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time-delay neural networks for control

IFAC Proceedings Volumes 1994年第14期27卷 967-972页

作者： M. Kaiser University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Systems & Robotics Prof. Dr.-Ing. U. Rembold and Prof. Dr.-Ing. R. Dillmann D-76128 Karlsruhe Germany

This paper presents results regarding the Application of time-Delay Neural Networks (TDNNs), up to now mainly used in speech recognition, for control tasks. A set of examples taken from a model-based robot controller is used to validate the suitability of the TDNN and to show its superiority to standard multilayer perceptrons. Afterwards, a new algorithm is presented that shows how the inherent capability of the TDNN to deal with time-variant signals can be employed to directly generate a TDNN from a PID control law. This synthesized neural controller is operational from the very beginning and can be tuned on-line using existing learning techniques. The advantages of this design procedure are shown for a simple control task.

关键词： Neural nets control system design control system synthesis adaptive control knowledge engineering

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Utilizing spatial relations for natural language access to an autonomous mobile robot 18th

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18th Annual German Conference on Artificial Intelligence, KI 1994

作者： Stopp, Eva Gapp, Klaus-Peter Herzog, Gerd Laengle, Thomas Lueth, Tim C. SFB 314-Project VITRA FB 14 Informatik Universität des Saarlandes SaarbrückenD-66041 Germany Institute for Real-Time Computer Systems and Robotics Prof. Dr.-Ing. U. Rembold and Prof. Dr.-Ing. R. Dillmann Universität Karlsruhe KarlsruheD-76128 Germany

ISBN: (纸本)9783540584674

Natural language, a primary communication medium for humans, facilitates better human-machine interaction and could be an efficient means to use intelligent robots in a more flexible manner. In this paper, we report on our joint efforts at providing natural language access to the autonomous mobile two-arm robot KAMRO. The robot is able to perform complex assembly tasks. To achieve autonomous behaviour, several camera systems are used for the perception of the environment during task execution. Since natural language utterances must be interpreted with respect to the robot’s current environment the processing must be based on a referential semantics that is perceptually anchored. Considering localization expressions, we demonstrate how, on the one hand, verbal descriptions, and on the other hand, knowledge about the physical environment, i.e., visual and geometric information, can be connected to each other. © 1994, Springer Verlag. All rights reserved.

关键词： Intelligent robots

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APPLICATIONS OF FUZZY-LOGIC control IN AUTONOMOUS ROBOT systems

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INTERNATIONAL JOURNAL OF systems SCIENCE 1993年第10期24卷 1885-1904页

作者： ZHANG, JW Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

The development of autonomous robots involves the imitation of human decision-making abilities with the aid of diverse sensor information. Fuzzy logic, which is based on fuzzy modelling and approximate reasoning, can be applied in different levels of control tasks. We first present the research results of applying fuzzy logic control in the motion execution of mobile systems and sensor-guided fine-motion of a manipulator. To realize real-time 'reactive' control, suitable hardware which supports the acceleration of fuzzy inference should be developed. The design and development of a VME-bus compatible fuzzy co-processor is also described.

关键词： Fuzzy inference

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CONTACT ANALYSIS AND VERIFICATION IN A 2D ENVIRONMENT WITH UNCERTAINTIES

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JOURNAL OF INTELLIGENT & ROBOTIC systems 1993年第2期7卷 175-193页

作者： HORMANN, K HUBNER, T SPRENG, M 1. Institute for Real-Time Computer Systems and Robotics Universit?t Karlsruhe Postfach 6980 W-7500 Karlsruhe Germany

This contribution presents results of a research project concerned with the planning and execution of motions in uncertain environments. In particular, the problem of a moving convex polygon within an uncertain two-dimensional environment has been investigated. The essential sub-problem of how to analyse unexpected contacts is treated. Using a set-oriented model of the uncertainties, the motion possibilities of the polygon is investigated for the different contact types. Also based on the model of the uncertainties, the potential locations of the geometric elements are constructed and intersected, giving us the contact hypotheses. With the help of exploratory motions, an attempt is made to decide between ambiguous hypotheses. The question of which exploratory motions are useful for the different contact types is also investigated. After an exploratory motion has been executed, its results must be evaluated with respect to the validity of the hypotheses. The system has been implemented and is also described in this paper.

关键词： UNCERTAINTY CONTACTS TEST MOTIONS FREEDOMS OF MOTION

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OASIS: An Open Analysis Environment

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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

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A probabilistic method to analyze ambiguous contact situations

A probabilistic method to analyze ambiguous contact situatio...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Spreng Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

An approach to analyzing ambiguous contact situations in an uncertain robotic environment is presented. When invoked by the occurrence of a contact, the analysis proceeds by generating a set of hypotheses on the contact, out of which the valid one is detected by testing the feasibility of certain motions, i.e., performing movability tests. Emphasis is placed on the generation of the hypotheses. All parts of the analysis are based upon the same probabilistic uncertainty model, which is given.< >

关键词： Testing Uncertainty Motion analysis real time systems Motion detection Performance evaluation Robot motion End effectors Information analysis Tactile sensors

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The control Architecture of the Mobile System Priamos

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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

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A fuzzy control approach for executing subgoal guided motion of a mobile robot in a partially-known environment

A fuzzy control approach for executing subgoal guided motion...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Zhang P. Bohner Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Germany

A fuzzy control approach is proposed for controlling a mobile robot by effectively using the static knowledge of a partially-known environment and the dynamic sensor data. To describe the global structure of the static environment, a tangent-graph is first constructed and a sequence of subgoals is generated for guiding the global path direction. During the execution of these subgoals, a motion executor using the concept of fuzzy control evaluates the sensor data and the robot current status, and adjusts the moving speed and direction of the robot.< >

关键词： Fuzzy control Mobile robots Robot sensing systems Path planning control systems Humans Motion control Robot control Roads Robot motion

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A simulation-based grasp planning system for multifinger robot hands

A simulation-based grasp planning system for multifinger rob...

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IEEE International Symposium on Intelligent control (ISIC)

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

The development of an advanced planning environment is described, which is especially tailored for the programming and simulating of complex assembly operations with multifinger robot hands. A new geometric-mechanic approach to the problem of planning grasp parameters for multifinger hands is presented, which considers the constraints of pick-and-place operations in manipulation and insertion tasks. The planning method is subdivided into two successive steps for (1) grasp point planning assertion object reachability and task feasibility, and (2) grasp force planning asserting object stability and grip security. The planning process is connected via a task concept and assembly specific language with the command executer of the planning system which controls both the motion emulation and force simulation.< >

关键词： Robotic assembly Process planning Robot programming Motion planning Stability Security Assembly systems control system synthesis Force control Motion control

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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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