检索结果-内蒙古大学图书馆

Annual Conference of Industrial Electronics Society

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of Karlsruhe Karlsruhe Germany

In this paper, the problem of path planning for robot manipulators with six degrees of freedom in an on-line provided three-dimensional environment is investigated. As a basic approach, the best-first algorithm is used to search in the implicit discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The basic approach is extended by three simple mechanisms and results in a heuristic hierarchical search. This is done by adjusting the stepsize of the search to the distance between the robot and the obstacles. As a first step, we show encouraging experimental results with two degrees of freedom for five typical benchmark problems.

关键词： Path planning Service robots Orbital robotics Robotic assembly Computational geometry Motion planning Process control Intellectual property computer science Manipulators

来源：评论

学校读者我要写书评

暂无评论

Online path planning with optimal C-space discretization

Online path planning with optimal C-space discretization

引用

Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of Karlsruhe Karlsruhe Germany

The paper is based on a path planning approach for industrial robot arms with 6 degrees of freedom in an online given 3D environment. It has online capabilities by searching in an implicit and discrete configuration space and detecting collisions in the Cartesian workspace by distance computation based on the given CAD model. Here, we present different methods for specifying the C-space discretization. Besides the usual uniform and heuristic discretization, we investigate two versions of an optimal discretization for a user-predefined Cartesian resolution. The different methods are experimentally evaluated. Additionally, we provide a set of 3-dimensional benchmark problems for a fair comparison of the path planner. For each benchmark, the run-times of our planner are between only 3 and 100 seconds on a Pentium PC with 133 MHz.

关键词： Path planning Service robots Orbital robotics Robotic assembly Process control Intellectual property computer science Defense industry Manipulators Runtime

来源：评论

学校读者我要写书评

暂无评论

Vision navigation of an autonomous vehicle by fuzzy reasoning

Vision navigation of an autonomous vehicle by fuzzy reasonin...

引用

European Signal Processing Conference (EUSIPCO)

作者： W. Li F. M. Wahl Tsinghua University Beijing Beijing CN Institute for Robotics and Computer Control Technical University of Braunchweig Hamburger Str. 267 38114 Braunschweig Germany

This paper presents a method for vision navigation of an autonomous vehicle based on fuzzy reasoning. Autonomous vehicles operating in real world require fast image processing and robustness with respect to noisy sensor readings and with respect to environment changes. The key subject of this paper is the integration of some special domain knowledge into a fuzzy rule base in order to enhance image segmentation performance. The proposed method is applied to navigate the THMR-III autonomous vehicle in out-door environments.

关键词： Image edge detection Roads Vehicles Navigation Image segmentation Mobile robots Fuzzy logic

来源：评论

学校读者我要写书评

暂无评论

Intelligent multi-modal systems

British Telecom technology journal

引用

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

来源：评论

学校读者我要写书评

暂无评论

A bayesian network for 3d object recognition in range data 7th

A bayesian network for 3d object recognition in range data

引用

7th International Conference on computer Analysis of Images and Patterns, CAIP 1997

作者： Krebs, B. Burkhardt, M. Wahl, F.M. Institute for Robotics and Computer Control Technical University Braunschweig Hamburger Str. 267 BraunschweigD-38114 Germany

ISBN: (纸本)3540634606

Introducing general CAD descriptions in object recognition systems has become a major field of research called CAD based vision (CBV). However, the major problem using free-form object descriptions is how to define recognizable features which can be extracted from sensor data. In this paper we propose new methods for an extraction of 3d space curves from CAD models and from range data. Object identification is performed by correlating feature vectors from significant subcurves. However, features relying on differential surface properties tend to be very vulnerable with respect to noise. To cope with erroneous data we propose to model the statistical behavior of the features using a Bayesian network. Thus, providing a robust and powerful CAD based 3d object recognition system. © Springer-Verlag Berlin Heidelberg 1997.

关键词： Bayesian networks

来源：评论

学校读者我要写书评

暂无评论

PRIPES: a multiprocessor based system for programming and controlling manipulators in robotic applications

PRIPES: a multiprocessor based system for programming and co...

引用

International Conference on Advanced robotics (ICAR)

作者： Ch. Pelich H. Mosemann F.M. Wahl Institute of Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

Powerful robot controlling systems especially designed for demanding robotic applications like assembly planning strongly depend on its hard- and software resources. In this paper we present a powerful parallel robot independent programming and controlling environment with simulation capabilities (PRIPES). Based on an open multiprocessor architecture PRIPES provides an easy programming interface for robotic applications. Due to its full support of dynamic processing and its real-time capable communication subsystem, it provides the basic requirements for high sophisticated processes, e.g. for monitoring purposes in compliant motion applications. Consequently, PRIPES supports the implementation of parallel algorithms, which can be used to significantly reduce calculation times consumed by numerical complex algorithms. Subsequently, we give first results in implementing a parallelized algorithm for calculating stable orientations of assemblies in order to prove the capabilities of PRIPES.

关键词： Robot programming Robotic assembly Application software Robot control control systems Assembly systems Power system planning Parallel robots Parallel programming Communication system control

来源：评论

学校读者我要写书评

暂无评论

3D B-spline curve matching for model based object recognition

3D B-spline curve matching for model based object recognitio...

引用

IEEE International Conference on Image Processing

作者： B. Krebs B. Korn F.M. Wahl Institute for Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

关键词： Spline Object recognition Data mining Sensor phenomena and characterization

来源：评论

学校读者我要写书评

暂无评论

HighLAP: A High Level System for Generating, Representing, and Evaluating Assembly Sequences

引用

International Journal on Artificial Intelligence Tools 1997年第2期6卷 149-163页

作者： F. Röhrdanz H. Mosemann F. M. Wahl Institute of Robotics and Computer Control Technical University of Braunschweig Hamburger Str. 267 38114 Braunschweig Germany

In this paper we present our high level assembly planning system High LAP· High LAP generates and evaluates all assembly sequences of a mechanical assembly with minimal user interaction. For the evaluation of all feasible assembly sequences several criteria are taken into account. High LAP considers for example the separability and the manipulability of the generated (sub)assemblies. Furthermore, the necessity of reorientation for a mating operation and parallelism during plan execution is considered. Another important criterion is the stability of the generated (sub)assemblies. Most of the assembly planners developed up to date use heuristics or user defined criteria to determine assembly stability for plan evaluation. In order to bring automatic assembly planning closer to reality High LAP performs a powerful geometrical and physical reasoning. The presented system is the first assembly planning system taking into account the range of all stable orientations of an assembly considering friction for plan evaluation.

关键词： Assembly Plan Generation Assembly Plan Evaluation Stability Analysis Assembly Strategies Task Planning

来源：评论

学校读者我要写书评

暂无评论

Synthesized passive feedback control of sensor-rich structures

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

The Neural Network Model of a Robot Joint

引用

IFAC Proceedings Volumes 1997年第21期30卷 381-385页

作者： Jozef Suchý Jarmila Škrinárová Institute of Control Theory and Robotics Slovak Academy of Science Severná 5 974 00 Banská Bystrica Slovakia Department of Computer Science Faculty of Natural Sciences Tajovského 40 974 01 Banská Bystrica Slovakia

In the present paper the artificial neural network model of a robot joint is presented. The data used come from the real measurements on the first joint of Manutec R15 robot. The measured data correspond to the motor current and to the joint position, so that they include nonlinear phenomena like friction, backlash or stiffness present in the joint. For modelling of the robot joint based on the measured data the modification of CMAC neural network, the so called generalized CMAC (GCMAC), is used.

关键词： Modelling robot joint neural-network models

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：