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12th European Conference on Artificial Intelligence, ECAI 1996, 2nd International Conference on Multiagent systems, ICMAS 1996, Workshop on Learning in Distributed Artificial Intelligence systems, LDAIS 1996 and Workshop on Learning, Interaction, and Organization in Multiagent Environments, LIOME 1996

作者： Friedrich, Holger Kaiser, Michael Rogalla, Oliver Dillmann, Rüdigex University of Karlsruhe Institute for Real-Time Computer Systems and Robotics KarlsruheD-76128 Germany

ISBN: (纸本)3540629343

This paper discusses the significance of communication between individual agents that are embedded into learning Multi-Agent systems. For several learning tasks occurring within a Multi-Agent System, communication activities are investigated and the need for a mutual understanding of agents participating in the learning process is made explicit. Thus, the need for a common ontology to exchange learning-related information is shown. Building this ontogy is an additional learning task that is not only extremely important, but also extremely difficult. We propose a solution that is motiwtted by the human ability to understand each other even in the absence of a common language by using alternative commuification channels, such as gestures. We show some results for the task of cooperative material handling by several manipulators. © 1997, Springer Verlag.

关键词： Multi agent systems

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Sensor system and powerful computer system for controlling a microrobot-based micromanipulation station

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JOURNAL OF MICROMECHANICS AND MICROENGINEERING 1997年第3期7卷 256-258页

作者： Fischer, T Santa, K Fatikow, S University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Systems and Robotics Kaiserstr.12/Geb. 40.28 D-76128 Karlsruhe Germany Presented on 22 October 1996 accepted for publication 8 April 1997

Mobile microrobots, which are capable of performing microscopic motions, have become a subject of great interest all over the world, They have the potential to be used for a variety of applications: in industry for assembly of microsystems or for the testing of silicon chips;in medicine for handling biological cells, etc. A new model of an automated micromanipulation station, which includes piezoelectric microrobots is now being built by an interdisciplinary research group at the University of Karlsruhe, Germany, This paper describes a sensor system and a powerful tailorable computer for controlling the micromanipulation station.

关键词： Manipulators

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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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Aspects of controlling a multifingered gripper

Aspects of controlling a multifingered gripper

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International Conference on Knowledge-Based Intelligent Electronic systems (KES)

作者： T. Doersam T. Fischer Department of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Controlling multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. The nonlinear friction, the impact problem and other plant uncertainties require a special kind of control and tuning of the controller. Some simple linear and nonlinear controllers for the Karlsruhe Dexterous Hand are presented and the results and advantages of the controllers are shown. Also, a new adaptive fuzzy controller is presented to overcome the time consuming process of fine-tuning the membership functions. Finally, a short glance at the hardware platform is taken in order to show the control system architecture.

关键词： Grippers Friction Control systems Force control Fuzzy control Force measurement computer science real time systems Robot control Programmable control

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Dynamic simulation of the jaw and chewing muscles for maxillofacial surgery

Dynamic simulation of the jaw and chewing muscles for maxill...

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IEEE Nonrigid and Articulated Motion Workshop

作者： T. Weingartner S. Hassfeld R. Dillmann Institute for Real-Time Computer Systems & Robotics Department for Computer Science University of Karlsruhe Karlsruhe Germany Medical Department Clinic for Oral and Maxillofacial Surgery University of Heidelberg Heidelberg Germany Department of Computer Science Institute for Real-Time Computer Systems& Robotics University of Karlsruhe Karlsruhe Germany

The need for simulation in medical environments increases with the complexity and risks of operations. Exact geometric planning is one of the main problems a surgeon has to deal with. The goal of the authors' research is the development of a graphical simulation of the human mastication system. Therefore, they are developing an integrated model of the jaw by parameterizing the bones (maxilla and mandible) and modeling the motion capabilities as well as the mastication muscles. The main focus of the paper is the introduction of a kinematic model of the temporomandibular joint and modeling of the mastication muscles. The kinematic model describes the geometrical and analytical movement of the jaw by specially defined axes. By modifying the axes or the geometrical model of the mandible, a surgeon can get a first impression of the post-operative result of, for example, a repositioning. Through integration of the muscles and muscle forces, one can even obtain a dynamic simulation of the whole mastication system.

关键词： Muscles Surgery Surges Computational modeling Medical simulation Kinematics Joints Tomography Pain real time systems

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Haptic output in multimodal user interfaces 97

Haptic output in multimodal user interfaces

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Proceedings of the 2nd international conference on Intelligent user interfaces

作者： Stefan Münch Rüdiger Dillmann University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Systems and Robotics Kaiserstraβe 12 D-76128 Karlsruhe Germany

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Design decision support system for the engineering/re-engineering of complex naval systems

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NAVAL ENGINEERS JOURNAL 1997年第4期109卷 23-33页

作者： Graham, JH Ragade, RK Shea, J James H. Graham:is the Henry Vogt Professor of computer science and engineering at the University of Louisville. Previous professional employment includes positions at Rensselaer Polytechnic Institute and General Motors Corporation. He received his master's and doctoral degrees at Purdue University and his bachelor's degree at Rose-Hulman Institute of Ethnology. His research interests include artificial intelligence robotics and paraliel computing. Rammohan K. Ragade:is professor of engineering mathematics and computer science at the University of Louisville. He received his Ph.D. from the Indian Institute of Technology at Kampur in 1968. He has been a faculty member at the University of Waterloo and held an engineering position with Bell Northern Research. His research interests include human-computer interaction decision support systems object-oriented simulation and modeling distributed database systems and fuzzy logic. John G. Shea Jr.:served until 1995 as a project manager in the Phalanx Engineering Section of Naval Surface Warfare Center Crane Division Louisville Station. He received his bachelor's and master's degrees from the Speed Scientific School at the University of Louisville. He was a member of the American Society of Naval Engineers.

