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International Conference on Advanced robotics (ICAR)

作者： Sukhan Lee Ming-Feng Jean Jong-Oh Park Chong-Won Lee Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Korea Institute of Science and Technology Seoul South Korea

ISBN: (纸本)0780341600

A new paradigm of event-based robotic and telerobotic control, referred to here as the reference adaptive impedance control, is presented for partially constrained robotic and telerobotic tasks under uncertain or unknown environmental constraints. The reference adaptive impedance control determines the desired next state adaptively, in such a way as to follow the optimal path from the current state, where the optimal path is generated with the environmental constraints updated through time. The embedded impedance control provides a mechanism for collecting more complete information on the environment. The reference adaptive impedance control also serves as a powerful tool for implementing shared control in teleoperation. A case study of robotic and telerobotic soil trenching is given with simulations.

关键词： Programmable control Adaptive control Impedance Telerobotics Robot control intelligent robots Trajectory Robot kinematics Optimal control Strain control

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Emergence and Effectiveness of Communication Interface in a System of Distributed intelligent Agents

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Journal of robotics and Mechatronics 1997年第2期9卷 146-151页

作者： Agah, Arvin Bekey, George A. Bio-Robotics Division Mechanical Engineering Laboratory AIST- Ministry of International Trade and Industry 1-2 Namiki Tsukuba305 Japan Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90089 United States

The emergence and effectiveness of communication interface in a colony of autonomous agents is discussed in this paper. The robotic agents sense the world within which they are embedded, while performing specific tasks in the world. Some of the tasks require the simultaneous cooperation of two robotic agents. These agents are able to sense other agents and communicate via simple, task-related messages. Using genetic algorithms, a colony of agents is evolved, producing agents with improved performance. It is shown that the tendency of the robotics agents to communicate increases through evolution, as the colony cooperates more, in order to perform more tasks. The concepts developed through computer simulation are tested for feasibility in a team of four small mobile-manipulator robots, each controlled autonomously via an on-board micro-processor. © Fuji Technology Press Ltd.

关键词： Multi agent 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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intelligent hybrid multi-agent architecture for engineering complex systems

Intelligent hybrid multi-agent architecture for engineering ...

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International Conference on Neural Networks

作者： R. Khosla T. Dillon Expert and Intelligent Systems Laboratory Applied Computing Research Institute and Department of Computer Science and Computer Engineering La Trobe University Victoria Canada

In this paper we outline an intelligent hybrid multi-agent architecture for engineering complex systems. The hybrid multi-agent architecture is described at the task structure level. The architecture has been successfully applied in a real time alarm processing and fault diagnosis system in a power system control centre with good performance results.

关键词： systems engineering and theory computer architecture Hybrid intelligent systems intelligent agent Real time systems Fault diagnosis Power system control Laboratories computer science Electronic mail

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Geometry-based part grouping for assembly planning

Geometry-based part grouping for assembly planning

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： H. Moradi K. Goldberg S. Lee Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Department of Industrial Engineering and Operation Research University of California Berkeley USA Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

One way to find an optimal plan is to enumerate all plans and evaluate a quality metric for each plan. However it is well known that N parts can have up to O(2/sup N/) assembly plans. Reducing N by grouping parts has been proposed earlier but to our knowledge has not been formally defined. In this paper we define two types of groups in terms of part geometry using the nondirectional blocking graph and binary adjacency matrices defined by Wilson and Latombe (1994). We give a polynomial time algorithm for identifying serial and parallel groups. We tested the algorithm on two planar assemblies where it reduced plan time by a factor of 4.

关键词： Robotic assembly Fasteners intelligent robots Transmission line matrix methods Testing Design automation Product design Design engineering Process planning Terminology

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A real-time dual-arm collision avoidance algorithm for assembly

A real-time dual-arm collision avoidance algorithm for assem...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： S. Lee H. Moradi Chunsik Yi Department of Computer Science-EE Systems Institute for Robotics and lntelligent Systems University of Southern California Los Angeles CA Jet Propulsion Laboratory California Institute of Technology Pasadena CA

Multi-robot workcells provide efficiency of space, time, and materials in assembly. However this advantage cannot be fully utilized unless an efficient offline/online collision-free trajectory planner is in charge of controlling the arms. In this paper a new algorithm which provides the online and real-time generation of dual-arm collision-free trajectories has been established. The algorithm is capable of generating dual-arm collision-free trajectories in real-time despite that the initial configurations of two arms are not synchronized. The key component of the algorithm is the virtual road map (VRM) which gives the best collision-free motion at each given arm configuration.

