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IEEE International Conference on robotics and Automation (ICRA)

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

This paper presents a novel cognitive architecture for simulated autonomous robots in an artificial world. The design principle of the architecture enables the robotic system to both react to the world and perform premeditated actions. The cognitive architecture is a modular structure composed of a number of multilevel interconnected components, each with distributed, module-specific memory. The modular structure allows for simple portability of the architecture across a variety of robotic platforms. The behavior of the robot is based on the automatic creation of composite behavior from a set of predefined atomic behaviors. Facts about the world are discovered as the robot performs its tasks. An autonomous robot embedded within an artificial world (named Machina Cogitans) is equipped with this architecture, and a number of experiments are presented.< >

关键词： Cognitive robotics Intelligent robots computer architecture robotics and automation Computational modeling Robot sensing systems Robotic assembly Intelligent systems Biological system modeling Artificial intelligence

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A pivoting gripper for feeding industrial parts

A pivoting gripper for feeding industrial parts

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IEEE International Conference on robotics and Automation (ICRA)

作者： B. Carlisle K. Goldberg A. Rao J. Wiegley Adept Technology Inc. San Jose CA USA Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los Angeles CA USA Deparment of Computer Science University of Utrecht Utrecht Netherlands Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California USA

To be cost effective and highly precise, many industrial assembly robots have only four degrees of freedom (DOF) plus a binary pneumatic gripper. Such robots commonly permit parts to be rotated only about a vertical axis. However it is often necessary to reorient parts about other axes prior to assembly. In this paper the authors describe a way to orient parts about an arbitrary axis by introducing a rotating bearing between the jaws of a simple gripper. Based on this mechanism, the authors are developing a rapidly configurable vision-based system for feeding parts. In this system, a camera determines initial part pose; the robot then reorients the part to achieve a desired final pose. The authors have implemented a prototype version in their laboratory using a commercially-available robot system.< >

关键词： Grippers Costs Robotic assembly Robot vision systems Intelligent robots Machine vision Gravity Service robots robotics and automation Intelligent systems

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Six degree-of-freedom hand/eye visual tracking with uncertain parameters

Six degree-of-freedom hand/eye visual tracking with uncertai...

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IEEE International Conference on robotics and Automation (ICRA)

作者： N.P. Papanikolopoulos B. Nelson P.K. Khosla Department of Computer Science University of Minnesota Minneapolis MN USA The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Algorithms for 3D robotic visual tracking of moving targets whose motion is 3D and consists of translational and rotational components are presented. The objective of the system is to track selected features on moving objects and to place their projections on the image plane at desired positions by appropriate camera motion. The most important characteristics of the proposed algorithms are the use of a single camera mounted on the end-effector of a robotic manipulator (eye-in-hand configuration), and the fact that these algorithms do not require accurate knowledge of the relative distance of the target object from the camera frame. This fact makes these algorithms particularly useful in environments that are difficult to calibrate. The camera model used introduces a number of parameters that are estimated on-line, further reducing the algorithms' reliance on precise calibration of the system. An adaptive control algorithm compensates for modeling errors, tracking errors, and unavoidable computational delays which result from time-consuming image processing. Experimental results are presented to verify the efficacy of the proposed algorithms. These experiments were performed using a multi-robotic system consisting of Puma 560 manipulators.< >

关键词： Robot vision systems Cameras Target tracking Error correction Manipulators Parameter estimation Calibration Adaptive control Delay Image processing

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Feature-based visual servoing and its application to telerobotics

Feature-based visual servoing and its application to telerob...

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1994 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1994

作者： Hager, Gregory D. Grunwald, Gerhard Hirzinger, Gerd Department of Computer Science Yale Station Yale University P.O. Box 208285 New HavenCT06520-8285 United States DLR German Aerospace Research Establishment Institute of Robotics and System Dynamics Miinchenerstr. 20 OberpfaffenhofenD-82234 Germany

ISBN: (纸本)0780319338

Recent advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, however they must be initialized on task-relevant features in order to be applied. Consequently, they are particularly well-suited to telerobotics systems where an operator can initialize the system but round-trip delay prohibits direct operator feedback during motion. This paper describes the basic theory behind feature-based visual servoing, and discusses the issues involved in integrating visual servoing into the ROTEX space, teleoperation system. © 1994 institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Visual servoing

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Learning from failure experiences in case-based schedule repair

Learning from failure experiences in case-based schedule rep...

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Annual Hawaii International Conference on System sciences (HICSS)

作者： Sycara Miyashita The Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh PA USA Matsushita Elecrric Indusrrial Company Limited Kadoma Osaka Japan

We describe a framework, implemented in CABINS, for iterative schedule revision based on acquisition and reuse of user optimization preferences to improve schedule quality. Practical scheduling problems generally require allocation of resources in the presence of a large, diverse and typically conflicting set of constraints and optimization criteria. The ill-structuredness of both the solution space and the desired objectives make scheduling problems difficult to formalize. In CABINS, case-based reasoning is used for eliciting situation-dependent user's tradeoffs about repair actions and schedule quality to guide schedule revision for quality improvement. During iterative repair, cases are exploited for multiple purposes, such as (1) repair action selection, (2) evaluation of intermediate repair results and (3) recovery from revision failures. The contributions of the work lie in experimentally demonstrating in a domain where neither the user nor the program possess causal knowledge of the domain that taking into consideration failure information improves the efficiency of rather costly iterative repair process. The experiments in this paper were performed in the context of job shop scheduling problems.< >

