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IEEE International Conference on robotics and Automation (ICRA)

作者： S.A. Stoeter S. Voss N.P. Papanikolopoulos H. Mosemann Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Institute for Robotics and Process Control Technical University of Braunschweig Germany

Robotic manipulators in contemporary work-cells are often incapable of solving even simple pick-and-place operations. More specifically, most systems require each object to be supplied in the same and pre-defined way. Introducing regrasping to the production cycle relaxes the constraints imposed on supply mechanisms. Regrasping describes the operation that must be performed whenever an object's pick-up grasp is incompatible with its put-down grasp. The paper presents a novel approach to solve the regrasp problem for robots equipped with parallel-jaw end-effecters. The proposed method first evaluates the object's possible grasps and placements. These are subsequently combined to form grasp-placement-grasp triples. A regrasp sequence leading from the pick-up to the put-down grasp is generated by searching through the resulting space of compatible grasp-placement-grasp triples. The algorithm takes kinematic and geometric constraints of both the manipulator and the objects into account. Computational concerns are addressed by subdividing the calculation into an off-line and a fast online phase.

关键词： Intelligent robots Robot vision systems Belts Path planning Artificial intelligence Laboratories computer science Process control Manipulators Production

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Dynamic process initial conditions in repetitive processes. controllability and stability analysis

Dynamic process initial conditions in repetitive processes. ...

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1999 Information, Decision and control, IDC 1999

作者： Galkowski, K. Rogers, E. Gramacki, A. Gramacki, J. Owens, D.H. Technical University of Zielona Gora Institute of Robotics and Software Engineering Zielona Gora Poland University of Southampton Image Speech and Intelligent Systems Research Group Department of Electronics and Computer Science SouthamptonSO17 lBJ United Kingdom University of Exeter Centre for Systems and Control Engineering School of Engineering ExeterEX4 4QF United Kingdom

ISBN: (纸本)0780352564

Repetitive, or multipass, processes are a class of 2D systems of both practical and algorithmic/theoretical interest whose dynamics cannot be analysed or controlled using standard (1D) systems theory. Recently it has been shown that the modelling of the boundary conditions, also known as the process initial conditions, is a crucial feature in the analysis and control of these processes. This paper presents some further results on the effects of so-called 'dynamic' process initial conditions on the controllability and stability properties of discrete linear repetitive processes. Previous work has shown that these dynamic process initial conditions alone can destroy the stability properties of these processes. Hence their effects must be 'adequately' accounted for the process modelling stage in order to ensure that subsequent analysis does not lead to incorrect results/conclusions. The main results developed in this paper can be summarised as follows. (i) Computationally efficient stability tests which can, in effect, be applied using standard, or 1D, linear systems tests. (ii) Characterisation of so-called pass controllability in the form of matrix rank based conditions. (iii) Conditions under which the dynamic process initial conditions can be selected to ensure stability and pass controllability. © 1999 IEEE.

关键词： controllability

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Smart reconfigurable miniature vision system for mobile robots

Smart reconfigurable miniature vision system for mobile robo...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.B. Martinez E.X. Martin C. Torrens J.M. Ibanez Department of Automatic Control and Computer Engineering Universitat Poliltècnica de Catalunya Barcelona Spain Institute of Industrial Robotics Universitat Poliltècnica de Catalunya Barcelona Spain

The robot vision system presented consists of a PCB with a hardware-reconfigurable image processor, and a PCB with a standard commercial microprocessor. The microprocessor board interfaces with the host robot, configures the hardware of the image processor and runs the high-level image algorithms. Both boards occupy a volume of 10/spl times/10/spl times/3 cm/sup 3/ and consume less than 1A.

关键词： Machine vision Mobile robots Intelligent sensors Service robots Robot vision systems computer vision Microprocessors Hardware Robot sensing systems robotics and automation

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Dynamic process initial conditions in repetitive processes. controllability and stability analysis

Dynamic process initial conditions in repetitive processes. ...

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Information, Decision and control (IDC)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D.H. Owens Institute of Robotics and Software Engineering Technical University of Zielona Góra Zielona Gora Poland Department of Electronics and Computer Science Image Speech and Intelligent Systems Research Group University of Southampton Southampton UK Institute of Computer Engineering and Electronics Technical University of Zielona Góra Zielona Gora Poland School of Engineering Centre for Systems and Control Engineering University of Exeter Exeter UK

关键词： Stability controllability System testing control system analysis Algorithm design and analysis control systems Boundary conditions Process control Standards development Linear systems

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Technical note Hybrid fuzzy P+ID control of manipulators under uncertainty

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Mechatronics 1999年第3期9卷 301-315页

作者： W. Li X.G. Chang F.M. Wahl S.K. Tso Department of Computer Science and Technology Tsinghua University Beijing 100084 Peoples Republic of China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany Center for Intelligent Design Manufacturing and Automation Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong KongPeoples Republic ofChina

Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.

