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IEEE International Conference on robotics and Automation (ICRA)

作者： R.A. Russell Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

In order to operate effectively in their variable and unstructured real world environment insects employ many strategies. Generating and detecting odours is the basis of several of these strategies. It seems certain that similar techniques can be implemented to improve the competence of robotic systems. This paper describes a project to investigate transferring the pheromone trail tracking capabilities of ants to robotic systems. A robotic ant has been built and equipped with a pair of odour sensing 'antennae'. This system has been programmed with a trail following algorithm observed in the ant Lasius fuliginosus. The design of this robot, the control algorithm and results of odour trail following experiments are presented.

关键词： Robot sensing systems Chemicals intelligent robots intelligent sensors Recruitment Insects Robot control Navigation Biology computing Systems engineering and theory

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Critical aspects of structural control schemes for multilevel hierarchical systems

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IFAC Proceedings Volumes 1999年第2期32卷 5909-5914页

作者： Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical & Computer Engineering University of Patras Rion 26500 GREECE Tel +30 61 997295 Fax +***

In this paper a class of two level systems where N linear subsystems S1, S2,…, SN in a lower hierarchical level are interconnected through a cordinator S 0 in a higher hierarchical level is considered. The model of such a system is presented together with a controlling algorithm that preserves the structure of the system. The paper is mainly a survey of all related work and presents all the critical aspects of such a controlling scheme such as structural controllability, fixed modes, the algorithm itself and stability of the closed loop system.

关键词： Large Scale Systems Decentralized Control Multilevel Hierarchical Systems

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Real-time motion planning of car-like robots

Real-time motion planning of car-like robots

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Proceedings 1999 IEEE/RSJ International Conference on intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： Xianyi Yang Max Meng Advanced Robotics and Teleoperation Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

A neural network approach is proposed for real-time collision-free motion planning of holonomic and nonholonomic car-like robots in a nonstationary environment. This model is capable of planning real-time robot motion with sudden environmental changes, motion of a car with multiple targets, and motion of multiple robots. The proposed neural network model is biologically inspired, where the dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation or an additive equation. There are only local connections among neurons. The real-time optimal robot motion is planned through the dynamic neural activity landscape of the neural network without explicitly searching over the free workspace nor the collision paths, without explicitly optimizing any cost functions, without any prior knowledge of the dynamic environment, without any learning process, and without any local collision checking procedures. Therefore it is computationally efficient. The stability of the neural network is guaranteed by Lyapunov stability analysis. The effectiveness and efficiency of the proposed approach are demonstrated through simulation studies.

关键词： Motion planning Neural networks Biological system modeling Robot motion Neurons Equations Cost function Stability analysis Lyapunov method Computational modeling

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Neural network application in robot motion planning

Neural network application in robot motion planning

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： X. Yang M. Meng Advanced Robotics & Teleoperation Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

The application of neural networks to real-time motion planning of robotic systems is studied. The proposed framework, using biologically inspired neural networks, for robot motion planning with obstacle avoidance in a nonstationary environment is computationally efficient. The neural dynamics of each neuron in the topologically organized neural network is characterized by a simple shunting equation derived from Hodgkin and Huxley's (1952) membrane model. The real-time optimal robot motion is planned through the dynamic activity landscape of the neural network that represents the dynamic environment. The proposed model can deal with point mobile robots, manipulation robots, holonomic and nonholonomic car-like robots and multi-robot systems. The efficiency and effectiveness are demonstrated by simulation studies.

关键词： Neural networks Robot motion Motion planning Mobile robots Real time systems Biology computing computer networks Neurons Equations Biomembranes

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The mapping of texture on VR polygonal models 2

The mapping of texture on VR polygonal models

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2nd International Conference on 3-D Digital Imaging and Modeling, 3DIM 1999

作者： Laurendeau, Denis Bertrand, Nathalie Houde, Régis Computer Vision and Systems Laboratory Department of Electrical Engineering and Computer Engineering Laval University QuebecQCG1K 7P4 Canada Robotics Division Hydro Quebec Research Institute VarennesQCJ3X 1S1 Canada

ISBN: (纸本)0769500625

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene. © 1999 IEEE.

关键词： Image texture

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Influence of mode truncation and elongation deformation to a flexible manipulator

Influence of mode truncation and elongation deformation to a...

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Canadian Conference on electrical and computer engineering (CCECE)

作者： Yan Liu M. Meng D. Wang ART (Advanced Robotics and Teleoperation) Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

Influences of the mode truncation and the longitudinal elongation on the dynamic response of a single link flexible robotic manipulator are studied. Firstly, the relationship between the mode truncation and the inertia matrix of the flexible manipulator dynamic equation is derived. The condition number of the inertia matrix is computed with respect to the number of mode shapes. The inertia matrix is becoming ill posed with the increasing of the mode number. Secondly, the dynamic model with longitudinal elongation is derived. The influence of the longitudinal elongation on the dynamic response, which is caused by the transversal deformation of the system, is analyzed.

