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International Conference on Industrial Electronics, Control and Instrumentation

作者： T.-J. Pan R.C. Luo Department of Information Engineering Tatung Institute of Technology Taipei Taiwan Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and are composed of a set of convex polygons. The half-plane representation uses an algebraic method to describe the object motion including translation and rotation through time. Compared with previous methods, the proposed representation is more general in that obstacles are now allowed to move at nonconstant velocities. To detect collision between polygonal objects, a traversability vector method was developed. Traversability vectors are a simple mechanism used to analyze geometric constraints imposed by polygons. Using these vectors, a simple algorithm for predicting collision is derived. Computer simulations were conducted to show the feasibility of the proposed method.< >

关键词： Mobile robots Motion planning Robot motion Orbital robotics Intelligent robots Technology planning Space technology Motion detection Object detection Prediction algorithms

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Identification and Multi-Objective Controller Tuning of a Plastic Injection Molding Machine

Identification and Multi-Objective Controller Tuning of a Pl...

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American Control Conference (ACC)

作者： C. M. Seaman A. A. Desrochers G. F. List Robotics & Automation Laboratories Rensselaer Polytechnic Institute Troy NY USA Electrical Computer & Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA Decision Sciences and Engineering System Department Rensselaer Polytechnic Institute Troy NY USA

In this paper, a multi-objective approach to controller tuning is described. An algorithm for implementation of this tuning is given. This approach has the following merits: there is no restriction on the type or number of performance criteria; no a 'priori weights need be chosen since performance criteria are not combined into a single objective function. The intention is that the algorithm is implemented to run in real-time so as to provide immediate feedback to a process operator about the current operating point. If the current operating point is not Pareto optimal, the algorithm can automatically adjust the parameters to achieve this. If it is Pareto optimal but not desirable, the algorithm can provide information on how trade-offs can be made so that the desired operating point is achieved. The algorithm is applied to the tuning of a PID controller for the plastication phase of an injection molding process. An analytic model for this process is presented. Experiments are described in which data was collected from this process, and an empirical discrete-time transfer function was identified. This transfer function was then used, within a simulation, to allow the algorithm to tune the controller, with respect to two objective functions. The tradeoff curve for these objectives, and corresponding controller gains is presented.

关键词： Plastics Injection molding Transfer functions Pareto optimization Three-term control Constraint optimization Minimization methods Problem-solving Delta modulation Error correction

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A quantitative approach to camera fixation

A quantitative approach to camera fixation

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： D. Raviv Robotics Center and Electrical Engineering Department Florida Atlantic University Boca Raton FL USA Sensory Intelligenae Group Robot Systems Division National Institute for Standards and Technology Gaithersburg MD USA

The quantitative aspects of camera fixation for a static scene are addressed. In general, when the camera undergoes translation and rotation, there is an infinite number of points that produce equal optical flow for any instantaneous point in time. Using a camera-centered spherical coordinate system, it is shown how to find these points in space. For the case where the rotation axis of the camera is perpendicular to the instantaneous translation vector, these points lie on cylinders. If the elevation component of the optical flow is set to zero then these points form a circle (called the equal flow circle or simply EFC) and a line, i.e. all points that lie on this circle or line are observed as having the same azimuthal optical flow. A special case of the EFCs is the zero flow circle (ZFC) where both components of the optical flow are equal to zero. A fixation point is the intersection of all the ZFCs. Points inside and outside the ZFC can be quantitatively mapped using the EFCs. It is shown how the concept of the EFC and ZFC can be used to explain the optical flow produced by points near the fixation point.< >

关键词： Image motion analysis Optical sensors Robot vision systems Intelligent robots Optical devices Robot sensing systems Smart cameras Intelligent systems Intelligent sensors NIST

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A new approach to vision-based road following for autonomous vehicles

A new approach to vision-based road following for autonomous...

