检索结果-内蒙古大学图书馆

Efficiency Assessment of Performance of Decentralized Autonomous Multi-Robot Systems

Journal of robotics and Mechatronics 1996年第3期8卷 286-291页

作者： Agah, Arvin Bekey, George A. Research Scientist Fellow Bio-Robotics Division Mechanical Engineering Laboratory 1-2 Namiki Tsukuba305 Japan Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90089 United States Robotics Research Laboratory University of Southern California Los AngelesCA90089 United States

This paper presents a new methodology for the efficiency assessment of task performance of decentralized autonomous multi-robot system. This formulation considers the types of the robots (in terms of sensing, action, and control), the description of the environment (the world), the facts (rules) of the world, and the specifications of the tasks to be performed. The performance efficiency is defined in terms of the total time required for completing the task, total energy requirement, and the comparison of the final results and the desired results. A robot colony simulator was used to perform a number of experiments, measuring the task performance efficiency, of a colony of simulated robots which perform specific tasks in a virtual world. The experimental results are presented in this paper. This paper also describes a team of four robots designed and fabricated in hardware. The physical robots were used successfully to validate the results from the simulated colony. © 1996, Fuji Technology Press. All rights reserved.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

TACTICAL ROUTE PLANNING: NEW ALGORITHMS FOR DECOMPOSING THE MAP

引用

International Journal on Artificial Intelligence Tools 1996年第1N02期5卷 199-218页

作者： J.R. BENTON S.S. IYENGAR W. DENG N. BRENER V.S. SUBRAHMANIAN Modeling and Simulation Division U.S. Army Topographic Engineering Center 7701 Telegraph Road Alexandria VA 22315–3864 USA Department of Computer Science & Robotics Research Laboratory Louisiana State University Baton Rouge LA 70803–4020 USA Department of Computer Science & Institute for Advanced Computer Studies University of Maryland College Park Maryland 20742 USA

This paper defines a new approach and investigates a fundamental problem in route planners. This capability is important for robotic vehicles(Martian Rovers, etc.) and for planning off-road military maneuvers. The emphasis throughout this paper will be on the design and analysis and hieiaichical implementation of our route planner. This work was motivated by anticipation of the need to search a grid of a trillion points for optimum routes. This cannot be done simply by scaling upward from the algorithms used to search a grid of 10,000 points. Algorithms sufficient for the small grid are totally inadequate for the large grid. Soon, the challenge will be to compute off-road routes more than 100 km long and with a one or two-meter grid. Previous efforts are reviewed and the data structures, decomposition methods and search algorithms are analyzed and limitations are discussed. A detailed discussion of a hieraichical implementation is provided and the experimental results are analyzed.

关键词： Route planning heirarchical planning A* algorithm robotic vehicles

来源：评论

学校读者我要写书评

暂无评论

Stability analysis of a robust PD control law for robot manipulators

引用

Journal of Field robotics 1996年第6期13卷

作者： T. C. Hsia Z. Mao Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA 95616 Intel Corporation 2200 Mission College Blvd. Santa Clara CA 95052

The purpose of this article is to examine the stability of a robust and decentralized PD control law for robot manipulator control. The control law, which was developed by the authors, has been shown experimentally to be extremely simple to implement and highly accurate for position and force tracking in the presence of robot model uncertainty and payload variation. However, stability analysis has been difficult due to the nonlinearity of robot dynamics and the use of time-delayed measurements of joint torques and joint accelerations in the control law. A rigorous stability analysis is presented in this article using Popov's hyperstability theory. A sufficient condition for global stability is obtained that supports previous theoretical and experimental results. © 1996 John Wiley & Sons, Inc.

