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IEEE International Conference on robotics and Automation (ICRA)

作者： B.J. Oh M. Jamshidi H. Seraji CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA Dept. of Electr. & Comput. Eng. New Mexico Univ. Albuquerque NM USA Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

A decentralized adaptive control is proposed to stabilize and track the nonlinear interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive control theory based on Lyapunov's direct method. The adaptive gains consist of sigma , proportional, and integral combination of the measured and reference values of the corresponding subsystem. The proposed control is applied to the joint control of a two-link robot manipulator, and the performance in computer simulation corresponds with what is expected in theoretical development.< >

关键词： Adaptive control Control systems Programmable control Laboratories Manipulators Robot sensing systems Nonlinear control systems Couplings Robust control Propulsion

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Fourier optics and pattern recognition

Fourier optics and pattern recognition

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1986 International Optical Computing Conference

作者： Kandel, Abraham Langholz, Gideon Computer Science Department Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States Department of Electrical Engineering Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States

In Fourier optics, the Fourier transformation is performed on the amplitude of the electromagnetic wave, whereas in the computational method the transformation is usually applied to the grayness of its image which is ...

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Segmented Descriptions of 3-D Surfaces

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IEEE Journal on robotics and Automation 1987年第6期3卷 527-538页

作者： Fan, Ting-Jun Medioni, Gerard Nevatia, Ramakant Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles MC0273 CA 90089-0273 United States

A method to segment and describe visible surfaces of three-dimensional (3-D) objects is presented by first segmenting the surfaces into simple surface patches and then using these patches and their boundaries to describe the 3-D surfaces. First, distinguished points are extracted which will comprise the edges of segmented surface patches, using the zero-crossings and extrema of curvature along a given direction. Two different methods are used: if the sensor provides relatively noise-free range images, the principal curvatures are computed at only one resolution, otherwise, a multiple scale approach is used and curvature is computed in four directions 45° apart to facilitate interscale tracking. These points are then grouped into curves and these curves are classified into different classes which correspond to significant physical properties such as jump boundaries, folds, and ridge lines (or smooth extrema). Then jump boundaries and folds are used to segment the surfaces into surface patches, and a simple surface is fitted to each patch to reconstruct the original objects. These descriptions not only make explicit most of the salient properties present in the original input, but are more suited to further processing, such as matching with a given model. The generality and robustness of this approach is illustrated on scene images with different available range sensors. Copyright © 1987 by The institute of Electrical and Electronics Engineers, Inc.

关键词： Object recognition Engine cylinders Surface reconstruction Image sensors Intelligent robots Image segmentation Image resolution Image reconstruction Robustness Layout

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Experimental evaluation of a PUMA manipulator model-referenced adaptive controller

Experimental evaluation of a PUMA manipulator model-referenc...

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IEEE Conference on Decision and Control

作者： M. B. Leahy S. H. Murphy R. Al-Jarr G. N. Saridis Department of Electrical and Computer Engineering Air Force Institute of Technology OH USA Robotics and Automation Laboratories Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA Rensselaer Polytechnic Institute Troy New York

The robotic manipulator control performance database has been expanded by experimental evaluation of a joint space model-reference adaptive control technique. The trajectory tracking accuracy of the evaluated Model-Reference Adaptive Control technique was insufficient for gross motion control of a six degree of freedom PUMA manipulator. The adaption mechanism did not force the manipulator joints to track the reference model output. The Model-Referenced Adaptive Controller demonstrated efficacy inferior to dynamics based control techniques. Velocity reference input and friction compensation have been identified as essential components of any adaptive PUMA controller. Evaluation results provide valuable insight into further development of adaptive manipulator control methods.

关键词： Programmable control Adaptive control Manipulator dynamics Orbital robotics Robot control Databases Trajectory Tracking Motion control Friction

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ROBOTIC AND ARTIFICIAL-INTELLIGENCE systems FOR THE NAVAL OPERATIONAL ENVIRONMENT

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NAVAL ENGINEERS JOURNAL 1987年第4期99卷 74-86页

作者： HOGGE, SM The author earned her bachelor's of science degree in industrial engineering and operations research from Virginia Polytechnic Institute and State University. While at Virginia Tech she worked in the Robotics Laboratory supporting robotics research sponsored by the National Bureau of Standards. She completed her master's of science in computer science at The Johns Hopkins University. Until this past March Miss Hogge worked at the Naval Surface Weapons Center in Silver Spring Maryland. Her duties included the application of robotics and artificial intelligence to explosive ordnance disassembly mobile robotics remote controlled fire fighting vehicles human factors expert systems computer enhanced decision-making aids and hardware security. She published a two-volume study discussing shipboard operational applications of robotics and AI. In addition her publications include nine recent journal articles on robotics and computer security. Miss Hogge is currently employed with Automaker Inc. in Houston Texas. Her current role is manager of all government related robotic operations and vision systems. Miss Hogge's projects at Automaker include: an explosive ordnance disassembly gantry robot system a vision inspection system to examine bearings 3-part camouflage spray painting an investigation of the use of robotic welding in Navy shipyards and rework facilities and epoxy spray painting of missile radomes.