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IEEE International Conference on systems, Man and Cybernetics

作者： D. Raviv M. Herman Robotics Center and Electrical Engineering Department Florida Atlantic University Boca Raton FL USA Sensory Intelligence Group Robot Systems Division National Institute for Standards and Technology Gaithersburg MD USA

A new approach for vision-based autonomous road following is presented. By building on a recently developed optical flow-based theory, the authors suggest that motion commands can be generated directly from a visual feature, or cue, consisting of the projection into the image of the tangent point on the edge of the road, along with the optical flow of this point. Using this cue, fast computationally inexpensive, and simple partial control algorithms are derived for both circular and noncircular roads. Other inputs to these algorithms may be the current steering angle, the current vehicle speed, etc. The output of these control algorithms is the change in steering angle for the next instant of time. Only the kinematics of the vehicle and the camera are considered.< >

关键词： Remotely operated vehicles Road vehicles Mobile robots Optical sensors Intelligent robots Image motion analysis Cameras Robot vision systems Robot sensing systems Robot kinematics

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Interactive power system data preparation and verification using a pc‐editor

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European Transactions on electrical Power 1991年第3期1卷 149-152页

作者： Linke, K. Rumpel, D. Dip1.-Ing. Klaus Linke (1939) VDEis the director of the department "load dispatching and network operation" of Vereinigte Elektrizitatswerke Westfalen AG (VEW). DortmundGermany. After the study of electrical engineering at the Technical University of KarlsruhdGermany he started his professional career in an engineering-concern where he was responsible among others for investigations concerning the installation of process-computers in chemical plants. In 1968 he changed to VEW. Here in 1984 he took over his present position in which he is mainly engaged with the tasks of the management of the HV and EHV network and the power system control together with the problems concerning network automation incident to it. (Vereinigte Elektrizitatswerke Westfalen AG Hauptverwaltung Rheinlanddamm 24 W-4600 Dortmund 1 T +49 23 114 38-42 41) Dr.-Ing. Dieter Rumpel (1932) VDE is full professor and since 1978 head of the Power Systems Institute of Duisburg University Germany. He got his DiplAng. degree from the Technical University Munich and his Dr.-Ing. degree from the Technical University Berlin. Before his call to Duisburg he worked at Siemens AG for 23 years. (Universiiit-GHDuisburg Fachbereich Elektrotechnik PF 10 15 03 W-4100 Duisburg T 4 9 20 313 79-34 37)

For computerized power system operation, all objects of the network must be mapped in a data‐model. For this task, the „Grid Data Language” (GDL) does not apply format‐bound source data, but describes the objects using a format‐free source text. To handle such texts, an editing‐ and verification‐system was implemented. This paper reports its application when describing an extra‐high voltage network for use in a training simulator. In that way, the full content of a dispatcher EHV data‐model could be converted to GDL, requiring a work of 15 to 20 man‐days. Copyright © 1991 John Wiley & Sons, Ltd.

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Task planning for flexible manufacturing systems

Task planning for flexible manufacturing systems

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1990 IEEE Colloquium in South America, COLLOQ 1990

作者： Sanderson, Arthur C. IEEE Robotics and Automation Society Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY1218 United States

ISBN: (纸本)0879426101

The design and implementation of flexible manufacturing systems require the planning of task requirements to meet standards of reliability, cost, and throughput over a family of products. Tools for computer-aided engineering of manufacturing systems utilize automated planning and representation methods to enhance the capability of engineers to design better systems. Automated assembly sequence planning methods link product design to assembly system design and provide a basis for such interactive engineering tools. Methods for geometric reasoning, assembly plan representation, and automated assembly sequence selection will be discussed. © 1990 IEEE.

关键词： Flexible manufacturing systems

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A PARALLEL ARCHITECTURE FOR AI NONLINEAR PLANNING

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International Journal of Pattern Recognition and Artificial Intelligence 1990年第2期4卷 215-232页

作者： SUKHAN LEE KYUSIK CHUNG Institute for Robotics and Intelligent Systems Department of Electrical Engineering-Systems University of Southern California Los Angeles CA 90089–0273 USA

This paper presents a resource-level conflict detection and conflict resolution scheme which is combined with a state-level backward planning algorithm and provides efficient conflict detection and global conflict resolution for nonlinear planning. The scheme keeps track of the usage of individual resources during planning, and constructs a Resource-Usage Flow (RUF) structure (based on which conflict detection and resolution is accomplished). The RUF structure allows the system to perform minimal and nonredundant operations for conflict detection and resolution. Furthermore, resource-level conflict detection and resolution facilitates problem decomposition in terms of resources, thereby providing easy implementation in a parallel and distributed processing environment. Performance analysis indicates that the proposed architecture has a speed-up factor of the average depth of a plan network, D(N a ), compared to the distributed NOAH, where N a (the total number of action nodes at the completion of planning) and D(N a ) are considerably larger than the number of resources involved in planning as well as the number of initial goal states.

