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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： D. Ratner P. M'Kerrow Intelligent Robotics Laboratory School of Information Technology and Computer Science University of Wollongong NSW Australia

In the Titan project we applied a new approach to prototyping mobile robots by choosing tools which are commonly used by leading aerospace manufacturers and many other industries. We have gained substantial experience when using the LabVIEW real-time programming environment coupled with the industrial quality data acquisition cards, both are made by National Instruments. The methodology of virtual instruments software tools combined with the graphical programming environment was found to be very efficient for interactive cycles of design and testing, which are at the core of robotics prototyping.

关键词： Prototypes Manufacturing industries Software prototyping Aerospace industry Programming environments Instruments Mobile robots Data acquisition Software tools Software testing

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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Hardware-software run-time systems and robotics: A case study 24

Hardware-software run-time systems and robotics: A case stud...

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24th EUROMICRO Conference, EURMIC 1998

作者： Mooney, Vincent John Ruspini, Diego Khatib, Oussama De Micheli, Giovanni School of Electrical and Computer Enginering Georgia Institute of Technology United States Computer Science Robotics Laboratory Stanford University United States Computer Systems Laboratory Stanford University United States

ISBN: (纸本)0818686464

We present a sample implementation of a run time scheduler, split between hardware and software, controlling a real time robotics application. The hardware part of the run time scheduler, implemented as a finite state machine (FSM), schedules the tasks for the application and can be readily extended to include additional tasks in hardware or in software. The software part executes tasks based on which tasks are ready to execute as indicated by the FSM. We have successfully implemented the scheduler on a working prototype which shows the feasibility of our approach. © 1998 IEEE.

关键词： robotics

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Design decision support system for the engineering/re-engineering of complex naval systems

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NAVAL ENGINEERS JOURNAL 1997年第4期109卷 23-33页

作者： Graham, JH Ragade, RK Shea, J James H. Graham:is the Henry Vogt Professor of computer science and engineering at the University of Louisville. Previous professional employment includes positions at Rensselaer Polytechnic Institute and General Motors Corporation. He received his master's and doctoral degrees at Purdue University and his bachelor's degree at Rose-Hulman Institute of Ethnology. His research interests include artificial intelligence robotics and paraliel computing. Rammohan K. Ragade:is professor of engineering mathematics and computer science at the University of Louisville. He received his Ph.D. from the Indian Institute of Technology at Kampur in 1968. He has been a faculty member at the University of Waterloo and held an engineering position with Bell Northern Research. His research interests include human-computer interaction decision support systems object-oriented simulation and modeling distributed database systems and fuzzy logic. John G. Shea Jr.:served until 1995 as a project manager in the Phalanx Engineering Section of Naval Surface Warfare Center Crane Division Louisville Station. He received his bachelor's and master's degrees from the Speed Scientific School at the University of Louisville. He was a member of the American Society of Naval Engineers.

Hybrid simulation includes both functional computer software models and actual hardware subsystems operating as an integrated whole. A ''hot test bed'' or a ''hybrid simulator-emulator'' enables design engineers to evaluate conceptual models in a more realistic real-lime context, but places increased cognitive demands on the designer. This paper describes an architecture, and results from a prototype implementation, for a design decision support system to allow a designer to make more productive and cost effective use of a test bed system.

关键词： Decision support systems

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Terrain typing for real robots

Terrain typing for real robots

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IEEE Symposium on Intelligent Vehicle

作者： I.L. Davis A. Kelly A. Stentz L. Matthies School of Computer Science Robotics Institute Carnegie Mellon University Pittsburgh PA USA Let Propulsion Laboratory California Institute of Technology Pasadena CA USA

Many robotics tasks require an ability to determine quickly the nature of the terrain surrounding the robot. While much attention has been given to the general problem of terrain typing, the problem of effective real-time terrain typing remains open. For robot missions such as construction site work, military reconnaissance, hazardous waste removal, and planetary exploration this problem must be addressed. In particular, for cross country navigation with a wheeled vehicle, the robot needs to know where the vegetation is and where the rigid obstacles are because frequently the optimal, if not the only, path will pass through vegetation. Our groups have independently researched the problem of finding vegetation in a scene, and have developed systems tuned to the specific demands of real-time terrain typing for robots. This paper looks at three classifiers of increasing dimensionality and describes their applicability to different aspects of the terrain typing problem.

