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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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Man/robot Interactive And Cooperative System For The Cognitively Disabled

Man/robot Interactive And Cooperative System For The Cogniti...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Suk-han Lee Institute for Robotics and Intelligent Systems Department of Electrical Engineering University of Southern California Los Angeles CA USA

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Object recognition using geometric hashing on the Connection Machine

Object recognition using geometric hashing on the Connection...

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International Conference on Pattern Recognition

作者： O. Bourdon G. Medioni Institute for Robotics and Intelligent Systems Department of Electrical Engineering University of Southern California Los Angeles CA USA

A parallel implementation of a system to recognize 2D objects under realistic scenarios (occlusion, rotation, translation, and perspective) is presented. A preprocessing phase and a recognition phase are used. Both ph... 详细信息

关键词： Object recognition Layout Intelligent robots Polynomials Solid modeling Feature extraction Parallel robots Intelligent systems Machine intelligence Sun

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IROS: an intelligent rehabilitative orthotic system for cerebrovascular accident

IROS: an intelligent rehabilitative orthotic system for cere...

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IEEE International Conference on systems, Man and Cybernetics

作者： S. Lee A. Agah G. Bekey Institute for Robotics and Intelligent Systems Department of Electrical Engineering University of Southern California Los Angeles CA USA Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los Angeles CA USA

An intelligent externally powered orthotic system (exoskeleton) for the treatment of motor dysfunctions of the upper extremities of stroke patients is described. IROS is an interactive and cooperative human-machine system, with both controlling the human arm. Initially, the machine is the main controller of the arm. As the patient improves, the human control of the arm increases, and the machine control of the arm decreases. The system combines the skills of professional therapists with a sensor-integrated orthosis and a real-time graphics system to ensure proper interaction and cooperation with the patient in order to achieve the goals of therapy. It uses the expertise of the therapists, which is incorporated into its knowledge system, while monitoring the sensory information from the patient, including the force, motion, and electromyogram (EMG) signals. The treatment-related tasks are displayed on the real-time graphic system to increase the interest and enhance the motivation of the patient. Such a system can be used to improve the rehabilitation process for stroke patients.< >

关键词： Intelligent systems Orthotics Medical treatment Machine intelligence Humans Real time systems Graphics Exoskeletons Extremities Man machine systems

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Trajectory synthesis and physical admissibility for a biped robot during the single-support phase

Trajectory synthesis and physical admissibility for a biped ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C.L. Shih Y.Z. Li S. Churng T.T. Lee W.A. Gruver Center for Robotics and Manufacturing Systems University of Kentucky Lexington KY USA Department of Electrical Engineering National Taiwan Institute of Technology Taipei Taiwan

The synthesis and verification of biped walking trajectories during the single-support phase is discussed. The biped is modeled as a seven-link twelve degree-of-freedom anthropomorphic robot. By utilizing the zero moment point (ZMP) and the equivalent force-moment, the physical admissibility of the biped walking is characterized. For physically realizable walking during the single-support phase, the trajectory of the ZMP on the ground must be inside the stable region of the supporting sole. A biped walking trajectory specified by eight pattern parameters is derived through inverse kinematics. ZMP trajectories for different walking patterns and the influence of the pattern parameters on the ZMP trajectories are presented.< >

关键词： Robots Legged locomotion Leg Trajectory Kinematics Gravity Stability Feedback control Manufacturing systems Anthropomorphism

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Towards an understanding of camera fixation

Towards an understanding of camera fixation

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IEEE International Conference on robotics and Automation (ICRA)

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

A fixation point is a point in 3-D space that projects to zero optical flow in an image over some period of time while the camera is moving. Quantitative aspects of fixation for a static scene are treated. For the case where the rotation axis of the camera is perpendicular to the instantaneous translation vector, it is shown that there is an infinite number of points that produce zero instantaneous optical flow. These points lie on a circle (called the zero flow circle, or ZFC) and a line. The ZFC changes its location and radius as a function of time, and the intersection of all the ZFCs is a fixation point. Points inside the ZFC produce optical flow that is opposite in sign to those that are outside the ZFC. This fact explains in a more quantitative way phenomena due to fixation. In particular, points in the neighborhood of the fixation point may change the sign of their optical flow as the camera moves. In a set of experiments, it is shown how the concept of the ZFC can be used to explain the optical flow produced by 3-D points near the fixation point.< >

关键词： Cameras Image motion analysis Intelligent robots Optical sensors Robot sensing systems NIST Robot vision systems Intelligent systems Intelligent sensors Orbital robotics

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