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IEEE International Symposium on Industrial Electronics (ISIE)

作者： R. Araujo A.T. de Almeida Institute of Systems and Robotics ISR Electrical Engineering Department University of Coimbra Coimbra Portugal

In this article, the authors face the problem of navigating a mobile robot on an indoor environment, where the location and shape of obstacles is assumed to be initially unknown to the robot. They describe an approach for simultaneous learning of a world model, and learning to navigate from a start position to a goal region on the world. These two learning abilities may be seen as cooperating and enhancing each other in order to improve the overall system performance. It is assumed that the robot knows its own current world position. It is only additionally assumed that the mobile robot is able to perform sensor-based obstacle detection (not avoidance), and that it is able to perform straight-line motions. Results of simulation experiments are presented that demonstrate the effectiveness of the approach to navigate a Nomad 200 mobile robot.

关键词： Mobile robots Robot sensing systems Navigation Robot programming Robot control Control systems Educational robots Indoor environments Shape System performance

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Real-time visual behaviors with a binocular active vision system

Real-time visual behaviors with a binocular active vision sy...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Batista P. Peixoto H. Araujo Department of Electrical Engineering ISR-Institute of Systems and Robotics University of Coimbra Coimbra Portugal

We describe the real-time implementation of several visual behaviors in an active vision system. Issues related to the real-time implementation are discussed, concerning the modeling of the measurements made in the image. We also describe a methodology for calibrating the camera head, taking advantage of its degrees of freedom. These calibration parameters are used to evaluate the performance of the system. Another important issue of the operation of active vision binocular heads is their integration into more complex robotic systems. We claim that higher levels of autonomy and integration can be obtained by designing the system architecture based on the concept of purposive behavior. We show how this architecture can be used to implement a pursuit behavior using optical flow. Simultaneously vergence control can also be performed using the same visual processes.

关键词： Real time systems Machine vision Robot vision systems Control systems Head Layout Visual system Optical control Data mining Biological control systems

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Reducing position errors arising from control-space quantisation on a mobile robot

Reducing position errors arising from control-space quantisa...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： R. Araujo A.T. de Almeida Institute of Systems and Robotics ISR and Electrical Engineering Department University of Coimbra Coimbra Portugal

Quantisation of control space is frequently present on a mobile robot. This often results on position errors due to the finite set of available wheels velocities. In this article, the authors present two algorithms that can be used for minimising these position errors on robot motion. The first algorithm can be used to perform pure rotations (no translation) of the mobile robot. The second algorithm can be used to perform straight-line motions, between the mobile robot current position, and a predefined goal position in its working environment. Results of simulation experiments demonstrating the effectiveness of the algorithm are presented.

关键词： Error correction Quantization Mobile robots Wheels Control systems Orbital robotics Digital control Velocity control Kinematics DC motors

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Mobile Robot Path Learning on an Unknown Environment

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IFAC Proceedings Volumes 1997年第3期30卷 185-190页

作者： R. Araújo A.T. de Almeida Institute for Systems and Robotics (ISR) and Electrical Engineering Department University of Cosmbra Pólo II Pinhal de Marrocos 3030 Coimbra Portugal Telephone: +351 (39) 7006276/00 Fax: +351 (39) 35672

This paper deals with the problem of finding a mobile robot path on an unknown world environment. It is desired that the robot navigates to a known goal-region without colliding with physical obstracles. A learning approach will be presented for this purpose. It is supposed that the root has no initial map of Its environment. The robot uses its own infrared distance-sensors to detect obstacles present on its path. Simulation results will be presented that validate the effectiveness of the approach, where, besides detecting obstacles, the only other initial robot's ability is to perform straight-line motions.

关键词： Learning control path planning mobile robots

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Real-time vergence and binocular gaze control

Real-time vergence and binocular gaze control

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Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and systems. Innovative robotics for Real-World Applications. IROS '97

作者： J. Batista P. Peixoto H. Araujo Dept. de Engenharia Electrotecnica Coimbra Univ. Portugal ISR.-Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Coimbra Portugal

In this paper we describe the implementation of real-time binocular gaze control. This implementation is performance by using a complex binocular active vision system. In addition real-time vergence is also implemented. Vergence and gaze control are implemented based on binocular optical flow. Vergence control is implemented based on optical flow disparity, using the horopter as a reference. A Kalman filter is used to filter out the signals and compensate for the delays of the system.

