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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： S. Fatikow U. Rembold Institute for Real-Time Computer Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

One of the main problems of present-day microsystem technology (MST) is the assembly of a whole microsystem from different micro-components. This paper presents an automated micromanipulation desktop station the main feature of which are piezoelectrically driven microrobots placed on a highly precise x-y table of a microscope. The microrobots can perform high-precise manipulations (with an accuracy of up to 10 nm) and the transport of very small objects (at a speed of several mm/sec). To control the desktop station automatically, a sensor system is provided for fine and for gross positioning of the robots, respectively. Apart from assembly tasks this automated station can be used, for examples, for handling biological cells or testing silicon chips.

关键词： Microscopy Automatic control Control systems Sensor systems Robot sensing systems robotics and automation Robotic assembly Biological cells Automatic testing Silicon

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AN INTEGRATED APPROACH TO SOFTWARE systems PLANNING AND SELECTION BASED ON CIMOSA MODELS

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CONTROL ENGINEERING PRACTICE 1995年第1期3卷 97-103页

作者： NAEGER, G REMBOLD, U Department of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe 76128 Karlsruhe Germany

Strong international competition forces enterprises to reduce organizational overhead and cost. Today's industrial practices allow, in general, only the selection of whole planning and control systems for CIM (e.g., CAD systems, PP&C systems,...). These systems can be adapted only in a limited range to the user requirements. With the introduction of executable enterprise models to the industrial environment, it is expected that it will be possible to design tailored CIM systems built of standardized software modules which will lead to higher complexity of the planning process for software systems. Thus, today's planning and selection approaches will face more and more problems. In order to master the increasing complexity of the planning of software systems for enterprises, new planning methods and tools are required. An integrated approach to software system planning and selection based on CIMOSA enterprise models was developed. The underlying idea of the approach is the conversion of the planning problem into an equivalent constraint satisfaction problem. The conversion process can be accomplished fully automatically.

关键词： ENTERPRISE MODELING CIMOSA RESOURCE SELECTION

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A MULTIAGENT APPROACH WITH DISTRIBUTED FUZZY-LOGIC CONTROL

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computerS IN INDUSTRY 1995年第3期26卷 219-227页

作者： BOHNER, P Institute for Real-Time Computer Systems and Robotics Faculty for Informatics University of Karlsruhe Kaiserstr. 12 76128 Karlsruhe Germany

The use of manipulator systems with many degrees of freedoms 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 according manipulator motions are then calculated by assigning 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 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 communicate to provide global suboptimality.

关键词： DEPENDENT AGENTS DISTRIBUTED AGENTS REACTIVE AGENTS PLAN-BASED AGENTS DISTRIBUTED CONTROL DISTRIBUTED ARTIFICIAL INTELLIGENCE

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real-time MAP REFINEMENT BY USE OF SONAR AND ACTIVE STEREO-VISION

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robotics AND AUTONOMOUS systems 1995年第1期16卷 47-56页

作者： WALLNER, F DILLMANN, R Institute for Real-Time Computer Systems & Robotics Department of Computer Science University of Karlsruhe P.O. Box 6980 76128 Karlsruhe 1 Germany

A mobile robot that navigates in an unknown or changing environment needs to maintain a dynamic model of its environment in order to update existing knowledge about the world. This paper addresses the problem of how to update a local model of the perceivable environment of a mobile robot and how to produce a description of newly perceived obstacles. A new hybrid concept is presented which combines the advantages of parameter- and grid-based modelling techniques. By introducing local grids that only cover areas where new obstacles are expected, the complexity of the map building process is significantly reduced. Local grids can be used in dynamic environment which was not possible with earlier grid-modelling approaches. The information, grids are constructed from, is provided by ultrasonic range sensors and an active stereo-vision system, Fusing information of both sensor systems is advantageous, especially due to their complementary error characteristics concerning range and angular resolution.

关键词： MOBILE ROBOT ACTIVE SENSING MAP BUILDING SENSOR FUSION

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An adaptive fuzzy control for a three fingered robot gripper 3

An adaptive fuzzy control for a three fingered robot gripper

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3rd Australian and New Zealand Conference on Intelligent Information systems, ANZIIS 1995

作者： Doersam, Thomas Hammerschmidt, Oliver University of Karlsruhe Department for Computer Science Institute for Real-Time Computer Systems and Robotics Kaiserstr. 12 KarlsruheD-76128 Germany University of Karlsruhe Department for Computer Science Institute for Microcomputers and Automation Kaiserstr. 12 KarlsruheD-76128 Germany

ISBN: (纸本)0864224303

Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly non-linear friction problems and plant uncertainties require intensive fine-tuning of the controller. An adaptive fuzzy control which allows automatic controller tuning during plant operation is proposed and was added to an existing process control system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented. © 1995 IEEE. All rights reserved.

关键词： real time systems

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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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Process automation using adaptive fuzzy control

Process automation using adaptive fuzzy control

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New Zealand International Two-Stream Conference on Artificial Neural Networks and Expert systems

作者： O. Hammerschmidt T. Doersam Institute for Microcomputers and Automation Department of Computer Science University of Karlsruhe Karlsruhe Germany Institute for Real-Time Computer Systems and Robotics Deparfmenf of Computer Science University of Karlsruhe Karlsruhe Germany

In process automation the control of plants with uncertainty or unknown parameters normally requires either a costly identification phase or an intensive fine-tuning of the controller. An easy adaptive fuzzy control is proposed which allows automatic controller tuning during operation with respect to desired closed loop behaviour. This adaptive control was added to the fuzzy kernel of an existing process automation system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented.

关键词： Programmable control Adaptive control Fuzzy control Automatic control robotics and automation Process control Uncertainty Fuzzy systems Kernel Grippers

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Process automation using adaptive fuzzy control 2

Process automation using adaptive fuzzy control

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2nd New Zealand International Two-Stream Conference on Artificial Neural Networks and Expert systems, ANNES 1995

作者： Hammerschmidt, O. Doersam, T. Inst. for Microcomput. and Autom. Karlsruhe Univ. Kaiserstr. 12 Karlsruhe0-76128 Germany Institute for Real-Time Computer Systems and Robotics Karlsruhe Univ. Kaiserstr. 12 Karlsruhe0-76128 Germany

ISBN: (纸本)0818671742

关键词： Controllers

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THE CONTROL ARCHITECTURE OF THE PRIAMOS MOBILE SYSTEM

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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

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Design of a fuzzy controller for optimal execution of subgoal-guided robot motions

Design of a fuzzy controller for optimal execution of subgoa...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jianwei Zhang A. Herp Inst. for Real-Time Computer Systems and Robotics Karlsruhe Univ. Germany Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

In this paper, an approach is presented for designing a robot controller to integrate path planning and motion execution. Instead of following an exactly planned geometric path, which cannot be easily modified to deal with uncertainties, a robot realizes its motion under the guidance of a sequence of grossly selected crucial points called subgoals. A fuzzy model is used for on-line controlling the robot to pass through the subgoals smoothly. With the help of heuristics for optimal motion control, the rule base can be developed. Such a concept provides a control method in real time as well as a possibility of integrating sensor data for the subgoal-guided motion.< >

关键词： Fuzzy control Optimal control Motion control Path planning Orbital robotics Robot sensing systems Motion planning Collision avoidance Solid modeling Control systems

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