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IEEE International Symposium on Intelligent Control (ISIC)

作者： S. Lee M.H. Kim Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Computer Science Department Sung Kyun Kwan University Seoul South Korea

The authors present a learning expert system which enables a robot to acquire fine motion skills automatically. The system follows the paradigm of Expert Assisted Robot Skill Acquisition (EARSA) proposed by the authors (1987). EARSA is mainly concerned with the self-discovery of skills by a robot in conjunction with the transfer of human skills to a robot and emphasizes the distinctive difference in perceptual and physical capabilities between a human and a robot. The authors review the theory and mechanism of EARSA, describe the robot fine motion skill learning algorithm formulated on the basis of EARSA, and present the details of simulation on the robot learning of two-dimensional peg-hole insertion skills. The results of simulation indicate the dramatic improvement of performance as a result of skill learning.< >

关键词： Expert systems Motion control robotics and automation Robot sensing systems Intelligent robots Cognitive robotics Motion planning Robotic assembly Automatic control Humans

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Minimization of energy in quasistatic manipulation

Minimization of energy in quasistatic manipulation

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Peshkin A.C. Sanderson Robotics Institute Carnegie Mellon University Pittsburgh PA USA Mechanical Engineering Department Northwestern University Evanston IL USA Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

Quasistatic mechanical systems, in which mass or acceleration is sufficiently small for the inertial term ma in F=ma to be negligible compared to dissipative forces, are discussed. It is pointed out that many instances of robotic manipulation can be well approximated as quasistatic systems, with the dissipative force being dry friction. Energetic formulations of Newton's laws have often been found useful in the solution of mechanics problems involving multiple constraints. An intuitive minimum power principle is outlined which states that a system chooses at every instant the lowest-energy, or 'easiest', motion in conformity with the constraints. Surprisingly, the principle is in general false; but it is proved that the principle is correct in the useful special case that Coulomb friction is the only dissipative or velocity-dependent force acting in the system.< >

关键词： Friction Robots Mechanical systems Motion analysis Shape Credit cards Fingers Acceleration Energy dissipation Energy loss

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Refining edges detected by a LoG operator

Refining edges detected by a LoG operator

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： F. Ulupinar G. Medioni Dept. of Electr. Eng. & Comput. Sci. Univ. of Southern California Los Angeles CA USA Institute for Robotics and Intelligent Systems Department of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The Laplacian of Gaussian (LoG) operator is one of the most popular operators used in edge detection. This operator, however, has some problems: zero-crossings do not always correspond to edges, and edges with an asymmetric profile introduce a symmetric bias between edge and zero-crossing locations. The authors offer solutions to these two problems. First, for one-dimensional signals, such as slices from images, they propose a simple test to detect true edges, and, for the problem of bias, they propose different techniques: the first one combines the results of the convolution of two LoG operators of different deviations, whereas the others sample the convolution with a single LoG filter at two points besides the zero-crossing. In addition to localization, these methods allow them to further characterize the shape of the edge. The authors present an implementation of these techniques for edges in 2-D images.< >

关键词： Image edge detection Laplace equations Detectors Intelligent robots Convolution Shape Intelligent systems Testing Filters Image segmentation

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Decentralized adaptive control (robot)

Decentralized adaptive control (robot)

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IEEE International Conference on robotics and Automation (ICRA)

作者： B.J. Oh M. Jamshidi H. Seraji CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA Dept. of Electr. & Comput. Eng. New Mexico Univ. Albuquerque NM USA Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

A decentralized adaptive control is proposed to stabilize and track the nonlinear interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive control theory based on Lyapunov's direct method. The adaptive gains consist of sigma , proportional, and integral combination of the measured and reference values of the corresponding subsystem. The proposed control is applied to the joint control of a two-link robot manipulator, and the performance in computer simulation corresponds with what is expected in theoretical development.< >

关键词： Adaptive control Control systems Programmable control Laboratories Manipulators Robot sensing systems Nonlinear control systems Couplings Robust control Propulsion

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Fourier optics and pattern recognition

Fourier optics and pattern recognition

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1986 International Optical Computing Conference

作者： Kandel, Abraham Langholz, Gideon Computer Science Department Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States Department of Electrical Engineering Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States

In Fourier optics, the Fourier transformation is performed on the amplitude of the electromagnetic wave, whereas in the computational method the transformation is usually applied to the grayness of its image which is ...

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Experimental evaluation of a PUMA manipulator model-referenced adaptive controller

Experimental evaluation of a PUMA manipulator model-referenc...