关键词：

来源：评论

学校读者我要写书评

暂无评论

EXPERIMENTS IN ACTIVE VISION WITH REAL AND VIRTUAL ROBOT HEADS

引用

APPLIED INTELLIGENCE 1995年第3期5卷 237-250页

作者： MARAPANE, SB TRIVEDI, MM Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department The University of Tennessee 37996-2100 Knoxville TN

In the emerging paradigm of animate vision, the visual processes are not thought of as being independent of cognitive or motor processing, but as an integrated system within the context of visual behavior. Intimate coupling of sensory and motor systems have found to improve significantly the performance of behavior based vision systems. In order to study active vision systems one requires sensory-motor systems. Designing, building, and operating such a test bed is a challenging task. In this paper we describe the status of on-going work in developing a sensory-motor robotic system, R2H, with ten degrees of freedoms (DOF) for research in active vision. To complement the R2H system a Graphical Simulation and Animation (GSA) environment is also developed. The objective of building the GSA system is to create a comprehensive design tool to design and study the behavior of active systems and their interactions with the environment. GSA system aids the researchers to develop high performance and reliable software and hardware in a most effective manner. The GSA environment integrates sensing and motor actions and features complete kinematic simulation of the R2H system, it's sensors and it's workspace. With the aid of the GSA environment a Depth from Focus (DFF), Depth from Vergence, and Depth from Stereo modules are implemented and tested. The power and usefulness of the GSA system as a research tool is demonstrated by acquiring and analyzing images in the real and virtual worlds using the same software implemented and tested in the virtual world.

关键词： ACTIVE VISION ROBOT HEADS ROBOT SIMULATION DEPTH EXTRACTION

来源：评论

学校读者我要写书评

暂无评论

A NEW NEURAL-NETWORK CONTROL TECHNIQUE FOR ROBOT MANIPULATORS

引用

ROBOTICA 1995年第5期13卷 477-484页

作者： JUNG, S HSIA, TC Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA 95616 (USA)

A new neural network (NN) control technique for robot manipulators is introduced in this paper. The fundamental robot control technique is the model-based computed-torque control which is subjected to performance degradation due, to model uncertainty. NN controllers have been traditionally used to generate a compensating joint torque to account for the effects of the uncertainties. The proposed NN control approach is conceptually different in that it is aimed at prefiltering the desired joint trajectories before they are used to command the computed-torque-controlled robot system (the plant) to counteract performance degradation due to plant uncertainties. In this framework, the NN controller serves as the inverse model of the plant, which can be trained on-line using joint tracking error. Several variations of this technique introduced. Back-propagation algorithms the NN controller have been developed. Simulation results have demonstrated the excellent tracking performance of the proposed control technique.

关键词： NEURAL NETWORK CONTROL ROBOTS COMPUTED TORQUE

来源：评论

学校读者我要写书评

暂无评论

ROBOT PERFORMANCE-MEASUREMENT AND CALIBRATION USING A 3D computer VISION SYSTEM

引用

ROBOTICA 1995年第4期13卷 327-337页

作者： PREISING, B HSIA, TC Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis Davis California 95616 (USA)

Present day robot systems are manufactured to perform within industry accepted tolerances. However, to use such systems for tasks requiring high precision, various methods of robot calibration are generally required. These procedures can improve the accuracy of a robot within a small volume of the robot's workspace. The objective of this paper is to demonstrate the use of a single camera 3D computer vision system as a position sensor in order to perform robot calibration. A vision feedback scheme, termed Vision-guided Robot Control (VRC), is described which can improve the accuracy of a robot in an on-line iterative manner. This system demonstrates the advantage that can be achieved by a Cartesian space robot control scheme when end effector position/orientation are actually sensed instead of calculated from the kinematic equations. The degree of accuracy is determined by setting a tolerance level for each of the six robot Cartesian space coordinates. In general, a small tolerance level requires a large number of iterations in order to position the end effector, and a large tolerance level requires fewer iterations. The viability of using a vision system for robot calibration is demonstrated by experimentally showing that the accuracy of a robot can be drastically improved. In addition, the vision system can also be used to determine the repeatability and accuracy of a robot in a simple, efficient, and quick manner. Experimental work with an IBM Electric Drive Robot (EDR) and the proposed vision system produced a 97 and a 145 fold improvement in the position and orientation accuracy of the robot, respectively.

