作者：
J. SeyfriedS. FatikowUniversity of Karlsruhe
Institute for Real-Time Computer Systems and Robotics (IPR) Kaiserstr. 12 (Geb. 40.28) D-76128 Karlsruhe F. R. of Germany Phone: +49-721-608-3656 Fax: +49-721-606740
In the fields of biology, microelectronics and microsystem technology many operations are today performed by hand which might also be done by micromanipulation robots. Several prototypes of such robots have already be...
详细信息
In the fields of biology, microelectronics and microsystem technology many operations are today performed by hand which might also be done by micromanipulation robots. Several prototypes of such robots have already been built and tested, but in the field of control systems and user interfaces of such micromanipulation systems, there is still much work to be done. Different applications demand different levels of control and planning: easyier, single tasks may be performed by teleoperation, while others require a programmed motion sequence or even task planning to accomplish a complex assembly task a with minimum of human interaction. This paper presents a micromanipluation system consisting of a microassembly robot working under a light-optical microscope, a CCD camera and an XY-stage. Then, the software infrastructure for the microrobot control system is presented and the underlying hardware system is described. It also shows a user interface based on this structures, a semi-automated teleoperation system. The user interface presented here uses the live image of the CCD camera to perform either open or closed loop control of the robot's position. All parameters of the microscope and XY-stage can be controlled with dialog windows. The software infrastructure allows also the development of task planning algorithms by providing an intermediate layer to control the robot
The paper presents the major features of the ESPRIT Basic Research HIMAC, proposed to the EC after a thorough investigation of the state of the art of manufacturing systems control. HIMAC has followed a new approach, ...
详细信息
The paper presents the major features of the ESPRIT Basic Research HIMAC, proposed to the EC after a thorough investigation of the state of the art of manufacturing systems control. HIMAC has followed a new approach, by developing a specific mathematIcs, the Manufactunng Algebra (MA), for modelling and controlling the production processes of discrete manufacturing systems. As a key feature, the MA models can be bottom-up aggregated starting from the very detailed levels used in simulation, thus making poSSIble a coherent model hierarchy at the base of the design and realization of Hierarchical control strategies and architectures. The formulation of the original mathematical approach and its validation criteria are outlined in the paper. For a deeper understanding, the mterested reader can take advantage of the list of references given at the end.
This paper presents an advanced telerobotic control system for a mobile robot with multisensor feedback. A telecontrol concept for various degrees of cooperation between a human operator and a mobile robot is describe...
详细信息
This paper presents an advanced telerobotic control system for a mobile robot with multisensor feedback. A telecontrol concept for various degrees of cooperation between a human operator and a mobile robot is described. With multisensor on-board the robot at the remote site can adjust its path while continuously accepting commands from the human operator. Interactive modelling that allows the modelling of an unknown environment and makes landmarks known to the robot is introduced. A graphical user interface and a 3-D animation system are important elements in the teleoperation, they are integrated in this system to help the operator by task analysis, off-line teaching and on-line monitoring. Experiments performed with the mobile robot PRIAMOS are discussed.
Usually, a mouse is used for input activities only, whereas output from the computer is sent via the monitor and one or true loudspeakers. But why not use the mouse for output, tool For instance, if it would be possib...
详细信息
Usually, a mouse is used for input activities only, whereas output from the computer is sent via the monitor and one or true loudspeakers. But why not use the mouse for output, tool For instance, if it would be possible to predict the next interaction object the user wants to click on, a mouse with a mechanical brake could stop the cursor movement at the desired position. This kind of aid is especially attractive for small targets like resize. handles of windows or small buttons. In this paper, we present an approach for the integration of haptic feedback in everyday graphical user interfaces. We use a specialized mouse which is able to apply simple haptic information to the user's hand and index finger. A multi-agent system has been designed which 'observes' the user is. order to predict the next interaction object and launch haptic feedback, thus supporting positioning actions with the mouse. Although primarily designed in order to provide 'intelligent' haptic feedback, the system can be combined with other output modalities as well, due to its modular and flexible architecture.
A strategy for the fusion of information from a stereo image pair for model-based object recognition is discussed. Our scheme combines a new method for feature grouping with a region-based stereo matching and a hypoth...
详细信息
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 paradig...
详细信息
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 rea...
详细信息
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.
This paper presents a general approach to the acquisition of sensor-based robot skills from human demonstrations. Since human-generated examples cannot be assumed to be optimal with respect to the robot, adaptation of...
详细信息
This paper presents a general approach to the acquisition of sensor-based robot skills from human demonstrations. Since human-generated examples cannot be assumed to be optimal with respect to the robot, adaptation of the initially acquired skill is explicitly considered. Results for acquiring and refining manipulation skills for a Puma 260 manipulator are given.
One of the many features needed to support the activities of autonomous systems is the ability of motion planning. It enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, ...
详细信息
One of the many features needed to support the activities of autonomous systems is the ability of motion planning. It 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 computational parallelism. Thus, an important task is the parallelization of existing motion planning algorithms for robots so that they are suitable for highly computational parallelism. In several cases, completely new algorithms have to be designed, so that a parallelization is feasible. We review approaches to motion planning using parallel computation.
Increasing the flexibility of robot systems has been one of the main objectives of robotics research in recent years. There are various approaches to achieve this: increasing fault-tolerance, the development of new ac...
详细信息
Increasing the flexibility of robot systems has been one of the main objectives of robotics research in recent years. There are various approaches to achieve this: increasing fault-tolerance, the development of new actuators and sensors and the use of learning techniques. But the field of operation of such smart systems is still limited to a rather small area. Mobile manipulation is another facet of increasing the flexibility of a robot system. By exploiting the mobility of a platform, the dextrous workspace of manipulators can be considerably increased. One main research topic on mobile manipulation is the decomposition of the motion of the tool-centre-point into manipulator motion and platform motion. In this paper a new online approach to this decomposition is presented which allows the consideration of complex obstacles and multiple manipulators mounted on the platform. A focus of this paper is the presentation of a fuzzy-controller that enables the robot to perform manipulation and locomotion in an integrated manner.
暂无评论