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Robotic assistants for aircraft inspectors

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IEEE Instrumentation and Measurement Magazine 1998年第1期1卷 16-30页

作者： Siegel, Mel Gunatilake, Priyan Podnar, Gregg Intelligent Sensor Msrmt. C. Robotics Institute Carnegie Mellon University University of Colorado JILA University of Virginia SUNY Buffalo NY United States Extranuclear Laboratories ABB-Extrel Aircraft Diagnostics Corporation University of Alaska Fairbanks AK United States Elec. and Comp. Eng. Department Carnegie Mellon University CMU Vis. Lab. of the Robotics Institute CMU Mobile Robot Laboratory Engineering Design Research Center CMU Computer Science Department JiangXi University Robotics Institute Measurement and Control Laboratory

Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described. Remote 3D stereoscopic visual inspection is outlined and algorithms developed for crack detection and surface and subsurface corrosion detection are described. Future development trends are also outlined.

关键词： Robots Aircraft Aerospace electronics Instruments

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Intelligent multi-modal systems

British Telecom technology journal

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British Telecom technology journal 1998年第3期16卷 134-144页

作者： Tsui, K.C. Azvine, B. Djian, D. Voudouris, C. Xu, L.Q. Hong Kong Polytechnic University Hong Kong University of Essex King's College London United Kingdom BT Laboratories United Kingdom ATM Traffic Management United Kingdom Manchester University United Kingdom Dynamics and Control Research Group Engineering Department Manchester University United Kingdom Contr. and Instrum. Research Group Staffordshire University United Kingdom Intelligent Systems Research Unit BT Laboratories United Kingdom Dept. of Engineering Mathematics Bristol University United Kingdom Europ. Netwk. Excellence U. Institut d'Informatique d'Entreprise France Oxford University Robotics Research Group United Kingdom University of Nice France Ecole des Mines de Paris France Natl. Technical University of Athens Greece University of Essex United Kingdom Department of Computer Science University of Essex United Kingdom Intelligent Systems Research Group BT Laboratories United Kingdom Southeast University Nanjing China Institute of Acoustics Chinese Academy of Sciences Beijing China University of East Anglia United Kingdom University of Sussex King's College London United Kingdom University of Abertay Dundee United Kingdom

Research in human/computer interaction has mainly focused on natural language, text, speech and vision primarily in isolation. Recently there have been a number of research projects that have concentrated on the integration of such modalities using intelligent reasoners. The rationale is that many inherent ambiguities in single modes of communication can be resolved if extra information is available. This paper describes an intelligent multi-modal system called the Smart Work Manager. The main characteristics of the Smart Work Manager are that it can process speech, text, face images, gaze information and simulated gestures rising the mouse as input modalities, and its output is in the form of speech, text or graphics. The main components of the system are the reasoner, a speech system, a vision system, an integration platform and the application interface. The overall architecture of the system will be described together with the integration platform and the components of the system which include a non-intrusive neural network based gaze-tracking system. The paper concludes with a discussion on the applicability of such systems to intelligent human/computer interaction and lessons learnt in terms of reliability and efficiency.

关键词： Learning systems

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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American control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control Intelligent sensors control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors control systems Robust stability Flexible structures

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Analysis of deadlocks and circular waits using a matrix model for discrete event systems

Analysis of deadlocks and circular waits using a matrix mode...

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IEEE Conference on Decision and control

作者： F.L. Lewis S. Bogdan A. Gurel O. Pastravanu Automation and Robotics Research Institute University of Texas Arlington Worth TX USA Faculty of Electrical Engineering and Computer University of Zagreb Zagreb Croatia Department Automatic Control and Ind. Inf Polytechnic Institute Iasi Romania

A new matrix rule-based model of discrete-part discrete event systems is given that, together with the well-known Petri net marking transition equation, yields a complete matrix-based dynamical description of these systems. In this application to deadlock analysis, the exact relations between circular blockings and deadlocks are given for a large class of reentrant flow lines. Explicit matrix equations are given for online dynamic deadlock analysis in terms of circular blockings, and certain 'critical siphons' and 'critical subsystems'. This allows efficient dispatching with deadlock avoidance using a generalized kanban scheme. For the class of flow lines considered, the existence of matrix formulae shows that deadlock analysis is not NP-complete, but of polynomial complexity.

关键词： System recovery Discrete event systems Equations Dispatching robotics and automation Petri nets Manufacturing Bills of materials Assembly Lifting equipment

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Collision-free motion planning of a robot using safety arc

Collision-free motion planning of a robot using safety arc

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International Conference on Industrial Electronics, control and Instrumentation

作者： S.W. Lee Y.S. Nam K.D. Lee B.H. Lee M.S. Kim S.C. Kang Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea Department of Computer Science Engineering Yeungnam University South Korea Robotics Laboratory Korea Institute of Science and Technology Seoul South Korea

A new concept, the safety arc, is described for collision-free motion planning of a robot. In the configuration space, the safety arc is introduced considering both the motion constraints and the collision constraint using the distance function. The safety arc is an arc-shaped set composed of the candidate configuration points from the given constraints. Based on this concept, a method for transforming the problem of collision-free motion planning into a sub-optimal collision avoidance problem (SOCAP) with linear constraints is developed. The authors adopt the minimum distance between the initial and final configuration as the performance index, hence robot motion is planned in order to minimize the moving distance in the configuration space from the initial to the final configuration subject to the given constraints. The proposed method is verified through computer simulation.

关键词： Motion planning Safety Orbital robotics Collision avoidance Path planning Robot motion Space technology Motion control Instruments computer science

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