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Efficiency Assessment of Performance of Decentralized Autonomous Multi-Robot Systems

Journal of robotics and Mechatronics 1996年第3期8卷 286-291页

作者： Agah, Arvin Bekey, George A. Research Scientist Fellow Bio-Robotics Division Mechanical Engineering Laboratory 1-2 Namiki Tsukuba305 Japan Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90089 United States Robotics Research Laboratory University of Southern California Los AngelesCA90089 United States

This paper presents a new methodology for the efficiency assessment of task performance of decentralized autonomous multi-robot system. This formulation considers the types of the robots (in terms of sensing, action, and control), the description of the environment (the world), the facts (rules) of the world, and the specifications of the tasks to be performed. The performance efficiency is defined in terms of the total time required for completing the task, total energy requirement, and the comparison of the final results and the desired results. A robot colony simulator was used to perform a number of experiments, measuring the task performance efficiency, of a colony of simulated robots which perform specific tasks in a virtual world. The experimental results are presented in this paper. This paper also describes a team of four robots designed and fabricated in hardware. The physical robots were used successfully to validate the results from the simulated colony. © 1996, Fuji Technology Press. All rights reserved.

关键词： Multi agent systems

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Path planning the processing of titanium matrix composites

Path planning the processing of titanium matrix composites

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IEEE Conference on Control Technology and Applications (CCTA)

作者： R. Vancheeswaran D.G. Meyer H.N.G. Wadley Intelligent Processing of Materials Laboratory Materials Science and Engineering University of Virginia Charlottesville VA USA Electrical and Computer Engineering Department University of Colorado Boulder CO USA

The high temperature consolidation of fiber reinforced titanium matrix composites (TMCs) seeks to reduce the concentration of matrix pores (i.e. increase relative density) while simultaneously minimizing fiber microbending/fracture and the growth of reaction product layers at the fiber-matrix interface. These three goals have conflicting dependencies upon the consolidation processes variables (temperature and pressure), and "trial and error" has had difficulty in identifying optimal process pathways that lead to composites with the least fiber damage, reaction layer thickness and matrix porosity. Here, model predictive control (MPC) concepts have been combined with dynamic consolidation models to investigate the design of locally optimal process cycles that minimize fiber damage, reaction product layer thickness and pore concentration. The approach is used to path plan the input process schedules for a Ti-6Al-4V/SCS-6 TMC system. We then show how useful process windows (i.e. an approximation to the domain of the reachable goals) can be computed by varying the goal and repeating the path planning procedure.

关键词： Path planning Titanium Thermal spraying Hip Plasma temperature Fatigue Plasma materials processing Composite materials Creep Pressing

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Modular robotics: design and examples

Modular robotics: design and examples

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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An explicit path planner to facilitate reactive control and terrain preferences

An explicit path planner to facilitate reactive control and ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.R. Murphy K. Hughes E. Noll Center for Robotics and Intelligent Systems Colorado Schml of Mines Golden CO USA Electrical and Computer Engineering University of the Pacific Stockton Stockton CA USA Mathematical Sciences Department La Salle University Philadelphia PA USA

This paper presents a new approach to reactive control utilizing the output of an explicit path planner which considers terrain preferences. To demonstrate the concept, a wavefront propagation, type of planner algorithm, Trulla, is integrated into a reactive framework and used as part of the overall architecture. Terrain preferences are represented as weights or costs which are considered in generating a near optimal path. The algorithm is demonstrated on the CSM Denning-Branch MRV4 mobile robot for three scenarios: navigation out of a box canyon, planning with terrain preferences, and opportunistic path improvement.

关键词： Path planning Mobile robots Costs intelligent robots Satellite navigation systems Control systems intelligent systems Systems engineering and theory Hybrid power systems Robot control

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What programmable vector fields can (and cannot) do: force field algorithms for MEMS and vibratory plate parts feeders

What programmable vector fields can (and cannot) do: force f...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.-F. Bohringer B.R. Donald N.C. MacDonald Robotics & Vision Lab. Cornell Univ. Ithaca NY USA Robotics & Vision Laboratory Department of Computer Science Cornell University Ithaca NY USA School of Electrical Engineering and Cornell Nanofabrication Facility Cornell University Ithaca NY USA

Programmable vector fields can be used to control a variety of flexible planar parts feeders. When a part is placed on our devices, the programmed vector field induces a force and moment upon it. Over time, the part may come to rest in a dynamic equilibrium state. We demonstrate lower bounds on what the devices cannot do, and results on a classification of control strategies. We suggest sufficient conditions for programmable fields to induce well-behaved equilibria on every part placed on our devices. We define composition operators to build complex strategies from simple ones, and show the resulting fields are also well-behaved. We discuss whether fields outside this class can be useful and free of pathology. Using these tools, we describe new manipulation algorithms, and improve existing planning algorithms by a quadratic factor, and the plan-length by a linear factor. We relax earlier dynamic and mechanical assumptions to obtain more robust and flexible strategies. Finally, we consider parts feeders that can only implement a very limited "vocabulary" of vector fields. We discuss the trade-off between mechanical complexity and planning complexity.

