检索结果-内蒙古大学图书馆

THE control ARCHITECTURE OF THE PRIAMOS MOBILE SYSTEM

control ENGINEERING PRACTICE 1994年第2期2卷 341-346页

作者： DILLMANN, R KREUZIGER, J WALLNER, F Department of Computer Science University of Karlsruhe Institute for Real-Time Computer Control Systems and Robotics P.O. Box 6980 76128 Karlsruhe Germany

In this paper the control architecture of the PRIAMOS mobile robot system is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environment. A solution for the problem of how to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more detail. The architecture presented allows motion tasks to be executed in partially unknown or changing environment in an efficient manner. Especially, the time-critical reflexive level is computationally less expensive than in previous approaches.

关键词： INTELLIGENT MACHINES NAVIGATION HIERARCHICALLY INTELLIGENT control ARCHITECTURE OBSTACLE AVOIDANCE ROBOTS SENSORS

来源：评论

学校读者我要写书评

暂无评论

Steady‐state security evaluation of electrical power systems by means of artificial neural network

引用

European Transactions on Electrical Power 1995年第2期5卷 91-97页

作者： Chiodo, E. Menniti, D. Testa, A. Picardi, C. Elio Chiodo (1959) received the degree in Electronics Engineering in 1985 and the Ph.D. degree in Computational Statistics both from the University of Naplefltaly. He is a Researcher at the Department of Electrical Engineering of the University of Naples and a member of the Italian Statistical Society. His areas of interest include probabilistic methods applied to electric power systems analysis. (University of Naples Fedrrico 11. Electrical Engineering Dept.via Claudio 21 1-80125 Naplefltaly T +3981/7683226 Fax+3981/2396897) Daniele Menniti (1958) received the degree in Electrical Engineering from the University of Calabria. Cosenzataly and the Ph.D. degree in Electrical Engineering from the University of NapleslItaly in 1984 and 1989 respectively. He is a researcher at the Electronic. Computer and Systems Science Department of the University of Calabria. Italy. Hiscurrent research interests concern electric power system analysis real-time control and automation. (University of Calabria Electronic Computer and Systems Science Dep. Arcavacataji Rende (CS). 1-87036 CosenzdItaly T +39984/494707. Fax +39984/4947 13) Alfredo Testa (1950) received the degree in Electrical Engineering from the University of Naples/Italy in 1975. He is an Associate Professor in Electrical Power Systems at the Department of Electrical Engineering of the University of Naples. He is engaged in researches on electrical power systems reliability and harmonic analysis. (University of Naples Federico 11. Electrical Engineering Dep. via Claudio '2 1 1-80 I25 NapleslItaly T + 39 8 I/7 68 3'2 11. Fax+3981/2396897) Ciro Picardi (1949) received the degree in Electronics Engineering from the University of Naples/Italy in 1975. He is currently Associate Professor in Process Control at the Department of Electronic Computer and System Science of the University of Calabria. Italy. His current research interests are in the area of electrical drives robotics neural networks and fuzzy control. (University of Calabria Electronic. Compu

An artificial‐neural‐network (ANN) application for steady‐state security evaluation of electrical power systems is presented. Such application is based upon a combined use of a multilayer back‐propagation neural network and of an opportune electrical system model, previously proposed by some of the authors. In the paper, the definition of steady‐state security and the problems arising from its on‐line evaluation are briefly recalled. Then, the ANN utilized is described with particular reference to the solutions adopted by the authors. Afterwards, some remarks on the system model utilized are reported. Finally, numerical applications on the AEP‐14 bus system are presented and the results obtained with different ANN configurations are analyzed. Copyright © 1995 John Wiley & Sons, Ltd.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Object manipulation with dextrous multi-finger hands: improved computation method

Object manipulation with dextrous multi-finger hands: improv...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： G. Wohlke Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