关键词： Collision avoidance Arm Trajectory Robotic assembly Assembly systems Delay Mobile robots Transportation Automatic control Motion control

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Fusion of knowledge-based systems and neural networks and applications

Fusion of knowledge-based systems and neural networks and ap...

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

Neural Networks and Symbolic Knowledge-Based systems each have their strengths and weaknesses. intelligent systems that fuse these two paradigms overcome a significant number of the weaknesses of each individual paradigm. There are many different approaches in the literature (including research from the author's own group) to fusing these paradigms. A critical evaluation of these approaches is given within the paper.

关键词： Knowledge based systems Neural networks intelligent networks Humans Artificial neural networks Artificial intelligence Problem-solving Application software intelligent systems computer networks

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Mobility evaluation of a wheeled microrover using a dynamic model

Mobility evaluation of a wheeled microrover using a dynamic ...

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Proceedings of the 1997 IEEE/RSJ International Conference on intelligent Robot and systems. Innovative robotics for Real-World Applications. IROS '97

作者： G.S. Sukhatme S. Brizius G.A. Bekey Dept. of Comput. Sci. Univ. of Southern California Los Angeles CA USA Department of computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

This paper describes a multiple criteria, statistical technique for mobile robot evaluation. The evaluation method measures the time and energy costs of a particular class of exploratory missions. The method is implemented in the special case of one wheeled mobile robot in the laboratory, which was made to execute several (approximately 100) instances of the mission. It is proposed that a validated, dynamic model of the robot embedded in a simulated mission scenario is to be used to study alternate robot designs in a small 'neighborhood' of the existing physical system. Such a simulation was built and is described here. Results from trials with the physical robot and its simulated counterpart are compared and shown to agree well. The simulation is used to evaluate designs not constructed in the laboratory, and results are discussed.

关键词： Mobile robots Robot sensing systems Mars Wheels Navigation Sonar detection Robot vision systems Cameras Energy measurement Time measurement

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Geometric collision detection and potential field based time delay planning for dual arm systems

Geometric collision detection and potential field based time...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Sukhan Lee H. Moradi G. Kardaras Sung-Kwon Kim Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Production Engineering Center Samsung Electronics Company Limited Suwan South Korea

In this paper a method for collision detection and collision avoidance for dual arm robots is proposed. The collision detection, a fast geometric approach based on link intersection, detects the collision and constructs the collision region for given trajectories. The time delay planning determines the minimum necessary time delay to avoid collisions using a potential field representation for collision regions. The planning is based on a flexible, massively parallel approach. It effectively avoids any local minima problems due to the potential field representation and can be used regardless of the complexity of the collision region (e.g., concave or complicated regions).

关键词： Delay effects Robotic assembly Manipulators Orbital robotics intelligent robots Parallel robots Parallel processing Assembly systems robotics and automation Path planning

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Reference adaptive impedance control and its application to obstacle avoidance trajectory planning

Reference adaptive impedance control and its application to ...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： S. Lee S.-Y. Yi Jong-Oh Park Chong-Won Lee Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute of Robotics and Xntelligent Systems University of Southern California Los Angeles CA USA Korea Institute of Science and Technology Seoul South Korea

A new paradigm of event-based robotic control, called reference adaptive impedance control, is presented for partially constrained robots under uncertain or unknown environmental constraints. The reference adaptive impedance control determines the desired next state adaptively in such a way as to follow the optimal path from the current state, where the optimal path is generated with the environmental constraints updated through time. The embedded impedance control provides a mechanism for collecting more complete information on the environment. An application to obstacle avoidance trajectory planning is given with computer simulations.

关键词： Programmable control Adaptive control Impedance Trajectory Robot kinematics Robot control Error correction Force control Control systems Application software

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