关键词： Inference mechanisms Learning systems Scheduling Manufacturing scheduling Expert systems Maintenance

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Feature-based visual servoing and its application to telerobotics

Feature-based visual servoing and its application to telerob...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： G.D. Hager G. Grunwald G. Hirzinger Department of Computer Science Yale University New Heaven CT USA DLR German Aerospace Research Establishment Institute for Robotics and Systems Dynamics Munchenerst Germany

Advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, however they must be initialized on task-relevant features in order to be applied. Consequently, they are particularly well-suited to telerobotics systems where an operator can initialize the system but round-trip delay prohibits direct operator feedback during motion. This paper describes the basic theory behind feature-based visual servoing, and discusses the issues involved in integrating visual servoing into the ROTEX space teleoperation system.< >

关键词： Visual servoing Telerobotics Orbital robotics Calibration Space technology Robot vision systems Manipulator dynamics Robustness robotics and automation Robotic assembly

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Time-delay neural networks for control

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IFAC Proceedings Volumes 1994年第14期27卷 967-972页

作者： M. Kaiser University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Systems & Robotics Prof. Dr.-Ing. U. Rembold and Prof. Dr.-Ing. R. Dillmann D-76128 Karlsruhe Germany

This paper presents results regarding the Application of Time-Delay Neural Networks (TDNNs), up to now mainly used in speech recognition, for control tasks. A set of examples taken from a model-based robot controller is used to validate the suitability of the TDNN and to show its superiority to standard multilayer perceptrons. Afterwards, a new algorithm is presented that shows how the inherent capability of the TDNN to deal with time-variant signals can be employed to directly generate a TDNN from a PID control law. This synthesized neural controller is operational from the very beginning and can be tuned on-line using existing learning techniques. The advantages of this design procedure are shown for a simple control task.

关键词： Neural nets control system design control system synthesis adaptive control knowledge engineering

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MONITORING THE EXECUTION OF SENSORY ROBOT PROGRAMS

MONITORING THE EXECUTION OF SENSORY ROBOT PROGRAMS

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1994 AAAI Spring Symposium

作者： Caglioti, Vincenzo Danieli, Massimo Sorrenti, Domenico International Computer Science Institute 1947 Center Street BerkeleyCA94704-1105 United States ABB SAE Sadelmi s.p.a. P.le Lodi 3 Milano20137 Italy Artificial Intelligence and Robotics Project Dipartimento di Elettronica e Informazione Politecnico di Milano P.zza Leonardo da Vinci 32 Milano20133 Italy

A system is presented, which monitors the execution of an assigned robot program, in order to detect execution errors. The assigned program is supposed to include sensor instructions, which allow to adapt the execution to variable environment conditions. In the presented system, the task information is represented in terms of a relationship between environment conditions and workcell evlution. The selection of the monitoring sensor detctions is based on the accuracy in checking the state variables and in the ambiguity in matching the sensor measures to the variables to be measured. copyright © 1994, AAAI (***). All rights reserved.

关键词： Human robot interaction

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Towards a coordinated development of numerical CACSD software: the RASP/SLICOT compatibility concept

Towards a coordinated development of numerical CACSD softwar...

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IEEE International Symposium on computer Aided Control System Design (CACSD)

作者： G. Grubel A. Varga A. van den Boom A.J. Geurts Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Department of Electrical Engineering Eindhovan University of Technology Eindhoven Netherlands Department of Mathematics & Computer Science Eindhovan University of Technology Eindhoven Netherlands

The concept of mutual compatibility is introduced. It has arisen from the cooperation of the developers of the RASP and SLICOT libraries. With this concept it becomes feasible to coordinate the development of several libraries leading to a reduction of software implementation and testing efforts without giving up the identity of the separate libraries. A first development along the lines of the mutual compatibility concept is the recently developed model reduction library RASP-MODRED.< >

关键词： Software libraries MATLAB Data structures Software testing Mathematics Size control Lighting control Control design Design engineering Robot kinematics

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A hybrid systems approach to computer-aided control engineering

A hybrid systems approach to computer-aided control engineer...

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IEEE International Symposium on computer Aided Control System Design (CACSD)

作者： W. Kohn J. James A. Nerode K. Harbison A. Agrawala Intermetrics Inc. Bellevue WA USA Intametxics Inc. Mclean VA USA Mathematical Sciences Institute Comell University Medical College Ithaca NY USA Automation and Robotics Research Institute Fort Worth TX USA Department of Computer Science University of Maryland MD USA

We provide preliminary ideas for a new approach to computer-aided control engineering (CACE) environments. We present two themes. The first theme is that the CACE environments should support a thread from requirements development through to implementation. While some CACE environments come close to this, none provide the end-to-end thread we envision. The second theme is that the environment should support construction of automatons which simultaneously comply with discrete and continuous constraints. Current environments require extensive simulation and experimentation to simultaneously comply with discrete and continuous constraints.< >

关键词： Control engineering computing Control engineering Control systems computer architecture Automata Automatic control robotics and automation Yarn computer science Equations

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