This paper deals with the two fundamental problems that occur when objects are manipulated with multi-finger robot hands: the determination of the joint motions to perform a manipulation according to a given object trajectory, and the optimization of the joint torques needed to ensure a stable and secure grip. The consideration of the effect of rolling and slipping of the fingertips at the contact points on the object surface leads to a set of linear differential equations for the joint angles and to a partly nonlinear optimization problem for the joint torques solved by the Hooke-Jeeves algorithm. The removal of redundant information reduces the computational effort to about 40% of the operations required for the standard procedure. Especially, the resulting object motions are demonstrated at an example: the rotation of an ellipsoid object with the fingers of the Karlsruhe dextrous hand.< >

关键词： Robots real time systems Equations Motion control control systems Fingers Grippers Automatic control Flowcharts Torque control

来源：评论

学校读者我要写书评

暂无评论

The Karlsruhe dextrous hand: grasp planning, programming and real-time control

The Karlsruhe dextrous hand: grasp planning, programming and...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： G. Wohlke Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

In this paper the framework of an intelligent control system of a multi-finger robot hand is described, that is especially tailored for sensor-based object handling and assembly. The research has concerned with the Karlsruhe dextrous hand, a modular three-finger hand with 9 degrees of freedom, independent finger modules and integrated sensors. The total system structure consists of three embedded subsystems, with a planning and supervisory system on the top, which has a blackboard-like architecture to exchange information with a distributed real-time control system that provides force/position control strategies for dextrous grasping and manipulating of arbitrary objects. A programming and simulation system supports the object/task-based description of all robot and gripper actions required to perform a specific operation.< >

关键词： Robot programming Robotic assembly Force control Intelligent control Robot sensing systems Intelligent robots Assembly systems Fingers Intelligent sensors Strategic planning

来源：评论

学校读者我要写书评

暂无评论

OASIS: An Open Analysis Environment

引用

IFAC Proceedings Volumes 1993年第2期26卷 709-712页

作者： P. Kneisel Institute for Real-Time Control Systems and Robotics University of Karlsruhe D-7500 Karlsruhe Germany

Due to the growing complexity and size of software systems, the development of correct and easy to maintain software has become more and more of a problem. This is especially true for distributed systems with real-time requirements. Therefore, great efforts have been made to overcome this problem. However, most approaches either do not consider every aspect of interest or are restricted to only one development phase. This paper describes OASIS, an open environment, that allows the integration of different analysis techniques in different system development phases, and presents the existing OASISI-toolset, that is already incorporated in this architecture.

关键词： Distributed control real-time computer systems software engineering programming environment process models monitoring

来源：评论

学校读者我要写书评

暂无评论

Leg synchronization of a walking machine by means of backpropagation-networks

Leg synchronization of a walking machine by means of backpro...

引用

International Joint Conference on Neural Networks (IJCNN)

作者： K. Berns St. Piekenbrock H. Dillmann Group Interactive Planning Research Centre for Computer Science University of Karlsruhe Germany Institute for Real Time Process Control and Robotics University of Karlsruhe Germany

In this paper various approaches to synchronize leg movement of a walking machine are reported. Backpropagation-networks with diverse topologies, different types of encodings of information and of training methods are... 详细信息

关键词： Leg Legged locomotion Network topology Mobile robots Robot kinematics Neural networks Propulsion Switches Foot Computer science

来源：评论

学校读者我要写书评

暂无评论

The control Architecture of the Mobile System Priamos

引用

IFAC Proceedings Volumes 1993年第1期26卷 391-396页

作者： R. Dillmann J. Kreuziger F. Wallner University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Control Systems & Robotics P.O. Box 6980. 7500 Karlsruhhe 1 Germany

In this paper the control architecture of the mobile robot system PRIAMOS is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environnement. A solution for the problem bow to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more details. The architecture presented allows to execute motion tasks in partially unknown or changing environment in an efficient manner. Especially the time critical reflexive level is computationally less expensive than previous approaches

