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International Conference on Digital Signal Processing (DSP)

作者： S.G. Tzaiestas Y. Anthopoulos Dept. of Electr. & Comput. Eng. Nat. Tech. Univ. of Athens Greece Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

Data acquisition and learning capabilities are necessary for an intelligent system operating in unstructured, dynamically changing environments. For this purpose, a method for the effective use of multiple sensors must be developed. This paper shows how multisensor fusion can be accomplished by neural networks. It first summarizes the conventional fusion techniques and consequently describes the use of neural networks for sensor fusion as well as their advantages. Finally, an application is presented where a neural network is used to fuse the signals of several sensors, of different type, for material identification purposes.

关键词： Neural networks Signal processing Sensor fusion intelligent sensors Sensor phenomena and characterization Sensor systems intelligent systems intelligent robots Costs Recursive estimation

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Robust telemanipulator control using a partitioned neural network architecture

Robust telemanipulator control using a partitioned neural ne...

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International Conference on Neural Networks

作者： S.G. Tzafestas P.A. Prokopiou C.S. Tzafestas Intelligent Robotics and Automation Laboratory Department of Computer Engineering National and Technical University of Athens Athens Greece Laboratoire de Robotique de Paris CNRS UPMC UVSQ Velizy France

In this paper the control problem of telemanipulators is considered under the condition that they are subject to modeling and other uncertainties of considerable levels. The design is based on the S. Lee and H.S. Lee teleoperator control scheme (1993, 1994), which is modified so as to be able to compensate the uncertainties, and is implemented using a partitioned multilayer perceptron neural network. Several subnetworks are used each one identifying a term of the manipulator's dynamic model. A new learning algorithm is proposed which distributes the learning error to each subnetwork and enables online training. Several simulation results are provided, which show the robustness ability by the partitioned neurocontroller, and compare it with the results obtained through sliding mode control.

关键词： Robust control Neural networks Uncertainty Teleoperators Multilayer perceptrons Multi-layer neural network Manipulator dynamics Partitioning algorithms Neurocontrollers Sliding mode control

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The active kinematic histogram method for path planning of non-point, non-holonomically constrainted mobile robots

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Advanced robotics 1997年第4期12卷 373-395页

作者： Katevas, Nikos I. Tzafestas, Spyros G. Zenon SA - Industrial Automation Athens 15344 Kanari 5 Greece Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Athens 15773 Zografou Campus Greece

The paper presents a novel path planning method for non-point, non-holonomically constrainted mobile robots. The proposed method, named the Active Kinematic Histogram (AKH) method, is a potential field path-planning method based on the Vector Field Histogram (VFH) method introducedby J. Borenstein and Y. Koren. The method relies on one-dimensional environment representations named AKHs, derived from the available information on the obstacle space and the robot itself. The AKHs provide the information abstraction required for fast, collision-free and kinematically feasiblepath planning for non-point, non-holonomically constrainted mobile robots. The method constructs two AKH structures incorporating the information stored in occupancy grid environment representations as well as the exact robot's size, shape and kinematic features. The method applies simpleand fast procedures, e.g. histogram shifting, in order to determine kinematic feasibility and the result of the robot's steering limits. Being a potential field method, the AKH method uses adaptive thresholding procedures to reduce the inherited drawback of the local minima traps ***, the method proposes specific updating and coding procedures for the environmental information and introduces the Ageing function to insert time parameterization in the path-planning results. Also, the so-called bicycle kinematic model is presented in order to describe the kinematicfamily of mobile robots suitable for applying the AKH method. The method integrates a velocity control procedure which is also based on information provided by the active kinematic histograms. The method produced smooth, collision-free paths in a variety of experimental configurations. Simulationand experimental results are presented. © VSP and robotics Society of Japan 1997.

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Sensible agents

Sensible agents

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IEEE International Conference on Systems, Man and Cybernetics

作者： K.S. Barber A. Goel T.J. Graser T.H. Liu R.H. Macfadzean C.E. Martin S. Ramaswamy The Laboratory for Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA University of Texas at Austin Austin TX US

The practical deployment of distributed agent-based systems mandates that each agent behave sensibly. The paper focuses on the development of flexible, responsive, adaptive systems based on sensible agents. Sensible agents perceive, process, and respond based on an understanding of both local and system goals. Each agent is capable of (1) deliberative or reactive planning and execution of one or more domain-specific service/task, (2) maintaining and interpreting knowledge about states, events, and goals related to itself, other agents, and the environment, and (3) adapting its behavior according to its understanding of its own local goals and overall system goals. The paper addresses the above issues in the context of applied semiotics, a field that analyzes and develops the formal tools of knowledge acquisition, representation, organization, generation, enhancement, communication, and utilization. A sensible agent architecture has been developed where each agent is composed of five modules: a self-agent modeler, an external agent modeler, an action planner, an autonomy reasoner, and a conflict resolution advisor.

