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On reference trajectory modification approach for Cartesian space neural network control of robot manipulators

On reference trajectory modification approach for Cartesian ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Seul Jung T.C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis Davis CA USA

It is well known that computed torque robot control is subjected to performance degradation due to uncertainties in robot model, and application of neural network (NN) compensation techniques are promising. In this paper we examine the effectiveness of NN as a compensator for the complex problem of Cartesian space control. In particular we examine the differences in system performance when the same NN compensator is applied at different locations in the controller. It is found that using NN to modify the reference trajectory to compensate for model uncertainties is much more effective than the traditional approach of modifying joint torque/force. To facilitate the analysis, a new NN training signal is introduced. The study is extended to non-model based Cartesian control problem. Simulation results are also presented.

关键词： Neural networks Uncertainty computer networks Robot control Degradation Orbital robotics System performance Control systems Torque Signal analysis

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Categorical color projection for robot road following

Categorical color projection for robot road following

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Nan Zeng J.D. Crisman Robotics & Vision Systems Laboratory Department of Electrical and Computer Engineering Northeastern University Boston MA USA

This paper shows that categorical color developed in Yue Du (1994) is a good representation of color space for some robot vision tasks. The authors use SCARF as a test case to compare 'equivalent' RGB, categorical color, and intensity robot vision algorithms on a difficult robot road following task. SCARF uses a full three-dimensional representation of color space to formulate road and off-road colors. Performing categorical color or intensity projection, the authors can model the road and off-road colors as single dimensional probability density functions. This greatly reduces the time to process the color image. Moreover, the authors show that categorical color is a good representation in that it outperforms an equivalent intensity algorithm on the robot tasks. Categorical color, while it cannot outperform the original RGB algorithm, performs well enough to be used in this particular robot application. Its effectiveness is verified by many experiments on difficult road image sequences.

关键词： Roads Robot vision systems Orbital robotics Color Machine vision Mobile robots Image segmentation Layout Image edge detection Degradation

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On neural network application to robust impedance control of robot manipulators

On neural network application to robust impedance control of...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S. Jung T.C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis Davis CA USA

Performance of impedance controller for robot force tracking is affected by the uncertainties in the robot model and environment stiffness. The purpose of the paper is to improve the controller robustness by applying the neural network technique to compensate for the uncertainties in the robot model. A novel error signal is proposed for the neural network training. In addition, an algorithm is developed to determine the reference trajectory when the environment stiffness is unknown. Simulations show that highly robust position/force tracking by a three degrees-of-freedom robot can be achieved under large uncertainties.

关键词： Neural networks Robust control Impedance Robot control Force control Uncertainty Manipulator dynamics Robot sensing systems Orbital robotics robotics and automation

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A reduced complexity vision system for autonomous helicopter navigation

A reduced complexity vision system for autonomous helicopter...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： P.H. Batavia M.A. Lewis G.A. Bekey Department of Computer ScienceInstitute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Department of Electrical Engineering Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

Many current avenues of vision research involve fully analyzing an image with expensive, high powered computers. This approach has major implications in terms of cost, size, and power consumption. Other methods have involved sub-sampling an image to reduce cost and complexity. This has the disadvantage of information loss. We present a low cost, low powered, reduced complexity vision system capable of intelligently sampling an image to reduce this information loss. The design philosophy and methodology is discussed, along with sample applications. Primarily we demonstrate how the reduced complexity vision system will be used to aid in navigation of an autonomous flying vehicle. This is quantified by showing how having multiple sampling schemes result in increased robustness and accuracy of our helicopter line tracking algorithm.

关键词： Machine vision Helicopters Costs Image sampling Image analysis computer vision Energy consumption intelligent systems Design methodology Aircraft navigation

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Mission reachability for extraterrestrial rovers

Mission reachability for extraterrestrial rovers

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： G.S. Sukhatme M.A. Lewis G.A. Bekey Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Department of Electrical Engineering Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

A methodology for the mobility evaluation and mission oriented performance assessment of an autonomous mobile robot is developed. The evaluation strategy uses both time and energy based measures resulting in the development of isochronal/isoenergy contours which characterize the expected mobility of the robot over novel terrain using sample trials on patches of land prior to the mission. This work has a basis in the evaluation of a robot for extraterrestrial exploration and demonstrates the feasibility of the evaluation methodology proposed using simulations. Simulation results are reported for two designs of micro-rovers viz. legged and wheeled on a simulated Martian terrain. Future work is discussed in the context of increased complexity due to hardware implementations, better terrain models and statistical simulations all of which are currently under development.

