end, large-scale nonlinear systems transformable to the decentralized strict feedback form are considered. The interconnections are assumed to be bounded by unknown polynomials in states. The controller maintains a global uniform boundedness of the model reference tracking error to a compact set which can be made arbitrarily small based on appropriate choice of control gains. In the regulation case, global asymptotic performance is achieved.

关键词： Adaptive control Large-scale systems Nonlinear systems control systems Feedback Polynomials Nonlinear control systems Programmable control Robot control Laboratories

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：