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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D. Owens Institute of Robotics and Software Engineering Technical University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton UK Institute of Computer Science and Electronics Technical University of Zielona Gora Poland Department of Automatic Control and Systems Engineering University of Sheffield UK

Linear repetitive processes are a distinct class of 2D linear systems of both theoretical and practical interest. The stability theory for these processes currently consists of two distinct concepts termed asymptotic stability and stability along the pass respectively where the former is a necessary condition for the latter. Recently applications have arisen where asymptotic stability is too weak and stability along the pass is too strong for meaningful progress to be made. This paper develops the concept of strong practical stability for such cases.

关键词： Linear systems Asymptotic stability computer science State-space methods robotics and automation Software engineering Systems engineering and theory Metals industry Iterative algorithms Electrical equipment industry

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Layered Multi-Agent Reactive-Behavior Learning in a Robotic Soccer

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IFAC Proceedings Volumes 2000年第27期33卷 545-550页

作者： Andon V. Topalov Spyros G. Tzafestas Gregor Novak Dept. of Control Systems Technical University of Sofia Plovdiv hranch61 Sankt Petersburg Blvd.4000 Plovdiv BULGARIA tel./fax.: +359- 32- 631103 Intelligent Robotics and Automation Lab. Dept. of Electrical and Computer Eng. National Technical University of Athens Zografou 15773 Athens GREECE tel.: +30- 1- 7722489 fax: +30-1- 7722490 Institute for Handling Devices and Robotics Vienna University of Technology Favoritenstrasse 9-11 A-1040 Vienna AUSTRIA

Robotic soccer is an interesting test bench for the field of self-organizing and cooperating multi-agent systems. This paper deals with learning of two basic low-level behaviors that will enable the robotic player to participate further in higher-level collaborative and adversarial learning situations. First, a ball interception and obstacle avoidance behavior is learned. Then the acquired skills are incorporated into a next higher-level multi-agent learning scenario, namely the shooting ball behavior. The proposed control scheme for these behaviors consists of a trajectory generator with a layered structure, which supplies data to a trajectory-tracking controller.

关键词： mobile robots agents learning obstacle avoidance trajectory planning tracking control

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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A Robot Playing Scrabble Using Visual Feedback

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IFAC Proceedings Volumes 2000年第27期33卷 551-556页

作者： Johan Bengtsson Anders Ahlstrand Klas Nilsson Anders Robertsson Magnus Olsson Anders Heyden Rolf Johansson Department of Automatic Control Lund Institute of Technology P.O. Box 118 SE-22I 00 Lund Sweden Centre for Mathematical Sciences Lund Institute of Technology P.O. Box 118 SE-22I 00 Lund Sweden Department of Computer Science Lund Institute of Technology P.O. Box 118 SE-22I 00 Lund Sweden Division of Robotics Lund Institute of Technology P.O. Box 118 SE-22I 00 Lund Sweden

Today most industrial robot systems use dedicated and rather limited sensors, and available control systems provide limited support for feedback control. Aiming towards more autonomous robot systems, we want to improve flexibility. The game Scrabble is used as a test problem capturing these aspects. Our approach is to incorporate visual servoing and a conventional powerful off-line prograrnrning (OLP) system into the real-time control system, providing task specification and visual debugging. We use the OLP tool Envision from Deneb and an ABB robot with reconfigured control system, where the control system has an Open Robot control architecture (ORC). The vision system is connected to a host computer and the camera is attached to the robot gripper. By extending the control system, we have designed and implemented both the vision system and the application for the Scrabble game. Our system implementation shows that ORC constitutes a necessary support for incorporation of real-time visual feedback and that OLP may effectively be used with real-time feedback of sensor data.

关键词： Robot vision computer vision Sensor fusion Kinematics Real-time systems

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Simulation of frontal orbital advancement

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Virtual Reality 1999年第3期4卷 235-240页

作者： Grabowski, H.A. Hassfeld, S. Krempien, R. Munchenberg, J. Brief, J. Rembokp, U. Wörn, H. Institute for Process Control and Robotics University of Karlsruhe Germany Clinic for Cranio-Maxillo-Fociol-Surgery University of Heidelberg Germany Department of Radiology University of Heidelberg Germany Institute for Process Control and Robotics Department of Computer Science University of Karlsruhe 76128 Karlsruhe Germany

In this paper, we present a system for performing a complex surgical intervention using virtual reality (VR) technology. With the aid of the system, the intervention can be planned and simulated exactly before performing it in reality and important additional information can be achieved during the simulation. Before working in VR, finite element models of the patient's head are generated form CT-images. Based on these models, additional work is done in VR, where the patient's skull is cut into several pieces, which are then re-positioned. Based on moving and shifting the obtained pieces, the goal is to increase the volume inside the skull, which is called intracranial volume. Until now, it was not possible to measure the achieved increase of the intracranial volume. However, by using our system is it now possible to calculate this volume online during each step of our virtual intervention. The obtained results are used for the surgical intervention in reality. © Springer-Verlag London Ltd.

关键词： Finite element models Geometric modelling Mesh generation Virtual cutting Volume measurement VR-based surgery

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Sensor-based obstacle modeling in configuration space for manipulator motion planning 1

Sensor-based obstacle modeling in configuration space for ma...

