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Annual Conference of AI, Simulation, and Planning in High Autonomy Syslems

作者： Jianwei Zhang Institute for Real-Time Computer Systems and Robotics Faculty of Computer Science University of Karlsruhe Germany

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A parallel control computer structure for complex high speed applications

A parallel control computer structure for complex high speed...

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IEEE International Conference on Engineering of Complex computer systems

作者： B. Magnussen Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Karlsruhe Germany

With high speed control applications it is often very difficult to achieve the aspired timing of the control algorithm using just one processor. This is true especially if the system is complex or very large. In this paper we discuss advantages and disadvantages of a new system architecture using many processors of which each one is specialised for one part of the algorithm. A tailorable parallel computer architecture which we developed to cope with the problems of parallelisation of control algorithms is presented. Finally examples from the field of robotics and the performance of the prototype computer is presented.

关键词： Concurrent computing Application software Control systems computer architecture Velocity control Hardware Communication system control Robot sensing systems computer science Timing

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Distributed control architecture for intelligent systems

Distributed control architecture for intelligent systems

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Midwest Symposium on Circuits and systems (MWSCAS)

作者： T. Laengle T.C. Lueth U. Rembold H. Woern Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Karlsruhe Germany

In contrast to a hierarchical and centralized structure, distributed or decentralized control architectures reveal their main advantages when it is necessary to enhance the system, to integrate components, and to maintain the system. The main disadvantage of not centralized architectures is having to make sure that the system will fulfill an overall or global goal. To investigate these problems, a distributed control architecture for intelligent systems was developed at the University of Karlsruhe. In this paper, the methods for dead-lock-free coordination and cooperation are explained.

关键词： Distributed control Intelligent systems Intelligent control Robot kinematics computer architecture Intelligent robots real time systems computer science Intelligent manufacturing systems Resource management

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AUTOMATED FABRIC INSPECTION BASED ON A STRUCTURAL TEXTURE ANALYSIS METHOD

AUTOMATED FABRIC INSPECTION BASED ON A STRUCTURAL TEXTURE AN...

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SATELLITE CONF AT THE 1988 BIANNUAL INTERNATIONAL CONF ON PATTERN RECOGNITION : RECENT ISSUES IN PATTERN ANALYSIS AND RECOGNITION

作者： TUFIS, I International Basic Laboratory for Image Processing and Computer Graphics Central Institute for Cybernetics and Information Processes Kurstr. 33 P.O.B. 1298 Berlin Germany Department of Robotics and Real Time Systems Research Institute for Computer Technique and Informatics B-dul Miciurin 8-10 Bucharest 1 71316 Romania

ISBN: (纸本)0387518150

An approach for applying a structural texture analysis method to automatic visual inspection of fabric samples in the textile industry is presented. The main steps (image preprocessing, image segmentation, model description and matching) to accomplish this task are described and also some conclusions are drawn from the preliminary experiments. © 1989, Springer-Verlag.

关键词： Image segmentation

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A multi-agent approach to distributed control for task-level programs for cooperating manipulators

A multi-agent approach to distributed control for task-level...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： P. Bohner Institute for Real-Time Computer Systems and Robotics Faculty for InfonnaticS University of Karlsruhe Karlsruhe Germany

The use of two or more robots in a common workspace is essential to expand the field of potential applications. This paper presents a distributed approach for executing task-level programs for cooperating manipulators or one arm systems with many degrees of freedom. At task level, only the movement of the objects to be manipulated is specified. The corresponding manipulator motions are then calculated by assigning the local intelligence to each joint. The local intelligence enables the joint agents to calculate in parallel their appropriate movements to make the end effector reach the desired position. During execution, each joint evaluates the sensor data to compensate for execution errors, to react on unexpected obstacles and to provide the manipulator coordination. Therefore, a distributed fuzzy rule base has been developed. As this local evaluation may lead to non-optimal overall behavior of the manipulator, the joint agents communications provide global suboptimality.< >

关键词： Distributed control Manipulators Mobile robots Robot kinematics Intelligent sensors Intelligent agent Control systems Error correction real time systems Distributed computing

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A Hybrid Object Representation for Automatic Assembly Planning

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IFAC Proceedings Volumes 1993年第2期26卷 243-246页

作者： G. Werling H. Wild Faculty of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Postfach 6980 7500 Karlsruhe 1 Germany

A new product model that is particularly useful for model-based assembly planning is presented in this paper. The majority of the models used in this domain are simple approximations of the real workpiece and they are often dedicated to special algorithms. The model described here provides a more accurate and more flexible representation of workpieces. An increase in accuracy of the shape description was achieved by enhancing a polyhedral model with an analytical representation. The application of the model is demonstrated within the framework of assembly sequence planning.