关键词： 3D VISION ROBOT PERFORMANCE CALIBRATION POSITION SENSOR

来源：评论

学校读者我要写书评

暂无评论

RESIDUAL UNCERTAINTY IN 3-DIMENSIONAL RECONSTRUCTION USING 2-PLANES CALIBRATION AND STEREO METHODS

引用

PATTERN RECOGNITION 1995年第7期28卷 1073-1082页

作者： THAYER, S TRIVEDI, M Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory The University of Tennessee Knoxville TN 37996-2100 U.S.A.

A necessary goal in the calibration of any instrument is an indication of how well the particular device performs. In the specific case where a camera system is used in the process of three-dimensional reconstruction or stereopsis, geometric measures of the accuracy, precision, and repeatability of 3-D point measurements give a quantitative evaluation of the success of that algorithm. This paper presents an experimental performance analysis of a traditional calibration algorithm as applied to the problem of three-dimensional vision. The study begins with an analysis of the algorithm in a single camera or monocular system. Monocular analysis concludes with a derivation of error boundaries under different. geometric constraints. Showing how this residual error propagates from the component monocular systems into a three-dimensional reconstruction, a binocular analysis derives the desired performance monitors. The paper concludes with a geometric interpretation of the results.

关键词： STEREOPSIS ACCURACY PRECISION REPEATABILITY MONOCULAR BINOCULAR 2-PLANES CALIBRATION

来源：评论

学校读者我要写书评

暂无评论

A 3-DIMENSIONAL LOCALIZER FOR AUTONOMOUS ROBOT VEHICLES

引用

ROBOTICA 1995年第1期13卷 87-94页

作者： KLEEMAN, L Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3168 Australia

A novel design of a three dimensional localiser intended for autonomous robot vehicles is presented. A prototype is implemented in air using ultrasonic beacons at known positions, and can be adapted to underwater environments where it has important applications, such as deep sea maintenance, data collection and reconnaissance tasks. The paper presents the hardware design, algorithms for position and orientation determination (six degrees of freedom), and performance results of a laboratory prototype. Two appraoches are discussed for position and orientation determination - (i) fast single measurement set techniques and (ii) computationally slower Kalman filter based techniques. The Kalman filter approach allows the incorporation of robot motion information, more accurate beacon modelling and the capability of processing data from more than four beacons, the minimum number required for localisation.

关键词： POSITION ESTIMATION 3-D LOCALIZATION KALMAN FILTERING ULTRASONIC NAVIGATION ORIENTATION UNDERWATER VEHICLES

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

STEERING 3-INPUT NONHOLONOMIC SYSTEMS - THE FIRE TRUCK EXAMPLE

引用

INTERNATIONAL JOURNAL OF robotics research 1995年第4期14卷 366-381页

作者： BUSHNELL, LG TILBURY, DM SASTRY, SS Electronics Research Laboratory Department of Electrical Engineering and Computer Sciences University of California at Berkeley Berkeley California 94720

In this article we steer wheeled nonholonomic systems that can be represented in a so-called chained form. Sufficient conditions for converting a multiple-input system with nonholonomic velocity constraints into a multiple-chain, single-generator chained form via state feedback and a coordinate transformation are presented along with sinusoidal and polynomial control algorithms to steer such systems. Our example is the three-input nonholonomic system of a fire truck, or tiller truck. In this three-axle system, the control inputs are the steering velocities of both the first and third (or tiller) axles and the forward driving velocity of the truck. Simulation results are given for parallel parking, left hand turning, right hand turning, and changing lanes. Comparison is made to the same vehicle without tiller steering.

关键词： robotics

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：