关键词： Adaptive systems Laboratories intelligent systems intelligent agent Multiagent systems Context

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Synthesized passive feedback control of sensor-rich structures

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

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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

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When to explicitly replan paths for mobile robots

When to explicitly replan paths for mobile robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.R. Murphy A. Marzilli K. Hughes Center for Robotics and Intelligent Systems Colorado Schml of Mines Golden CO USA Mathematical Sciences Department Emory University Atlanta GA USA Electrical and Computer Engineering University of the Pacific Stockton Stockton CA USA

This paper investigates a range of strategies for determining when to explicitly replan paths. An computationally inexpensive event-driven method is presented which allows the robot to execute an a priori path reactively until a significant deviation in the path occurs, at which point the robot explicitly replans. The event-driven strategy is compared to replanning after every move, and replanning after every n moves on a mobile robot for a wide variety of influences, including different unmodeled obstacle configurations and densities, and quality of the a priori map. The paper concludes that, in general, planning as frequently as resources permits results in smoother actual paths and faster completions. However, if the updated map is inaccurate, the event-driven method is superior.

关键词： Mobile robots Path planning intelligent robots Navigation intelligent systems Systems engineering and theory Strategic planning Testing Timing Fault detection

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Geometry-based part grouping for assembly planning

Geometry-based part grouping for assembly planning

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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

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

Geometric collision detection and potential field based time...

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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

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Data fusion: Color edge detection and surface reconstruction through regularization

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1996年第3期43卷 355-363页

作者： Salinas, RA Richardson, C Abidi, MA Gonzalez, RC Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering University of Tennessee Knoxville TN USA Imaging Robotics and Intelligent Systems LaboratoryDepartment of Electrical Engineering University of Tennessee Knoxville TN USA

Data fusion provides tools for solving problems which are characterized by distributed and diverse information sources. In this paper rye focus on the problem of extracting features such as image discontinuities from both synthetic and real images. Since edge detection and surface reconstruction are ill-posed problems in the sense of Hadamard, Tikhonov's regularization paradigm is proposed as the basic tool for solving this inversion problem and restoring well-posedness. The proposed framework includes 1) a systematic view of one- and two-dimensional regularization, 2) extension of the standard Tikhonov regularization method by allowing space-variant regularization parameters, and 3) further extension of the regularization paradigm by adding multiple data sources to allow for data fusion. The theoretical approach is complemented by developing a series of algorithms, then solving the early vision problems of color edge detection and surface reconstruction, An evaluation of these methods reveals that this new analytical data fusion technique output is consistently better than each of the individual RGB edge maps, and noisy corrupted images are reconstructed into smooth noiseless surfaces.

关键词： Image edge detection Surface reconstruction Image reconstruction intelligent robots Data mining Data analysis intelligent sensors intelligent systems Entropy Brightness

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Sensor technologies and microsensor issues for mechatronics systems

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 1996年第1期1卷 39-49页

作者： Luo, RC Department of Electrical and Computer Engineering Center for Robotics and Intelligent Machines North Carolina State University Raleigh NC USA

Intelligence and flexibility are essential in a mechatronic product. To achieve the primary function of an integrated system, it is essential that the functional interaction and spatial integration between mechanical, electronic, control, and information technologies be accomplished in a synergistic way, Sensors are as important in the mechatronic system as the senses are to the human being. While the subject of sensors and the need of sensors are certainly important, it is also both pervasive and diffuse, This paper cannot in any sense be exhaustive of such a wide range of discussion, and will only attempt to discuss sensors related to mechatronics, In this paper, the role of sensors in the field of mechatronics has been identified, followed by the characterization of different sensing technologies. The discussion of microsensor technologies, advantage of microsensors, and problems with microsensors together with multisensor fusion applications is presented, An example of a capacitive micro proximity sensor using micromachining technology developed by the Center of robotics and intelligent Machines at North Carolina State University is also described.

关键词： Sensor systems Microsensors Mechatronics intelligent sensors Mechanical sensors Sensor phenomena and characterization intelligent robots intelligent systems Control systems Information technology

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