关键词： Object representation assembling analytical models polyhedron boundary representation constructive solid geometry

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Automated computer-Aided Layout Planning for Robot Workcells

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IFAC Proceedings Volumes 1992年第7期25卷 473-478页

作者： T.C. Lueth Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Postfach 69 80 W-7500 Karlsruhe 1 Germany

This text presents an approach for planning robot workcells in three dimensions fully automatically. This automation is possible by a complete layout planning process inside the configuration space. To reach a sufficient shop floor layout in a short time, the cartesian configuration space and fast obstacle transformation routines are employed. An optimization algorithm minimizes the length of all collision free paths required for the performance of the workcell task. A final check by a graphical workcell task simulation, whether the layout is valid or not, is no longer required. This new planning approach enhances the conventional layout planning process and reduces the amount of necessary user interaction.

关键词： computer-aided planning workcell design layout planning collision-free path-planning cartesian configuration-space

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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic systems over a Lossy Communication Channel

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Journal of systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

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Robot assistant for dental implantology 4th

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4th International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2001

作者： Boesecke, R. Brief, J. Raczkowsky, J. Schorr, O. Daueber, S. Krempien, R. Treiber, M. Wetter, T. Hassfeld, S. TaMed GmbH Hufschmiedstr. ¼ WieslochD-69168 Germany Department of Oral and Maxillofacial Surgery University Hospital Heidelberg Germany Department of Radiology University Hospital Heidelberg Germany Institute of Real-Time Computer Systems and Robotics University of Karlsruhe Germany Department of Medical Informatics University Hospital Heidelberg Germany

ISBN: (纸本)3540426973

We introduce a method to apply a preoperative 3D plan for inserting dental implants with an assisting medical robot. The treatment plan is based on the 3D visualization of the CT data of the patient.s maxilla and mandible, and supplies the location of the implants in the patient.s coordinates. The plan is then transferred to the surgical robot.s coordinate system. The robot guides the tool, a drill guide. Position, orientation, and depth of the initial drilling is defined with the tool held by the robot while the surgeon drills. The robot assists the dentist, and the optimal treatment plan will be applied directly to the patient. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Drills

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Efficient 2D Simulators for Deep-Reinforcement-Learning-based Training of Navigation Approaches

Efficient 2D Simulators for Deep-Reinforcement-Learning-base...

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International Conference on Ubiquitous Robots (UR)

作者： Huajian Zeng Linh Kästner Jens Lambrecht The Chair of Robotics Artificial Intelligence and Real-time Systems Technical University Munich (TUM) Germany The Chair of Industry Grade Networks and Clouds Faculty of Electrical Engineering and Computer Science Berlin Institute of Technology Berlin Germany

In recent years, Deep Reinforcement Learning (DRL) has emerged as a competitive approach for mobile robot navigation. However, training DRL agents often comes at the cost of difficult and tedious training procedures in which powerful hardware is required to conduct oftentimes long training runs. Especially, for complex environments, this proves to be a major bottleneck for widespread adoption of DRL approaches into industries. In this paper we integrate an efficient 2D simulator into the Arena-Rosnav framework of our previous work as an alternative simulation platform to train and develop DRL agents. Therefore, we utilized the provided API to integrate necessary components into the ecosystem of Arena-Rosnav. We evaluated our simulator by training a DRL agent within that platform and compared the training and navigational performance against the baseline 2D simulator Flatland, which is the default simulating platform of Arena-Rosnav. Results demonstrate that using our Arena2D simulator results in substantially faster training times and in some scenarios better agents. This proves to be an important step towards resource-efficient DRL training, which accelerates training times and improve the development cycle of DRL agents for navigation tasks. We made our simulator openly available at https://***/Arena-Rosnav/arena2d.

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