Due to demographical factors, there will be a 25% decline in the national labor pool of eligible 17 to 21 year old men by 1992. As the Navy faces fierce competition with other services and private industry for the dwindling personnel resources of the nation, efforts must be made to consider automating certain tasks, especially those that are hazardous, boring, and labor intensive onboard ships at sea. The Surface Ship Continuing Concept Formulation (CONFORM) Program (SEA-5014) sponsored the Naval Surface Weapons Center's robotics Laboratory to identify potential applications of robotic and artificial intelligence systems to operation and mission activities for shipboard use. The results of the investigation concerning applications of robotics to automate the aforementioned tasks are presented. Changes in current manning levels for selected tasks and ship classes, i.e., CVs, CVNs, LPDs, LPNs, and auxiliaries are examined. Future ship designs incorporating robotics, such as the advance based repair (ABR) ship are discussed. Twenty-four applications were cited in the study which include a remote controlled vehicle for flight deck operations, limited tasks in biological, chemical, and radiation environments, computer aided command decision aids, ordnance handling, undersea search, recovery, and salvage, and ventilation duct cleaning. Four of the applications and their subsequent hardware fruition will be discussed.

关键词： robotics

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Languages for expert system building: A comparison 86

Languages for expert system building: A comparison

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1986 ACM SIGSMALL/PC Symposium on Small systems, SIGSMALL 1986

作者： Hall, Lawrence O. Kandel, Abraham Institute for Expert Systems and Robotics Department of Computer Science Florida State University TallahasseeFL32306 United States Department of Computer Science and Engineering University of South Florida TampaFL33620 United States

ISBN: (纸本)089791211X

A study of some languages which may be used for expert system building is conducted. The characteristics necessary in an expert system building language are detailed. Languages that are unable to provide for many different types of expert systems to be built are not given much weight. Six relatively standard high level languages are studied, which include FORTRAN, Modula-2, Ada∗∗, Pascal, LISP and Prolog. Some of the newly developed expert system building languages are also studied. The study was done in conjunction with the development of the expert system known as Fess and a discussion of the reasons for the choice of its development language are given. The construction of the system has provided further insights for the language study. It is found that a best expert system building language may yet be developed. © 1986 ACM.

关键词： Expert systems

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Vertical integration for robot assembly cells

Vertical integration for robot assembly cells

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Kelley Robotics and Automation Laboratory Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Vertical integration of transformation of abstract assembly task descriptions into task execution commands is needed to overcome the fundamental factors which limit the widespread application of current robotic systems. These factors are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site robot control programming. These requirements arise because current robotic systems do not have an understanding of the robot cell environment. Further, these systems are not able to react rationally to non-deterministic events which occur during task execution. A research plan which is aimed at the systematic incorporation of limited amounts of machine intelligence into robot task planning and execution is outlined.

关键词： Robotic assembly Robot kinematics robotics and automation Robot sensing systems Robot programming Machine intelligence Service robots Intelligent robots Assembly systems Robot control

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Analytical Design of Intelligent Machines

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IFAC Proceedings Volumes 1985年第16期18卷 139-144页

作者： K.P. Valavanis G.N. Saridis Robotics and Automation Laboratory Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180-3590 USA

The problem of designing intelligent machines operating in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an intelligent machine is defined to De the structure of a Hierarchically Intelligent Control System, composed of three levels hierarchically ordered according to the principle of "increasing intelligence with decreasing precision," namely: the organization, the coordination and the hardware control levels. The behavior of such a machine may be managed by controls with special considerations and its "intelligence" is directly related to the derivation or a compatible measure that associates the intelligence of the higher levels with the precision of execution of the lower levels. It is shown that the concept of entropy as defined in Information Theory and Theoretical Thermodynamics is a sufficient analytic measure that unifies the treatment of all the levels of an intelligent machine as the mathematical problem of finding the right sequence of internal decisions and controls for a system structured in the order of intelligence and inverse order of precision (constraint) such that it minimizes its total entropy

关键词： Hierarchical compatible flow of knowledge machine knowledge machine intelligence

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Understanding, Uncertainty and Robot Task Execution

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IFAC Proceedings Volumes 1985年第16期18卷 331-335页

作者： R.B. Kelly S. Bonner Robotics and Automation Laboratory. Department of Electrical Computer and Systems Engineering Renssclacr Politechnic Institute. Troy NY 12180-3590. USA

Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site control program development. These requirements arise because current robotic systems do not have an understanding of the robot task environment. Further, these systems are not able to react intelligently to non-deterministic events which occur during task execution. This paper examines the nature of understanding and its use to resolve uncertainty as it relates to robot task execution. Then a research plan which is aimed at the systematic incorporation of understanding into the robot task environment is outlined.

关键词： Advanced automation machine intelligence robot system programming robot task planning

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SWITCHING-FUNCTIONS AND SOLID GEOMETRICAL MODELER

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PROCEEDINGS OF THE IEEE 1984年第1期72卷 136-137页

作者： SHPITALNI, M Center of Manufacturing Systems and Robotics Faculty of Mechanical Engineering Technion-Israel Institute of Technology Haifa Israel

A novel, set-operations rather than geometry-oriented, solid geometrical modeler is proposed. The modeler is based upon the representation of objects by switching functions and thus is capable to perform the set (Boolean) operations very efficiently. The graphical support and communication with the real world are provided via the extended three-dimensional Karnaugh map.

关键词： Solid modeling Algebra Communication switching Computer aided manufacturing CADCAM Application software Manufacturing processes Productivity Technology transfer Manufacturing systems

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