关键词： Vegetation mapping Pixel Propulsion Laboratories Mobile robots Vehicles Aircraft navigation Hidden Markov models Robot kinematics Roentgenium

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Hoeffding races: accelerating model selection search for classification and function approximation 93

Hoeffding races: accelerating model selection search for cla...

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Proceedings of the 6th International Conference on Neural Information Processing Systems

作者： Oded Maron Andrew W. Moore Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh PA

Selecting a good model of a set of input points by cross validation is a computationally intensive process, especially if the number of possible models or the number of training points is high. Techniques such as gradient descent are helpful in searching through the space of models, but problems such as local minima, and more importantly, lack of a distance metric between various models reduce the applicability of these search methods. Hoeffding Races is a technique for finding a good model for the data by quickly discarding bad models, and concentrating the computational effort at differentiating between the better ones. This paper focuses on the special case of leave-one-out cross validation applied to memory-based learning algorithms, but we also argue that it is applicable to any class of model selection problems.

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A finger shaped tactile sensor using an optical waveguide

A finger shaped tactile sensor using an optical waveguide

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Annual Conference of Industrial Electronics Society

作者： N. Nakao M. Kaneko N. Suzuki K. Tanie NTT Tsukuba Field Engineering Development Center Tsukuba Ibaraki Japan School of Computer Science and System Engineering Department Kyushu Institute of Technology Fukuoka Japan Cybernetics Division Robotics Department Mechanical Engineering Laboratory Tsukuba Ibaraki Japan

A finger-shaped tactile sensor consisting of a charge-coupled device (CCD) and a semispherical optical waveguide covered with an elastic sheet and connected to a light source is proposed. The principle of the sensor is based on producing the scattering light at the sensor-object contact. The contact location is recognized using a CCD to detect light. By a simple calculation of the equation derived from the sensor surface geometry, the sensor can also provide the surface normal of the touched object. Through experiments using a prototype sensor, the fundamental characteristics of the sensor are evaluated and the principle of the sensor is confirmed.< >

关键词： Optical waveguides Fingers Tactile sensors Optical sensors Sensor phenomena and characterization Optical scattering Charge coupled devices Optical surface waves Optical devices Light sources

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Uncertain systems: new uncertainty characterization for linear control design

Uncertain systems: new uncertainty characterization for line...

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IEEE Conference on Decision and Control

作者： K. Gu Y.H. Chen Center of Robotics and Advanced Automation School of Electrical Engineering and Computer Science Oakland University Rochester MI USA The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA USA

A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis of this decomposition a linear feedback control design is proposed for linear uncertain systems. The control always exists if the generalized matching condition is met. The design is illustrated by a practical example.< >

关键词： Uncertain systems Uncertainty Control design Riccati equations Feedback control robotics and automation Time varying systems Magnetic levitation Design automation computer science

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Autonomous mobile robots in flexible manufacturing systems

Autonomous mobile robots in flexible manufacturing systems

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Conference on Artificial Intelligence for Applications

作者： R.R. Murphy R.C. Arking Robotics Laboratory School of Information and Computer Science Georgia Institute of Technology Sch. of Inf. & Comput. Sci. Georgia Inst. of Technol. GA USA

The authors are exploring and developing techniques to enable mobile robots to work in a less constrained world than that of an AGV (autonomous guided vehicle). By having the robot maintain an a priori world-map, supplementing it as necessary, with sensor-based world perceptions (especially ultrasound and vision), its utility and mobility are enhanced. By maintaining an explicit representation of spatial uncertainty and revision positional estimates using incoming sensor data, the robot does not rely on wire or paint-stripe tethers to reality to navigate. Research is being performed using a Denning research vehicle in a flexible manufacturing system (FMS) environment. AI techniques in knowledge representation are used to embed the knowledge necessary for a robot's achievement of successful goal-oriented behaviors. Relevant behaviors for a mobile robot in an (FMS) environment are being defined.< >

关键词： Mobile robots Flexible manufacturing systems Robot sensing systems Remotely operated vehicles Robot vision systems Ultrasonic imaging Uncertainty Wire Navigation Artificial intelligence

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Kinematic control and obstacle avoidance for redundant manipulators

Kinematic control and obstacle avoidance for redundant manip...

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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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