关键词： Intelligent machines navigation hierarchically intelligent control architecture obstacle avoidance robots sensors

来源：评论

学校读者我要写书评

暂无评论

A design tool for hierarchical systems

A design tool for hierarchical systems

引用

Annual Hawaii International Conference on System Sciences (HICSS)

作者： M. Glaser P. Kneisel Institute for Real-Time Control Systems and Robotics University of Karlsruhe Karlsruhe Germany

Describes an approach for the development of hierarchical systems called ddraw (d esign draw). It is an object-oriented graphical design tool that allows the construction of structures by the use of a small set of graphical elements. A system in ddraw consists of components and relations between them. Components in turn may contain one or more subcomponents. Each of them can be provided with textual and graphical attributes. The attachment of any semantical meaning to components makes possible to employ ddraw in wide application fields. The created structures can be stored in an application-independent model description language (MDL), which allows its further use as input to other tools like code generators, syntax checkers, simulators, etc. Ddraw has been implemented on top of the X Windows system and uses windowing techniques and pointing devices to make the construction of complex systems manageable.< >

关键词： Hierarchical systems Object oriented modeling Power engineering and energy Testing Large-scale systems Costs Concrete real time systems Robot control control systems

来源：评论

学校读者我要写书评

暂无评论

Online planning of action sequences for a two-arm manipulator system

Online planning of action sequences for a two-arm manipulato...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： A. Hormann U. Rembold R. Dillmann Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe Germany

F/sub A/TE, an online task-level planning system for an advanced assembly robot consisting of two manipulators and a set of different sensors such as an overhead camera and force-torque sensors, is presented. The planning system takes an implicit description of the assembly task, plans a sequence of explicit robot commands and monitors the execution by the real-time robot control system. Because it runs completely online, the planning process is highly reactive using sensor information about the robot's present environment. This planning integrates as a key feature a dynamic mapping of assembly subtasks ready for execution onto the manipulators available at the moment. The system was implemented in Prolog on a SUN 4/75 SPARCstation running Unix.< >

关键词： Robotic assembly Sensor systems Robot sensing systems Manipulator dynamics Tellurium Robot vision systems Cameras Assembly systems real time systems Robot control

来源：评论

学校读者我要写书评

暂无评论

PLANNING OF SENSING TASKS IN AN ASSEMBLY ENVIRONMENT

引用

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1991年第3期4卷 221-254页

作者： WERLING, G 1. Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe D-7500 Karlsruhe Germany

The purpose of this paper is to give an overview of past and recent work on planning sensing strategies for vision sensors. To achieve an economic use of robots in manufacturing, their programs must provide a high degree of fault-tolerance, security, and robustness to prevent unforeseen errors. Model errors (also termed uncertainties) are one of the most frequent reasons for such undesirable events. Robot systems can be made more reliable and fault-tolerant by providing them with capabilities of error detection and recovery, or error prevention. The latter may be achieved by reducing model errors using tactile and non-tactile sensors. The quality of a robot program synthesized by a task-level programming system depends on the accuracy of the model, since all information that is not explicitly given by the programmer must be derived from it. This means that the following questions have to be answered by the automatic task planner in order to plan non-tactile sensing strategies: (1) When do I have to use sensors to reduce uncertainty about the real world? (2) What do I have to use them for? (3) How do I have to use them to achieve the necessary information within an acceptable period of time? There are very few systems which deal broadly with the problem of robust robot programs, whereas there are numerous works on detail aspects of the field. The main approaches will be introduced and discussed in more detail. Finally, a new concept for generating sensor-integrated robust robot programs will be proposed.

关键词： VERIFICATION TASK-LEVEL PROGRAMMING ROBOT VISION UNCERTAINTY ASSEMBLY PLANNING FAULT TOLERANCE CLASSIFICATION PREDICTION CAMERA LOCATION

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：