Hybrid simulation includes both functional computer software models and actual hardware subsystems operating as an integrated whole. A ''hot test bed'' or a ''hybrid simulator-emulator'' enables design engineers to evaluate conceptual models in a more realistic real-lime context, but places increased cognitive demands on the designer. This paper describes an architecture, and results from a prototype implementation, for a design decision support system to allow a designer to make more productive and cost effective use of a test bed system.

关键词： Decision support systems

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Programming by demonstration: A machine learning approach to support skill acquision for robots 3rd

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3rd International Conference on Artificial Intelligence and Symbolic Mathematical Computation, AISMC 1996

作者： Dillmann, R. Friedrich, H. University of Karlsruhe Institute for Real-Time Computer Systems and Robotics Kaiserstr. 12 KarlsruheD-76128 Germany

ISBN: (纸本)3540617329

Programming by Demonstration (PbD) is a programming method that allows to add new functionalities to a system by simply showing the desired task or skill in form of few examples. In the domain of robotics this paradigm offers the potential to reduce the complexity of robot task programming and to make programming more "natural". In case of programming an assembly task PbD allows with the help of a video or a laser camera and a data glove the automatic generation the necessary robot program for the assembly task. In addition, the demonstration of the task with few different assembly situations and strategies may achieve a generalized assembly function for all possible variants of the class. In order to realize such a PbD system at least two major problems have to be solved. First, the sensor data trace of a demonstration has to be interpreted and transformed into a high-level situation-action representation. This task is not yet well understood nor solved in general. Second, if a generalization is required, induction algorithms must be applied to the sensor data trace, to find the most general user-intended robot function from only few examples. In this paper mainly the second problem is focused. The described experimental PbD environment consists of an industrial robot, a 6D space mouse used as input device, and some sensors. Various data can be recorded during a demonstration for further processing in the PbD system implemented on a workstation. The objective is to exploit the possibilities of integrating learning and clustering algorithms for automated robot programming. In particular it is investigated how human interaction with the PbD system as well as user-initiated dialogs can support inductive learning to acquire generalized assembly programs and skills. © Springer-Vedag Berlin Heidelberg 1996.

关键词： Demonstrations

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THE LIQUID MODEL LOAD BALANCING METHOD

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Parallel Algorithms and Applications 1996年第3-4期8卷 285-307页

作者： Dominik Henrich[a] [a] Institute for Real-Time Computer Systems and Robotics Computer Science Department University of Karlsruhe Karlsruhe D Germany

Load balancing is one of the central problems that have to be solved in parallel computation. Here, the problem of distributed, dynamic load balancing for massive parallelism is addressed.A new local method, which realizes a physical analogy to equilibrating liquids in multi-dimensional tori or hypercubes, is presented. It is especially suited for communication mechanisms with low set-up to transfer ratio occurring in tightly-coupled or SIMD systems. By successive shifting single load elements to the direct neighbors, the load is automatically transferred to lightly loaded *** to former methods, the proposed Liquid model has two main advantages. First, the task of load sharing is combined with the task of load balancing, where the former has priority. This property is valuable in many applications and important for highly dynamic load distribution. Second, the Liquid model has high efficiency, Asymptotically, it needsO(D K Ldiff) load transfers to reach the balanced state in aD-dimensional torus withKprocessors per dimension and a maximum initial load difference ofLdiff. The Liquid model clearly outperforms an earlier load balancing approach, the *** a survey of related research, analytical results within a formal framework are derived. These results are validated by worst-case simulations in one- and two-dimeasional tori with up to two thousand processors.

关键词： Distributed computing parallel algorithms load sharing load balancing rings tori hypcrcubes.

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Compensation of friction in mechanical drives for a three fingered robot gripper

Compensation of friction in mechanical drives for a three fi...

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems. IROS '96

作者： T. Doersam P. Duerrschmied Department for Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly nonlinear friction problems and plant uncertainties require intensive fine-tuning of a controller. This paper gives insight into the frictional behaviour of geared finger links. The behaviour has been approximated by a friction model. Considering the estimated system parameters two kinds of controllers are developed: a simple PD controller with switchable I-part and a PD-controller with a fuzzy friction compensation working in parallel. The results of both controllers are presented and compared in this paper.

关键词： Friction Control systems Robots High performance computing Uncertainty Fingers Parameter estimation PD control Fuzzy control Fuzzy systems

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