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Fast motion planning by parallel processing - A review

JOURNAL OF INTELLIGENT & ROBOTIC systems 1997年第1期20卷 45-69页

作者： Henrich, D Institute for Real-Time Computer Systems and Robotics Computer Science Department University of Karlsruhe Kaiserstrasse 12 D-76128 Karlsruhe Germany

One of the many features needed to support the activities of autonomous systems is the ability to plan motion. This enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, the control loop comprising sensing, planning, and acting has not yet been closed for robots in dynamic environments. One reason involves the long execution times of the motion planning component. A solution for this problem is offered by the use of highly parallel computation. Thus, an important task is the parallelization of existing motion planning algorithms for robots so that they are suitable for highly parallel computation. In several cases, completely new algorithms have to be designed, so that a parallelization is feasible. In this survey, we review recent approaches to motion planning using parallel computation. As a classification scheme, we use the structure given by the different approaches to the robot's motion planning. For each approach, the available parallel processing methods are discussed. Each approach is assigned a unique class. Finally, for each research work referenced, a list of keywords is given.

关键词： robotics autonomous systems parallel algorithms parallelism and concurrency motion planning review

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Autonomous microrobots

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JOURNAL OF INTELLIGENT & ROBOTIC systems 1997年第4期19卷 375-391页

作者： Rembold, U Fatikow, S Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Kaiserstr. 1 (Geb. 40.28) 76128 Karlsruhe Germany

Robots have been a subject of research for almost half a century. In order to make robots more versatile they must be able to operate in a semi-structured work place where unforeseen events occur and where sensor data are incomplete. An entire research community has been working on this problem and many unique autonomous and so-called intelligent robots have been conceived and built. Most of these efforts are concerned with robots that operate in the macroworld where they take on chores that could also be handled by humans. However, there is the macroworld in which manipulation and handling tasks are very difficult and for which a human has no tools and where the work area is so small that fine manual manipulation is almost impossible. This paper is concerned with autonomous robots that can operate in a microworld, where microassembly operations, microsurgery or integrated circuit testing and repair is done. For independent operations, these robots need special sensors and an efficient computer architecture that hosts the planner and executor. There are also special drive systems and effecters necessary for micromotions and micromanipulations, respectively. An attempt is made to describe these components and the problems encountered in configuring them to a microrobot. As an example of advanced microrobots, the design and functions of several autonomous microrobots of the University of Karlsruhe are shown;they employ different locomotion and subject handling principles. The paper also includes a discussion of the typical operating problems caused by the microworld and of future research that has to be done to conceive and build efficient microrobots.

关键词： autonomous microrobots microassembly station micromanipulator piezoelectric actuators robot control

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Learning and communication in multi-agent systems

Learning and communication in multi-agent systems

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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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Virtual cutting in medical data

Virtual cutting in medical data

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作者： Mazura, A. Seifert, S. Institute for Real-time Computer Systems and Robotics University of Karlsruhe Department for Computer Science 76128 Karlsruhe Germany

In this paper we present a method for virtual 3D cutting operations in 3D tomographic data. When cutting interactively the user specifies a serie of 3D cutting points and correponding cut depths on the surface of the object. Each pair of succeeding cutting points then defines a freeform shape of the incision. A 3D meshing algorithm constructs a Finite Element mesh formed by tetrahedrons, representing the surgical intervention. © 1997 The authors.

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Simulation of jaw-movements for the musculoskeletal diagnoses

Simulation of jaw-movements for the musculoskeletal diagnose...

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作者： Weingärtner, T. Dillmann, R. Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Department for Computer Science 76128 Karlsruhe Germany

Simulations of static and dynamic aspects of the functionality of the human body are getting more important as the complexity of operations increases. The preoperative planning of maxillofacial operations like the repositioning of the jaw is an example for such operation. Here, but also in other medical fields, simulation can help to estimate the results of a procedure or can facilitate the diagnosis through a better view of the anatomy and pathology of the patient. A virtual view on the pathology and the possibility of simulating the postoperative results simplifies and improves the preoperative planning. The goal of our research is the development of a graphical simulation of the human mastication system to give the surgeon an impression on the inner anatomy of his patient. This simulation allows him to predict the aesthetic and functional outcome of his operation. The main focus of this paper is the introduction of a kinematic model of the temporomandibular joint. This kinematic model describes the geometrical and analytical movement of the jaw by specially defined axes. It is the basis for an animated simulation of the mandible movement. Through integration of the muscles and muscle forces, we come to a realistic dynamic simulation of the whole mastication system. © 1997 The authors.