关键词： Mobile robots Path planning intelligent robots Context modeling Mars Testing Performance evaluation robotics and automation computer science intelligent systems

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OARS: an object-oriented architecture for reactive systems

OARS: an object-oriented architecture for reactive systems

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： B.T. Barcio S. Ramaswamy K.S. Barber The Laboratory for Intelligent Processes and Systems Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

This paper discusses an architecture designed to provide support for the development of state transition models for an object-oriented distributed environment. The state transition models can be constructed and specified hierarchically as well as derived into new classes of objects through the use of inheritance. A new concept called "exit-safe states" is introduced to assist in the specification of hierarchical state transition models. A graphical monitor to analyze the system at run time has been developed.

关键词： Object oriented modeling computer architecture Encapsulation Software reusability intelligent systems Monitoring Software design Software systems Software maintenance Information analysis

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Systematic design of novel architectures for implementation of Radon Transform

Systematic design of novel architectures for implementation ...

引用

Midwest Symposium on Circuits and Systems (MWSCAS)

作者： D. Soudris T. Chronopoulos N. Koussoulas T. Stouraitis Department of Electrical & Computer Engineering Democritus University of Thrace Xanthi Greece Lab of Automation and Robotics Department of Electrical Engineering University of Patras Achaia Greece VLSI Design Laboratory Department of Electrical Engineering & Computer Technology University of Patras Achaia Greece

A systematic methodology is introduced for designing highly pipelined array architectures for implementation of Discrete Radon Transform and its Inverse, starting from the algorithmic level and ending with the architectural (hardware) level. Due to large amount of data, the original algorithm is partitioned into nested loops that can be easily mapped onto fixed-size hardware. The proposed methodology derives a plethora of alternative architectures, which meet various parameters such as high-throughput rate, maximum hardware utilization, and pipelinability. Moreover, the derived architectures are piecewise regular and consist of linear and/or 2-D systolic arrays.

关键词： Discrete transforms computer architecture Algorithm design and analysis Partitioning algorithms Hardware Systolic arrays Geophysics computing Concurrent computing Image reconstruction robotics and automation

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APE: an experience-based assembly sequence planner for mechanical assemblies

APE: an experience-based assembly sequence planner for mecha...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： A. Swaminathan K.S. Barber The Laboratory for Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

This paper presents an approach to the assembly sequence planning problem based on a "plan reuse" philosophy, called the Assembly Planner using Experience (APE). Assembly planning research in the past has attempted to completely plan each problem from scratch. This research shows that stored cases of basic assembly configurations can be applied to a given assembly problem. It is observed that the number of such basic assembly configurations is quite small. Constraints affecting the assembly are also explicitly handled.

关键词： Assembly systems Process planning Laboratories intelligent systems Production planning Control systems Production systems Job shop scheduling Manufacturing Production equipment

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Model development of MIMO nets: a H-EPN based approach

Model development of MIMO nets: a H-EPN based approach

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IEEE Conference on Decision and Control

作者： S. Ramaswamy K.P. Valavanis S. Barber The Laboratory for Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA The Robotics and Automation Laboratory The Center for Advanced Computer Studies and the Apparel-CIM Center University of Southwestern Louisiana Lafayette LA USA

The construction and analysis of multiple-input multiple-output (MIMO) subnets is discussed. It is shown that hierarchical time-extended Petri nets (H-EPNs) allow the development of structured MIMO subnets through the use of bottom-up Petri net synthesis techniques. The paper analyzes Petri net extensions that allow a truly hybrid approach to Petri net based systems modeling, analysis and development. The case study emphasizes the advantage of the activator arc extension in studying issues such as static priority scheduling, dynamic failure recognition, and rescheduling in manufacturing systems. The SPNP package, suitably modified to handle the H-EPN extensions, is used to analyze the properties of the derived H-EPN model.

关键词： MIMO Petri nets Failure analysis Job shop scheduling Dynamic scheduling Modeling Timing Manufacturing Packaging Solids

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Robot motion planning with many degrees of freedom

Robot motion planning with many degrees of freedom

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： Chenyu Ma Wei Li Yang Yang Liuchen Chang National Laboratory of Intelligent Technology and Systems Department of Computer Science Tsinghua University Beijing China Department of Electrical Engineering University of New Brunswick Canada

ISBN: (纸本)0780325591

Because a robot usually operates in environments with uncertain information, path planning for the robot should be performed in real-time so as to match process speed based on sensors. This paper presents an efficient approach to behavior based motion planning of a manipulator with many degrees of freedom, which is based on an algorithm for fast mapping obstacles from a robot's workspace (W-space) into its configuration space (C-space). In the paper, several types of behaviors are defined to formulate the manipulator motion, while rules of choosing behaviors are also given. The proposed method is suitable for the requirement on real-time robot path planning in uncertain environments.

关键词： Robot motion Motion planning Robot sensing systems Path planning Orbital robotics robotics and automation Manipulators Computational geometry intelligent robots Robot kinematics

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