关键词： Eyes Retina Cameras Temperature control Bismuth Calibration Ambient intelligence Neck Tires Motion detection

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Minimising the Effects of Control-Space Quantisation on Mobile Robot Motion

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IFAC Proceedings Volumes 1997年第3期30卷 209-214页

作者： R. Araújo A.T. de Almeida Institute for Systems and Robotics (ISR) and Electrical Engineering Department University of Coimbra Pólo II Pinhal de Marrocos 3030 Coimbra Portugal Telephone: +351 (39) 7006276/00. Fax: +351 (39) 35672.

This article presents two algorithems, that can be used for minimising the effects of mobile robot control-space quantisation errors. The first algorithem can be used to perform pure rotations (no translation) of the mobile robot while minimising the effects of these errors. The second algorithem can be used to perform straight-line motions, between the mobile robot current position, and a predefined goal position in its working environment. Simulation results demonstrating the effectiveness of the algorithem will be presented.

关键词： Quantisation errors mobile robots error control

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Assemblability based on maximum likelihood configuration of tolerances

Assemblability based on maximum likelihood configuration of ...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

An assembly is defined by a configuration of parts of known geometries subject to tolerances in the pose, dimensions, and mating relations among part features. Using a tolerance model based on matrix transforms and Gaussian models of geometric variations, the pose and dimensional tolerance models are considered as a priori models of the assembly with nominal and variational components for both position and orientation. The mating relations are regarded as linear relational constraints, also with nominal and variational components. With this formulation, estimation of the configuration of parts may be posed as a maximum likelihood problem and solved by a Kalman filter algorithm. The resulting maximum likelihood configuration of the assembly may be used to evaluate the required deviation from nominal and the assemblability as defined by the maximum likelihood clearance from constraints. In addition, application of the technique to intermediate subassemblies may be used to evaluate assemblability of specific steps and discriminate among alternative assembly sequence plans.

关键词： Maximum likelihood estimation Solid modeling Robotic assembly Uncertainty ANSI standards Manufacturing automation robotics and automation computer aided manufacturing Information geometry systems engineering and theory

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Experimental studies on minimal representation multisensor fusion

Experimental studies on minimal representation multisensor f...

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International Conference on Advanced robotics (ICAR)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

We describe laboratory experiments, in which tactile data obtained from the finger-tips of a robot hand, while it is holding an object in front of a calibrated camera, is fused with the vision data from the camera, to determine the object identity, pose, and the touch and vision data correspondences. The touch data is incomplete due to required hand configurations, while nearly half of the vision data are spurious due to the presence of the hand in the image. Using either sensor alone results in ambiguous or incorrect interpretations. A minimal representation size framework is used to formulate the multisensor fusion problem, and can automatically select the object class, correspondence (data subsamples), and pose parameters. The experiments demonstrate that it consistently finds the correct interpretation, and is a practical method for multisensor fusion and model selection.

关键词： Robot vision systems Context modeling robotics and automation Cameras Robot sensing systems Tactile sensors Manufacturing automation computer aided manufacturing Laboratories Data mining

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A fast and accurate 3-D rangefinder using the Biris technology: the TRID sensor

A fast and accurate 3-D rangefinder using the Biris technolo...

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： F. Loranger D. Laurendeau R. Houde Computer Vision and Systems Laboratory (CVSL) Electrical and Computer Engineering Department Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes Canada

In many industrial applications such as autonomous vehicle guidance and robotic manipulations, reliable 3-D informations must be extracted from the scene in order to provide a robust description of the environment in which the system evolves. This paper presents the TRID sensor, a simple, fast, robust and accurate 3-D sensing device based on the Biris technology. TRID is limited to a lateral resolution of one point. Experimental results show that an accuracy better than 0.15% can be obtained for the depth component (Z) of 3-D points at a distance of 1.3 meter from a wooden black painted beam surface with an acquisition rate of 8.5 points/s.

关键词： Robot vision systems Robustness computer vision Application software Robot kinematics Layout Cameras computer industry Costs Geometrical optics

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Extrusion process control. II. Identification and open-loop control

Extrusion process control. II. Identification and open-loop ...

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American Control Conference (ACC)

作者： B. Tibbetts J. Wen New York State Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

For pt.I see ibid., p.3726-30. Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. In Part I, we developed a dynamical system model which could be used for real-time applications. In this paper, we use this model development plus output relationships from our previous model development work (1995, 1996) to develop parameter identification and open-loop control methodologies. An example with plant trial data is provided.

关键词： Process control Open loop systems Equations Temperature sensors Manufacturing automation robotics and automation Automatic control computer aided manufacturing Manufacturing processes Parameter estimation

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