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1st Workshop on Robot Motion and control, RoMoCo 1999

作者： Li, Wei Chen, Zushun Wahl, F.M. Kozlowski, Krzysztof R. Department of Computer Science and Technology Tsinghua University Beijing100084 China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 BraunschweigD-38114 Germany Poznań University of Technology Department of Control Robotics and Computer Science Ul. Piotrowo 3a Poznań60-965 Poland

ISBN: (纸本)0780356551

This paper presents an approach to sensor-based obstacle modeling in a configuration space for manipulator motion planning in unknown environments. In order to achieve this objective, an efficient algorithm is used to fast map obstacles based on defined fundamental obstacles in the workspace and their images in the configuration space. A robotic manipulator is assumed to be equipped with distance" sensors to detect obstacles inthe local region. By computation of the critical points of an obstacle based on information acquired by the distance" sensors, an obstacle model in the configuration space is constructed. By using this sensor-based configuration space modeling, robot motion planning in unknown environments can be performed in realistic time frames. © 1999 IEEE.

关键词： Wave functions

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Vision-based behavior control of autonomous systems by fuzzy reasoning 3rd

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3rd International Workshop on Modelling and Integration of Sensor Based Intelligent Robot Systems, 1998

作者： Li, Wei Wahl, Friedrich M. Zhou, Jiangzhong Z. Wang, Hong He, Kezhong Z. Department of Computer Science and Technology Tsinghua University Beijing100084 China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 BraunschweigD-38114 Germany Institute for Computer Peripherals Chinese Academic of Sciences Wuhan430050 China

ISBN: (纸本)3540669337

Vision-based motion control of an autonomous vehicle operating in real world requires fast image processing and robustness with respect to noisy sensor readings and with respect to varying illumination conditions. In order to improve vehicle navigation performance in out-door environments, this paper presents methods for recognizing landmarks based on fuzzy reasoning. Firstly, a fuzzy thresholding algorithm is proposed to segment roads and to extract white line marks on streets from images. Secondly, some special domain knowledge about edges on roads represented by fuzzy sets is integrated into the rule base of a fuzzy edge detector. Based on this, the fuzzy thresholding algorithm is adopted to recognize road edges. In addition, a method for path planning in sensor space is presented and a path following behavior based on a fuzzy rule base is defined to control vehicle motion. The proposed methods are applied to navigate the THMR-III autonomous vehicle in out-door environments. Some experimental driving maneuvers have been performed to prove their effectiveness and their robustness.…. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Fuzzy inference

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Sensor-based controlling of the objects pose for multifinger grippers

Sensor-based controlling of the objects pose for multifinger...

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IEEE International Symposium on Intelligent control (ISIC)

作者： T. Fischer D. Rapela H. Woern Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

In the field of research and development of grippers in object-handling applications, many research results in improving grippers performances have been achieved, and many kinds of multifinger grippers have been developed. By using multifinger grippers, it is possible to grasp different objects of different shapes without changing grippers; and most importantly, it can manipulate the grasped object in the hand, under the condition that the object is controlled in real-time. Therefore, an object-pose controller with feedback from an object-pose sensor is presented in this paper.

关键词： Grippers Fingers Force control Sliding mode control Open loop systems control systems Robot sensing systems Shape control Feedback Orbital robotics

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Sensor-based obstacle modeling in configuration space for manipulator motion planning

Sensor-based obstacle modeling in configuration space for ma...

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International Workshop on Robot Motion and control (RoMoCo)

作者： Wei Li Zusbun Chen F.M. Wahl K.R. Kozlowski Department of Computer Science and Technology Tsinghua University Beijing China Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany Chair of Control Robotics and Computer Science Poznań University of Technology Poznan Poland

Presents an approach to sensor-based obstacle modeling in a configuration space for manipulator motion planning in unknown environments. In order to achieve this objective, an efficient algorithm is used to fast map obstacles based on defined fundamental obstacles in the workspace and their images in the configuration space. A robotic manipulator is assumed to be equipped with distance sensors to detect obstacles in the local region. By computation of the critical points of an obstacle based on information acquired by the distance sensors, an obstacle model in the configuration space is constructed. By using this sensor-based configuration space modeling, robot motion planning in unknown environments can be performed in realistic time frames.

关键词： Manipulators Orbital robotics Motion planning Robot sensing systems Space technology Computational geometry Process planning Technology planning computer science Solid modeling

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A multithreaded Java microcontroller for thread-oriented real-time event-handling

A multithreaded Java microcontroller for thread-oriented rea...

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International Conference on Parallel Architecture and Compilation Techniques (PACT)

作者： U. Brinkschulte C. Krakowski J. Kreuzinger T. Ungerer Institute of Process Control Automation and Robotics University of Karlsruhe Karlsruhe Germany Institute of Computer Design and Fault Tolerance University of Karlsruhe Karlsruhe Germany

We propose a multithreaded Java microcontroller (called Komodo microcontroller) with a new hardware event handling mechanism that allows handling of simultaneous overlapping events with hard real-time requirements. Real-time Java threads are used as interrupt service threads (ISTs) instead of interrupt service routines (ISRs). Our proposed Komodo microcontroller supports multiple ISTs with zero-cycle context switching overhead. We evaluate the basic architectural attributes using real-time event parameters of an autonomous guided vehicle. When calculating the maximum vehicle speed without violating the real-time constraints, ISTs dominate ISRs by a speed increase of 28%.

关键词： Java Microcontrollers Switches Embedded system Yarn Application software Real time systems Hardware Multithreading Process control

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