关键词： Micromechanical devices Automatic control Force control Feeds Assembly Robot vision systems Laboratories computer science Nanofabrication Uniform resource locators

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Position estimation of selected targets

Position estimation of selected targets

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. LeGrand R.C. Luo Dept. of Electr. & Comput. Eng. North Carolina State Univ. Raleigh NC USA Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Recovering depth and 3D position using known camera motion is useful for solving many problems in robotics such as object manipulation, navigation, and localization. Most existing techniques attempt to solve the general problem by recovering depth across the entire image. They oftentimes make linear dynamics assumptions or use poorly recoverable metrics such as optical flow. An estimation technique is presented that retains the nonlinear camera dynamics and provides an accurate 3D position estimate of selected targets within the environment. In practice, the technique is accurate enough to fully specify the placement of a gripper for object manipulation after forward (as opposed to lateral) movement of a single camera. The technique also provides probabilistic information regarding the estimate, which can be used to make intelligent, informed decisions. We employed this technique at the 1995 AAAI robot competition where our robot, Lola, placed 1st in Office Clean-up where it was able to pick up trash and recyclables and deposit them in the appropriate receptacles with great success. Results of our implementation on Lola are also presented.

关键词： intelligent robots Orbital robotics Data mining Image motion analysis Cameras Machine intelligence Navigation Tires Nonlinear optics Grippers

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Measuring the distance and orientation of a planar surface using nonstructured lighting

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SYSTEMS AND computerS IN JAPAN 1996年第8期27卷 83-92页

作者： Tsukiyama, T Member Electrotechnical Laboratory Tsukuba Japan 305 Tosbifumi Tsukiyama:graduated in 1972 from the Biological Engineering Department Osaka University where he also received his Dr. of Eng. degree. He joined Electrotechnical Laboratory Ministry of Tread and Industry (Japan) in 1972. At present he is Senior Researcher at Computer Vision Section Intelligent Systems Division ETL. He was a Visiting Researcher at University of Illinois during 1984–1985. He has been interested in vision system for mobile robots and image processing architectures. He is a member of the Society of Instrumental and Control Engineers Japan Robotics Society of Japan and Information Processing Society of Japan.

This paper proposes a method of 3-dimensional measurement of a planar surface by using two fixed light sources and a TV camera. A set of two images is recorded by the camera switching on each light alternately. The peak of the luminance distribution in each image is detected, and the orientation and distance of the planar surface are calculated. The position of the peak of a luminance distribution can be estimated accurately by using an image processing. The light sources can be conventional apparatus with no particular structure. The method is simple and suitable for a vision system on an indoor mobile robot.

关键词： distance to surface orientation of planar surface point light source luminance distribution ring light

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Stability analysis of a robust PD control law for robot manipulators

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Journal of Field robotics 1996年第6期13卷

作者： T. C. Hsia Z. Mao Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA 95616 Intel Corporation 2200 Mission College Blvd. Santa Clara CA 95052

The purpose of this article is to examine the stability of a robust and decentralized PD control law for robot manipulator control. The control law, which was developed by the authors, has been shown experimentally to be extremely simple to implement and highly accurate for position and force tracking in the presence of robot model uncertainty and payload variation. However, stability analysis has been difficult due to the nonlinearity of robot dynamics and the use of time-delayed measurements of joint torques and joint accelerations in the control law. A rigorous stability analysis is presented in this article using Popov's hyperstability theory. A sufficient condition for global stability is obtained that supports previous theoretical and experimental results. © 1996 John Wiley & Sons, Inc.

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A 3-DIMENSIONAL LOCALIZER FOR AUTONOMOUS ROBOT VEHICLES

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ROBOTICA 1995年第1期13卷 87-94页

作者： KLEEMAN, L Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3168 Australia

A novel design of a three dimensional localiser intended for autonomous robot vehicles is presented. A prototype is implemented in air using ultrasonic beacons at known positions, and can be adapted to underwater environments where it has important applications, such as deep sea maintenance, data collection and reconnaissance tasks. The paper presents the hardware design, algorithms for position and orientation determination (six degrees of freedom), and performance results of a laboratory prototype. Two appraoches are discussed for position and orientation determination - (i) fast single measurement set techniques and (ii) computationally slower Kalman filter based techniques. The Kalman filter approach allows the incorporation of robot motion information, more accurate beacon modelling and the capability of processing data from more than four beacons, the minimum number required for localisation.

关键词： POSITION ESTIMATION 3-D LOCALIZATION KALMAN FILTERING ULTRASONIC NAVIGATION ORIENTATION UNDERWATER VEHICLES

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EXPERIMENTS IN ACTIVE VISION WITH REAL AND VIRTUAL ROBOT HEADS

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APPLIED INTELLIGENCE 1995年第3期5卷 237-250页

作者： MARAPANE, SB TRIVEDI, MM Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department The University of Tennessee 37996-2100 Knoxville TN

In the emerging paradigm of animate vision, the visual processes are not thought of as being independent of cognitive or motor processing, but as an integrated system within the context of visual behavior. Intimate coupling of sensory and motor systems have found to improve significantly the performance of behavior based vision systems. In order to study active vision systems one requires sensory-motor systems. Designing, building, and operating such a test bed is a challenging task. In this paper we describe the status of on-going work in developing a sensory-motor robotic system, R2H, with ten degrees of freedoms (DOF) for research in active vision. To complement the R2H system a Graphical Simulation and Animation (GSA) environment is also developed. The objective of building the GSA system is to create a comprehensive design tool to design and study the behavior of active systems and their interactions with the environment. GSA system aids the researchers to develop high performance and reliable software and hardware in a most effective manner. The GSA environment integrates sensing and motor actions and features complete kinematic simulation of the R2H system, it's sensors and it's workspace. With the aid of the GSA environment a Depth from Focus (DFF), Depth from Vergence, and Depth from Stereo modules are implemented and tested. The power and usefulness of the GSA system as a research tool is demonstrated by acquiring and analyzing images in the real and virtual worlds using the same software implemented and tested in the virtual world.

关键词： ACTIVE VISION ROBOT HEADS ROBOT SIMULATION DEPTH EXTRACTION

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