检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Automation (ICRA)

作者： S. Lee G. Kardaras 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

We present an efficient path planning approach which represents a path by a series of via points connected by elastic strings that are subject to displacement due to collisions with obstacles as well as constraints pertaining to the domain to which path planning is applied. Obstacle regions are represented by a potential field created by a multilayered neural network. A fast simulated annealing approach is used for local minima problems from the potential field. The automatic generation and removal of via points is incorporated in the path planning approach to ensure collision-free planning regardless of the complexity of the environment (e.g., convex, concave or complicated obstacle regions). Our path planning approach is flexible due to the automatic generation and removal of via points based on the complexity of the domain of the path planning process, efficient due to the use of the necessary via points for the path representation at all times, and massively parallel due to the parallel computation of motions of via points with only local information.

关键词： Path planning Neural networks Simulated annealing Computer networks intelligent robots Concurrent computing intelligent systems intelligent networks Propulsion Laboratories

来源：评论

学校读者我要写书评

暂无评论

Elastic string based global path planning using neural networks

Elastic string based global path planning using neural netwo...

引用

IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

We present an efficient potential-field based path planning approach for point or higher dimensional objects which avoids effectively any local extreme problems. The approach represents a path by a series of via points connected by elastic strings which are subject to displacement due to collisions with obstacle regions as well as constraints pertaining to the domain to which path planning is applied. Obstacle regions are represented by a potential field created by a multilayered neural network. A fast simulated annealing approach is used for local minima problems from the potential field. The automatic generation and removal of via points is incorporated in the path planning approach to ensure collision-free planning regardless of the complexity of the environment. Local and global bias on the potential field is used to avoid any existing singularities and local minima. Our path planning approach is flexible, efficient and massively parallel.

关键词： Path planning Neural networks intelligent robots Data structures Joining processes intelligent systems Propulsion Laboratories Multi-layer neural network Simulated annealing

来源：评论

学校读者我要写书评

暂无评论

Reference adaptive impedance control: a new paradigm for event-based robotic and telerobotic control

Reference adaptive impedance control: a new paradigm for eve...

引用

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

来源：评论

学校读者我要写书评

暂无评论

An efficient universal coding algorithm for noiseless channel with symbols of unequal cost

引用

IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES 1997年第11期E80A卷 2232-2237页

作者： Iwata, K Morii, M Uyematsu, T Department of Information Science and Intelligent Systems Faculty of Engineering University of Tokushima Tokushima-shi 770 Japan School of Information Science Japan Advanced Institute of Science and Technology Ishikawa Ishikawa-ken 923-12 Japan

This paper describes an effcient and simple coding algorithm of universally optimal codes for stationary (ergodic) sources and noiseless channel with unequal symbol costs. The symbol cost indicates the required time (or space) for the transmission (or storage) of that symbol, and the cost of any code symbol depends only on that symbol. The proposed coding algorithm mainly consists of two parts. The first part is based on the well-known Ziv-Lempel coding algorithm proposed in 1978 (sometimes called LZ78), and the second part is based on the Varn coding algorithm. The coding algorithm asymptotically achieves an optimal average cost of codes for stationary sources, and also achieves an optimal cost of codes for stationary ergodic sources with probability one. Furthermore, the computational complexity of the proposed coding algorithm is linear with respect to the length of source sequence and coded sequence.

关键词： noiseless coding additive cost of code symbol universally optimal cost coding Ziv-Lempel coding Varn coding

来源：评论

学校读者我要写书评

暂无评论

A simple universal coding scheme for arbitrary cost of code symbol

A simple universal coding scheme for arbitrary cost of code ...

引用

IEEE International Symposium on information Theory

作者： K.-i. Iwata T. Uyematsu M. Morii Department of Information Science and Intelligent Systems Faculty of Engineering University of Tokushima Tokushima Japan School of Information Science Japan Advanced Institute of Science and Technology Ishikawa Japan

This paper describes an efficient and simple construction of a universal coding scheme for a noiseless channel with unequal symbol costs, and clarifies its asymptotic performance with respect to stationary sources or stationary ergodic sources. The symbol cost now indicates the time (or space) for the transmission (or storage) of that symbol, and the cost of transmitting (or storing) any code symbol depends only on that symbol. For example, in the Morse code, the dot is shorter in time duration than the dash.