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IEEE Conference on Decision and Control

作者： M. B. Leahy S. H. Murphy R. Al-Jarr G. N. Saridis Department of Electrical and Computer Engineering Air Force Institute of Technology OH USA Robotics and Automation Laboratories Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA Rensselaer Polytechnic Institute Troy New York

The robotic manipulator control performance database has been expanded by experimental evaluation of a joint space model-reference adaptive control technique. The trajectory tracking accuracy of the evaluated Model-Reference Adaptive Control technique was insufficient for gross motion control of a six degree of freedom PUMA manipulator. The adaption mechanism did not force the manipulator joints to track the reference model output. The Model-Referenced Adaptive Controller demonstrated efficacy inferior to dynamics based control techniques. Velocity reference input and friction compensation have been identified as essential components of any adaptive PUMA controller. Evaluation results provide valuable insight into further development of adaptive manipulator control methods.

关键词： Programmable control Adaptive control Manipulator dynamics Orbital robotics Robot control Databases Trajectory Tracking Motion control Friction

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Vertical integration for robot assembly cells

Vertical integration for robot assembly cells

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Kelley Robotics and Automation Laboratory Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Vertical integration of transformation of abstract assembly task descriptions into task execution commands is needed to overcome the fundamental factors which limit the widespread application of current robotic systems. These factors are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site robot control programming. These requirements arise because current robotic systems do not have an understanding of the robot cell environment. Further, these systems are not able to react rationally to non-deterministic events which occur during task execution. A research plan which is aimed at the systematic incorporation of limited amounts of machine intelligence into robot task planning and execution is outlined.

关键词： Robotic assembly Robot kinematics robotics and automation Robot sensing systems Robot programming Machine intelligence Service robots Intelligent robots Assembly systems Robot control

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Analytical Design of Intelligent Machines

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IFAC Proceedings Volumes 1985年第16期18卷 139-144页

作者： K.P. Valavanis G.N. Saridis Robotics and Automation Laboratory Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180-3590 USA

The problem of designing intelligent machines operating in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an intelligent machine is defined to De the structure of a Hierarchically Intelligent Control System, composed of three levels hierarchically ordered according to the principle of "increasing intelligence with decreasing precision," namely: the organization, the coordination and the hardware control levels. The behavior of such a machine may be managed by controls with special considerations and its "intelligence" is directly related to the derivation or a compatible measure that associates the intelligence of the higher levels with the precision of execution of the lower levels. It is shown that the concept of entropy as defined in Information Theory and Theoretical Thermodynamics is a sufficient analytic measure that unifies the treatment of all the levels of an intelligent machine as the mathematical problem of finding the right sequence of internal decisions and controls for a system structured in the order of intelligence and inverse order of precision (constraint) such that it minimizes its total entropy

关键词： Hierarchical compatible flow of knowledge machine knowledge machine intelligence

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Understanding, Uncertainty and Robot Task Execution

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IFAC Proceedings Volumes 1985年第16期18卷 331-335页

作者： R.B. Kelly S. Bonner Robotics and Automation Laboratory. Department of Electrical Computer and Systems Engineering Renssclacr Politechnic Institute. Troy NY 12180-3590. USA

Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site control program development. These requirements arise because current robotic systems do not have an understanding of the robot task environment. Further, these systems are not able to react intelligently to non-deterministic events which occur during task execution. This paper examines the nature of understanding and its use to resolve uncertainty as it relates to robot task execution. Then a research plan which is aimed at the systematic incorporation of understanding into the robot task environment is outlined.

关键词： Advanced automation machine intelligence robot system programming robot task planning

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computer Vision and computer Graphics. Theory and Applications 1

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丛书名： Communications in computer and Information Science

1000年

作者： José Braz Alpesh Ranchordas Hélder J. Araújo João Madeiras Pereira

ISBN: (数字)9783540896821

ISBN: (纸本)9783540896814

This book includes selected papers from VISIGRAPP 2007, the Joint Conference on computer Vision and computer Graphics, comprising two component conferences, namely, the International Conference on computer Vision Theory and Applications (VISAPP) and the International Conference on computer Graphics Theory and App- cations (GRAPP), held in Barcelona, Spain, during March 8–11, 2007. We received quite a high number of paper submissions: 382 in total for both conf- ences. We had contributions from more than 50 countries in all five continents. This confirms the success and global dimension of these jointly organized conferences. After a rigorous double-blind evaluation method, a total of 78 submissions were accepted as full papers. From those, 18 got selected for inclusion in this book. To ensure the sci- tific quality of the contributions, these were selected from papers that were evaluated with the highest scores by the VISIGRAPP Program Committee members and then they were extended and revised by the authors. Special thanks go to all contributors and re- rees, without whom this book would not have been possible. VISIGRAPP 2007 included four invited keynote lectures, presented by internati- ally recognized researchers. The presentations represented an important contribution to increasing the overall quality of the conference. We would like to express our - preciation to all invited keynote speakers, in alphabetical order: Jake K. Aggarwal (The University of Texas at Austin/USA), André Gagalowicz (INRIA/France), Wo- gang Heidrich (University of British Columbia/Canada), Mel Slater (Universitat Politècnica de Catalunya/Spain).

关键词： Simulation and Modeling computer Graphics Pattern Recognition Image Processing and computer Vision computer Imaging, Vision, Pattern Recognition and Graphics Biometrics

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