关键词： Manipulator dynamics Robots Deformable models Frequency Payloads Equations Orbital robotics Angular velocity Subspace constraints Shape

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A neural network approach to real-time collision-free navigation of 3-DOF robots in 2D

A neural network approach to real-time collision-free naviga...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xianyi Yang M. Meng ART (Advanced Robotics & Teleoperation) Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

A neural network approach to real-time collision-free navigation of holonomic 3-degree-of-freedom (DOF) robots in a nonstationary environment is proposed. This approach is based on a biologically inspired model for dynamic trajectory generation of a point robot or a multi-joint robot manipulator. The state space of the neural network is three-dimensional (3D), where two represent the spatial position in the 2D Cartesian workspace and one represents the orientation of the robot. This model is capable of generating a real-time optimal navigation path for 3-DOF robots through the dynamic neural activity landscape without explicitly optimizing any cost functions, without any learning process, and without any local collision checking procedures. Therefore it is computationally efficient. In addition, this model can deal with real-time navigation with sudden environmental changes, navigation of a robot with multiple targets, and navigation of multiple robots. The stability of the neural network is guaranteed by Lyapunov stability analysis. The effectiveness and efficiency are demonstrated through simulation studies.

关键词： Neural networks Navigation Orbital robotics Biological system modeling Manipulator dynamics Robots State-space methods Cost function Stability analysis Lyapunov method

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An efficient neural network model for path planning of car-like robots in dynamic environment

An efficient neural network model for path planning of car-l...

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Canadian Conference on electrical and computer engineering (CCECE)

作者： Xianyi Yang M. Meng ART Advanced Robotics & Teleoperation Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

A neural network model is proposed for real-time path planning with obstacle avoidance of car-like robots in a dynamic environment. Each neuron in this biologically inspired, topologically organised neural network has only local lateral connections. The real-time collision-free path is planned through the dynamic neural activity landscape of the neural network without explicitly searching over the free workspace nor the collision paths, without explicitly optimising any cost functions, without any prior knowledge of the dynamic environment, without any learning procedures, and without any local collision checking procedures. Therefore it is computationally efficient. The stability and convergence of the neural network system is proved using Lyapunov stability analysis. The effectiveness and efficiency of the proposed approach are demonstrated through simulation studies.

关键词： Neural networks Path planning Biological system modeling Robots Neurons Cost function Stability analysis Convergence Lyapunov method Computational modeling

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Taxonomy of research on human interactions with intelligent systems

Taxonomy of research on human interactions with intelligent ...

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IEEE International Conference on Systems, Man and Cybernetics

作者： A. Agah K. Tanie Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA Department of Robotics Mechanical Engineering Laboratory Tsukuba Japan

The objective of the paper is to provide a taxonomy of current research on human interactions with intelligent systems. This embodies human-computer interactions, human-machine interactions, and human-robot interactions. The research undertakings are classified based on five criteria of: research approach, application, system autonomy, interaction distance, and interaction media. Additionally, more than 150 cited references are listed in summary tables with respect to each classification category. This provides an easy guide to search for related works with certain characteristics. The intelligent systems discussed in the paper cover a wide range, including: telerobots, virtual reality, user interfaces, bio-feedback, mobile robots, intelligent interfaces, sport machines, medical technology, human-machine interfaces, entertainment, intelligent systems, computer input/output devices, human-computer interfaces, and multimedia.

关键词： Taxonomy Humans intelligent systems intelligent robots Machine intelligence Man machine systems Virtual reality User interfaces Mobile robots Paper technology

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Frequency analysis of a flexible robot manipulator

Frequency analysis of a flexible robot manipulator

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Canadian Conference on electrical and computer engineering (CCECE)

作者： D. Wang M. Meng ART (Advanced Robotics & Teleoperation) Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

In this paper, the effect of longitudinal elongation of a flexible robot manipulator is investigated using frequency analysis. The dynamic model of a flexible manipulator without longitudinal elongation is considered and the basic frequency of the flexible manipulator is computed. With the increasing length and weight of the manipulator, the basic frequency decreases. The instability of the dynamic response will occur when the angular velocity exceeds the basic frequency. In order to avoid the unstable dynamics, the longitudinal elongation that is caused by the flexible deformation is considered in the dynamic model. From the frequency analysis, with the increase of angular speed of the manipulator, the basic frequency will rise.

关键词： Frequency Robots Manipulator dynamics Angular velocity Deformable models Solid modeling Equations Resonance Propellers Nonlinear dynamical systems

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