关键词： AI nonlinear planning AI planning architecture Resource-level conflict detection and resolution

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T-buffer: Fast visualization of relativistic effects in spacetime 90

T-buffer: Fast visualization of relativistic effects in spac...

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1990 Symposium on Interactive 3D Graphics, I3D 1990

作者： Hsiung, Ping-Kang Thibadeau, Robert H. Wu, Michael Carnegie Mellon University PittsburghPA15213 United States Department of Electrical and Computer Engineering Carnegie Mellon University United States Imaging Systems Laboratory Robotics Institute Carnegie Mellon University United States

ISBN: (纸本)0897913515

Wc have developed an innovative ray-tracing simulation algorithm to describe Welativistic Effects in SpaceTime ("REST"). Our algorithm, called REST-frame, models light rays that have assumed infinite speed in conventional ray-tracing to have a finite speed in spacetime, and uses the non-Newtonian Lorentz Transformation to relate measurements of a single event in different inertial coordinate systems {inertial frames). Our earlier work [5][6][7] explored the power of REST-frame as an experimentation tool to study the rich visual properties in natural world modeled by Special Relativity. Non-intuitive images of the anisotropic deformation ("warping") of space, the intensity concentration/spreading of light sources in spacetime, and the relativistic Doppler shift were visualized from our simulations. REST-frame simulations arc computationally expensive. Several hours of CPU time may be needed to generate one intricate image on a relatively powerful DECStation 3100. This high simulation cost of REST-frame precludes its application in interactive, real-time graphics environments. In this paper, we report a scanline based REST-frame rendering method that provides a faster alternative to the original ray-tracing based REST-frame implementation. This new method operates in the spirit of the classical Z-buffer in computer graphics[2] and the inter-inortial frames point-mapping method investigated in physics in the early 1960's[14][12], and determines the visibility of points in spacetime by their spatial and temporal visibility. Specifically, all spacetime event points that arc potentially visible from the viewpoint at the imaging time are geometrically projected in three dimensional (3D) space to the image plane pixel buffer. Multiple points with a same pixel affiliation arc sorted by their time distance © 1990 ACM.

关键词： Ray tracing

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Building models from domain principles

Building models from domain principles

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IEEE International Symposium on Intelligent Control (ISIC)

作者： S. Lee J. Chen Institute for Robotics and Intelligent Systems Department of Electrical Engineering-Systems University of Southern California Los Angeles CA USA

A method of automatically constructing a system model or set of constraints from domain principles for solving the dynamic behavior of a mechanical system is presented. The following issues are emphasized: (1) the extraction of a necessary and sufficient set of system constraints from the fundamental principles and laws of physics based solely on the physical description of a given mechanical system, and (2) the modification of system constraints through time by detecting and identifying 'system discontinuities' due to collisions, separations. and other critical states associated with each system object. The first is accomplished by describing a mechanical system by a collection of object and interconnection primitives. which allows direct invocations and instantiations of all the relevant physics laws from the knowledge base. In consequence, the final constraints are selected on the basis of the A* algorithm. with heuristics providing the problem-solving expertise. The second is accomplished by monitoring whether the states of any individual subsystems evolve to system discontinuities represented by intra/inter subsystem critical states.< >

关键词： Physics Mechanical systems Intelligent robots Problem-solving Production systems Buildings robotics and automation Intelligent systems Time factors Object detection

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Robot kinematic control based on bidirectional mapping neural network

Robot kinematic control based on bidirectional mapping neura...

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International Joint Conference on Neural Networks (IJCNN)

作者： S. Lee R.M. Kil Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

The authors present a novel method of accomplishing robot kinematic control based on a bidirectional mapping neural network (BMNN). The BMNN constructed is composed of a multilayer feedforward network with hidden units having sinusoidal activation functions and a feedback network forming a recurrent loop around the feedforward network. The feedforward network can be trained to accurately represent the forward kinematic equations of a robot arm. The feedback network iteratively generates joint-angle updates based on a Lyapunov function to modify the current joint angles in such a way that the output of the forward network converges to the desired Cartesian position and orientation. The proposed BMNN offers the following advantages over the conventional approaches: (1) the accurate computation of robot forward and inverse kinematic solutions with simple training; (2) the ability to handle one-too-many inverse mapping required for redundant arm kinematics solutions; and (3) the automatic generation of arm trajectories. Simulation results are shown

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