关键词： Pathology

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THE PROGRAMMING OF A TELEMANIPULATOR WITH THE FORCE-CUBE

THE PROGRAMMING OF A TELEMANIPULATOR WITH THE FORCE-CUBE

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ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - Dynamic systems and Control

作者： Schaude, Horst F. Dillmann, Rudiger University of Karlsruhe Institute for Real-Time Computer Systems and Robotics KaiserstraBe 12 Karlsruhe76128 Germany

ISBN: (纸本)9780791818244

While programming a telemanipulator the operator often uses special input devices to generate trajectories, which are to difficult for automatic planers. Though the trajectories are evaluated by a simulation and shown on a graphical animation, it is much faster to give the operator direct haptic feedback if a collision will occur while executing the trajectory. To combine the haptic feedback with an intuitive input device, we have developed the ForceCube. The input parameters are separated in three translational and three rotational values. They are matched on three orthogonal sides of a cube in such way, that their axes correspond to their counterparts in the real word. Each of the axes can be blocked in one direction. With this feature it is possible to move the manipulator with contact in one direction and without any constraints in the other directions. The ForceCube is integrated in the teleoperation system TelOS developed at the institute for real-time Computing and robotics. © 1997 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Trajectories

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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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Reactive multi-agent based control of redundant manipulators

Reactive multi-agent based control of redundant manipulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Bohner R. Luppen Institute for Real-Time Computer Systems & Robotics University of Karlsruhe Karlsruhe Germany

In this paper we present a reactive planning and control system for redundant manipulators based on multi-agents. It enables the reactive motion of manipulators in unknown environments by integrating sensor data. All agent is responsible for calculating and controlling the motion of one joint, therefore it is called "joint agent". The agents, their communication and coordination are presented in this paper. Results are demonstrated for a 7-DOF redundant manipulator covered with tactile sensors.

关键词： Manipulators Robot sensing systems Robot kinematics Path planning real time systems Motion planning Communication system control Control systems Tactile sensors Service robots

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Parallel processing approaches in robotics

Parallel processing approaches in robotics

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： D. Henrich T. Honiger Institute for Real Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

This paper presents the different possibilities for parallel processing in robot control architectures. Initially, the authors briefly review the historic development of control architectures. Then, a list of requirements for control architectures is set up from a parallel processing point of view. As their main topic, they identify the levels of parallel processing in robot control architectures. With each level of parallelism, examples for a typical robot control architecture are presented. Finally, a list of keywords is provided for each previous work the authors refer to.

关键词： Parallel processing Parallel robots Concurrent computing Robot control Automatic control computer architecture Control systems Costs Distributed control Very large scale integration

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Development of a Tactile Sensitive Skin

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IFAC Proceedings Volumes 1997年第7期30卷 315-320页

作者： Petra Bohner Michael Hoffmann Institute for Real-Time Computer Systems & Robotics University of Karlsruhe D-76128 Karlsruhe Germany. E-Mail:

The application of manipulators in unknown or rapidly changing environments requires fast sensors and data evaluation as well as reactive integration into the robot control system. This paper describes an artificial sensitive skin mounted on a robot manipulator developed in order to achieve this purpose. Therefore, different principles for tactile sensing are evaluated. By totally covering a body with tactile sensors every contact may be detected immediately. When evaluated reactively local integration leads to the immediate contact termination by causing a movement of the related robot joint. On the other hand, the skin may be used to establish or improve a map of the environment by selecting and executing appropriate exploratory movements. Experimental results are included to demonstrate the feasibility of the developed sensory system.

关键词： Tactile sensor system sensor-based control reactive control

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