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ASME 1999 International Mechanical engineering Congress and Exposition, IMECE 1999

作者： Meghdari, A. Durali, M. Naderi Colorado School Of Mines Center For Automation And Robotics Research Division Of Engineering Golden Colorado United States School Of Mechanical Engineering Sharif University Of Technology Tehran Iran

ISBN: (纸本)9780791816394

A manipulator mounted on a moving vehicle is called a mobile manipulator. A mobile manipulator with an appropriate suspension system can pass over uneven surfaces, thus having an infinite workspace. If the manipulator could operate while the vehicle is traveling, the efficiency concerning with the time and energy used for stopping and starting will be increased. This paper presents the kinematics and dynamic modeling of a one degree of freedom manipulator attached to a vehicle with a two degrees of freedom suspension system. The vehicle is considered to move with a constant linear speed over an uneven surface while the end effector tracks a desired trajectory in a fixed reference frame. In addition, the effects of dynamic interaction between the manipulator and vehicle (including the suspension system's effects) have been studied. Simulation results from straight line trajectory are presented to illustrate these effects. © 1999 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Manipulators

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ASTM E1989-98 — The New Instrument Control Standard

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SLAS Technology 1999年第3期4卷 40-42页

作者： Torsten A. Staab John W. Elling U.S. Department of Energy Los Alamos National Laboratory Engineering Sciences and Applications Division Energy and Process Engineering Group Automation and Robotics Team Los Alamos NM 87545 USA

The new ASTM E1989–98 Laboratory Equipment Control Interface Specification (LECIS) is a robust standard definition of equipment behavior while under remote control. The goal of the standardization effort is to facilitate “plug-and-play” integration of laboratory automation with standard hardware behavior and software interfaces. The LECIS standardizes laboratory equipment behavior and a message passing scheme between the controller and equipment that synchronizes this behavior. Commercial adoption of this new standard is well under way.

关键词： instrument control standard plug-and-play laboratory automation equipment control standard interface standard behavior standard Laboratory Equipment Control Interface Specification

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Motion planning for cooperating mobile manipulators

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Journal of Field robotics 1999年第10期16卷

作者： Jaydev P. Desai Vijay Kumar Division of Engineering and Applied Sciences 29 Oxford Street G8 Pierce Hall Harvard University Cambridge MA 02138 General Robotics Automation Sensing and Perception (GRASP) Laboratory 3401 Walnut Street Room 301C University of Pennsylvania Philadelphia PA 19104

We address the problem of motion planning for nonholonomic cooperating mobile robots manipulating and transporting objects while holding them in a stable grasp. We present a general approach for solving optimal control problems based on the calculus of variations. We specialize this approach to solving the motion planning problem and obtaining trajectories and actuator forces/torques for any maneuver in the presence of obstacles. The approach allows geometric constraints such as joint limits, kinematic constraints such as nonholonomic velocity constraints, and dynamic constraints such as frictional constraints and contact force constraints to be incorporated into the planning scheme. The application of this method is illustrated by computing motion plans for several examples, and these motions plans are implemented on an experimental testbed. ©1999 John Wiley & Sons, Inc.

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Compensation of teleoperator modeling uncertainties with a sliding mode controller

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 1997年第1期13卷 9-20页

作者： Tzafestas, SG Prokopiou, PA Intelligent Robotics and Automation Laboratory Computer Science Division Department of Electrical and Computer Engineering National Technical University of Athens Zografou Campus 15773 Athens Greece

The response of a previously proposed teleoperator system, which was not based on the traditional notion of telepresence but on an original form of kinesthetic feedback, is tested under modeling errors of up to 50%. The original system is enhanced by replacing the previous controller of each robot with a sliding mode robust one. A two-stage approach is employed: a desired trajectory is first generated and then tracked by the controller. The difficulties incurred for the man/machine cooperation are discussed. This extension of the original teleoperator architecture is tested through simulations and compared with a twin system based on neural controllers, presented elsewhere. (C) 1997 Elsevier Science Ltd.

关键词： Man machine systems

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10 day flight performance of the plant generic bioprocessing apparatus (PGBA) plant growth facility aboard STS-77

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AIP Conference Proceedings 1997年第1期387卷 1005-1010页

作者： Alex Hoehn Dale J. Chamberlain Sasha W. Forsyth David S. Hanna Paul Scovazzo Michael B. Horner Louis S. Stodieck Paul Todd A. Gerard Heyenga Mark H. Kliss Raymond Bula Robert Yetka BioServe Space Technologies CU Campus Box 429 Boulder Colorado 80309-0429 NASA Ames Research Center Space Technology Division M/S 239 Moffett Field California 94035-1000 Wisconsin Center for Space Automation and Robotics (WCSAR) 1415 Engineering Drive Madison Wisconsin 53706-1691

PGBA, a plant growth facility developed for space flight biotechnology research, successfully grew a total of 30 plants in a closed, multi-crop chamber for 10 days aboard the Space Shuttle Endeavor (STS-77). Artemisia annua, Catharanthus roseus, Pinus taeda, Spinacia oleracea and Trifolium repens were the five species studied during this mission. The primary mission objectives were to study the effects of microgravity for commercial and pharmaceutical production purposes. PGBA is a payload that represents a consortium of interests including BioServe Space Technologies (payload sponsor), NASA Ames Research Center (Controlled Ecological Life Support System, CELSS, Flight Program), Wisconsin Center for Space automation and robotics (WCSAR), and industrial affiliates (spaceflight effects on plants and formation of plant products such as pharmaceuticals). Although BioServe is responsible for the flight hardware development and integration of PGBA, NASA Ames, WSCAR and industrial affiliates provide significant hardware subsystems and technical biological expertise support.