关键词： information science Space technology Encoding intelligent systems systems engineering and theory Random variables Cost function Tree data structures Dictionaries

来源：评论

学校读者我要写书评

暂无评论

Geometry-based part grouping for assembly planning

Geometry-based part grouping for assembly planning

引用

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

来源：评论

学校读者我要写书评

暂无评论

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

Geometric collision detection and potential field based time...

引用

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

来源：评论

学校读者我要写书评

暂无评论

Biologically-motivated learning in adaptive mobile robots

Biologically-motivated learning in adaptive mobile robots

引用

IEEE International Conference on systems, Man and Cybernetics

作者： T.W. Scutt R.I. Damper ICL Institute of Information Technology University of Nottingham Nottingham UK Image Speech and Intelligent Systems Research GroupDepartment of Electronics and Computer Science University of Southampton Southampton UK Department of Computer Science and Engineering Oregon Graduate Institute of Science and Technology Portland OR USA

Over recent years, the focus of artificial intelligence (AI) research has shifted from top-down simulation of high-level cognitive functions based on (essentially-ungrounded) symbolic computations to consideration of the way that intelligent behaviour can emerge in bottom-up fashion in systems situated in the 'real' world. Inspirations from neurobiology and concepts of neural information processing have been very influential in this 'new' AI: most usually in the guise of 'parallel distributed processing' approaches operating at a high level of abstraction, or the more detailed and biologically-realistic 'computational neuroscience' paradigm. In this paper, we describe a biologically-motivated approach to learning in situated robots based on the computational neuroscience paradigm. The mechanisms by which such learning occurs are habituation, sensitization and classical conditioning of the neural responses involved in basic, pre-existing ('hand-wired') reflexes. Emergent light-seeking and collision-avoidance behaviors are observed in an adaptive mobile robot embodying these learning principles, as a result of interaction with its environment.

关键词： Mobile robots Artificial intelligence Biology computing Neuroscience Learning Biological system modeling Computational modeling intelligent robots information processing Distributed processing

来源：评论

学校读者我要写书评

暂无评论

High-performance tracking with TRICLOPS 2nd

High-performance tracking with TRICLOPS

引用

2nd Asian Conference on Computer Vision, ACCV 1995

作者： Wavering, Albert J. Schneiderman, Henry Fiala, John C. Intelligent Systems Division National Institute of Standards and Technology GaithersburgMD20899 United States Robotics Institute Carnegie Mellon University PittsburghPA15213 United States Department of Cognitive and Neural Systems Boston University BostonMA02215 United States

ISBN: (纸本)9783540607939

This article reviews the development of experimental visual tracking algorithms which have been implemented using TRICLOPS (The Real-time, intelligently-ControLled Optical Positioning System), a high-performance active vision system designed and built at the National institute of Standards and technology (NIST). These algorithms range from triangulation using simple targets for very high-speed tracking, to model-based techniques which allow robust tracking of polyhedral targets amidst cluttered backgrounds. In all cases, effective prediction of the target motion to compensate for image processing delays is critical to achieving responsive tracking. © Springer-Verlag Berlin Heidelberg 1996.

关键词： Optical data processing

来源：评论

学校读者我要写书评

暂无评论

A spatial scheduling system and its application to shipbuilding: DAS-CURVE

引用

EXPERT systems WITH APPLICATIONS 1996年第3-4期10卷 311-324页

作者： Lee, KJ Lee, JK Choi, SY Intelligent Information Systems Lab. Graduate School of Management Korea Advanced Institute of Science and Technology 207-43 Cheongryang Seoul 130-012 Korea System Planning Team Daewoo Shipbuilding & Heavy Machinery Ltd Okpo. 1 Ajoo-Dong Jangseungpo Kyungnam Korea

Spatial scheduling considers not only traditional scheduling constraints like resource capacity and due dates, but also dynamic spatial layout of the objects. Automation of spatial scheduling is particularly important when the spatial resources are critical bottleneck resources, as is the case in the shipbuilding industry. To develop a spatial scheduling expert system for shipbuilding, a methodology for spatial layout of polygonal objects within rectangular plates is first developed. This study is then extended to the methodology for spatial scheduling, including the lime dimension. The methodology is applied to the scheduling of Daewoo shipbuilding to build a system DAS-CURVE. DAS-CURVE is successfully operational and its experimental performance is remarkable. Copyright (C) 1996 Elsevier Science Ltd

关键词： Shipbuilding

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：