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Automated classification of small jet engine parts

Automated classification of small jet engine parts

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IEEE Southwest Symposium on Image Analysis and Interpretation

作者： T.C. Muhlbauer M. Desai J.A. Brown The Robotics & Automation Center of Excellence SA-ALC/TIER TX USA Division of Engineering University of Texas San Antonio San Antonio TX USA

Manual part sorting of small jet engine parts can be a tedious process. Because of personnel shortages, the Small Parts office at Kelly AFB, in San Antonio, Texas, has difficulty in keeping up with the backlog of parts that need to be sorted for engine reassembly. Currently, there is a system being developed by the robotics and automation Center of Excellence (RACE) at Kelly that will help the Small Parts office to overcome their personnel shortages. This part sorting system, known as the Small Part Sorting System (SPaSS), will sort these parts by incorporating the use of a statistical model-based classifier algorithm with a machine vision system. This paper presents the experimental results of this classifier.

关键词： Jet engines Sorting robotics and automation Fasteners Personnel Assembly Head Cameras Machine vision Costs

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Video over wireless

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IEEE PERSONAL COMMUNICATIONS 1996年第1期3卷 44-54页

作者： Moura, JMF Jasinschi, RS Shiojiri, H Lin, JC Instituto Superior Técnico Lisbon Portugal Masachusetts Institute of Technology Cambridge MA United States Dept. of Elec. and Comp. Engineering Carnegie Mellon University Pittsburgh PA United States Faculty of IST MIT University of Southern California University of São Paulo Brazil Carnegie Mellon University Lyman Laboratory Harvard University Robotics Institute Center for Automation Research University of Maryland Dept. of Elec. and Comp. Engineering Carnegie Mellon University Tohoku University Second Transmission Division NEC Corporation Kanagawa Japan NEC Corporation Carnegie Mellon National Taiwan University Taipei Taiwan Serv. Orders Proc. Syst. Data Center N. Taiwan Telecom. Administration

This paper addresses the issues arising when transmitting video across wireless and heterogenous networks. Key factors considered in this application are the large volumes raw data created by the video sources. These factors combine to conflicting requirements: aggressive compression ratios of 1000-10000 with simple decoding algorithms. Also, the Generative Video (GV), a content-based video meta representation that reduces video sequences to a small number of still images (world images) and site information (ancillary data) is presented. The GV representation is particularly suited to the wireless environment: it has the potential of large compression ratios at acceptable perceptual quality, it is easily scalable, and it is an asymmetric encoding/decoding algorithm.

关键词： Image communication systems

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automation and robotics requirements for advanced life support systems in commercial space activities

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AIP Conference Proceedings 1995年第1期325卷 299-304页

作者： Jon D. Erickson Richard E. Eckelkamp Daniel J. Barta James L. Dragg Automation and Robotics Division NASA Johnson Space Center Houston Texas 77058 Crew and Thermal Systems Division NASA Johnson Space Center Houston Texas 77058 Lockheed Engineering and Sciences 2600 NASA Rd 1 Houston Texas 77058

In this paper we examine mission simulation as an approach to develop requirements for automation and robotics for Advanced Life Support Systems (ALSS). Our focus is on requirements and applications for command and control, control and monitoring, situation assessment and response, diagnosis and recovery, adaptive planning and scheduling, and other automation applications in addition to mechanized equipment and robotics applications to reduce the excessive human labor requirements to operate and maintain an ALSS. Based on principles of systems engineering, an approach is proposed to assess requirements for automation and robotics using mission simulation tools. First, the story of a simulated mission is defined in terms of processes with attendant types of resources needed, including options for use of automation and robotic systems. Next, systems dynamics models are used in simulation to reveal the implications for selected resource allocation schemes in terms of resources required to complete operational tasks. The simulations not only help establish ALSS design criteria, but also may offer guidance to ALSS research efforts by identifying gaps in knowledge about procedures and/or biophysical processes. Simulations of a planned one‐year mission with four crewmembers in a Human Rated Test Facility are presented as an approach to evaluation of mission feasibility and definition of automation and robotics requirements.

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A telerobotics construction set with integrated performance analysis

A telerobotics construction set with integrated performance ...

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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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An adaptive learning control approach

An adaptive learning control approach

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IEEE Conference on Decision and Control

作者： Z. Geng M. Jamshidi R. Carroll R. Kisner Intelligent Automation Inc. Rockville MD USA CAD Laboratory of Robotics University of New Mexico Albuquerque NM USA Department of Electrical Engineering George Washington University DC USA Control & Instrumentation Division Oak Ridge National Laboratory Oak Ridge TN USA

An adaptive learning control approach is proposed which combines a mechanism to improve the control input sequence as well as to improve the learning control scheme based on the knowledge learned about the unknown system and environment. The iterative learning control problem is treated from the 2D system point of view. A 2D model for a class of iterative learning control system is formulated. A learning gain estimator algorithm based on the 2D model is presented. The overall learning control system structure is given. The proposed learning control scheme does not require prior knowledge of the controlled system and has the ability to generalize the knowledge learned from one task operation to other tasks. This scheme can be applied to nonlinear system control problems. To demonstrate the feasibility of the proposed learning algorithm, simulation results on learning control for a three-water-tank system are given. The results show an excellent learning performance, even for nonrepetitive tasks.< >

关键词： Programmable control Adaptive control Control systems Nonlinear control systems Error correction Control system synthesis Automatic control robotics and automation Iterative algorithms Three-term control

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