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检索条件"机构=Intelligent Robotics Laboratory Department of Electrical and Computer Engineering"

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Improving hierarchical architecture performance with dynamic segmentation

Improving hierarchical architecture performance with dynamic...

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： C.M. Aras R.C. Luo D.S. Reeves Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA Robotics and Intelligent Systems Laboratory Department of Computer Science North Carolina State University Raleigh NC USA

Dynamic segmentation is a method for improving the performance of cooperating tasks executed on loosely coupled multiprocessors. Four different data transfer techniques that can be used for intersegment data transfers in dynamically segmented buses are analyzed. Preemptive data transfers are considered for uniform message latencies and results are provided for message latency comparisons using various locality factors. These results indicate dynamic segmentation improves performance considerably, at a fraction of the cost of more complex interconnection networks such as multiple buses.< >

关键词： Mobile robots intelligent robots computer architecture Control systems Communication system control Communication channels Communication networks Bandwidth Robot control Delay

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Active exploration of robotic workcell

Active exploration of robotic workcell

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： H.P. Gadagkar M.M. Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

A description is given of research efforts directed towards the development of an active exploration system performing acquisition, processing, and integration of sensory inputs from vision, point laser range, tactile, and force/torque sensors. An attempt is made to bring out the rationale that robotic workcell exploration can benefit by utilizing noncontact (e.g., vision, range, and proximity) as well as contact (e.g., tactile and force/torque) sensors while accomplishing tasks such as object identification, object localization, object grasping and object manipulation. The experimental results presented indicate that the rationale utilized in the design of the multisensory robotic active exploration scheme can work successfully.< >

关键词： Robot sensing systems Sensor phenomena and characterization Robot vision systems Force sensors Torque Tactile sensors Humans Capacitive sensors computer vision Laboratories

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A feasible collision-detection algorithm for mobile robot motion planning with moving obstacles

A feasible collision-detection algorithm for mobile robot mo...

引用

International Conference on Industrial Electronics, Control and Instrumentation

作者： T.-J. Pan R.C. Luo Department of Information Engineering Tatung Institute of Technology Taipei Taiwan Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and are composed of a set of convex polygons. The half-plane representation uses an algebraic method to describe the object motion including translation and rotation through time. Compared with previous methods, the proposed representation is more general in that obstacles are now allowed to move at nonconstant velocities. To detect collision between polygonal objects, a traversability vector method was developed. Traversability vectors are a simple mechanism used to analyze geometric constraints imposed by polygons. Using these vectors, a simple algorithm for predicting collision is derived. computer simulations were conducted to show the feasibility of the proposed method.< >

关键词： Mobile robots Motion planning Robot motion Orbital robotics intelligent robots Technology planning Space technology Motion detection Object detection Prediction algorithms

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Knowledge-based natural scene description

Knowledge-based natural scene description

引用

International Conference on Industrial Electronics, Control and Instrumentation

作者： H.-H. Loh R.C. Luo Center for Robotics and Intelligent Systems Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

The authors present a knowledge-based image description system that uses fractal features. A knowledge-based recognition process is incorporated in this natural scene description system to enhance the capability of natural scene understanding. The scene description system is based on a fractal model. The fractal model provides useful information. A set of fractal features was developed from the fractal model which can effectively be used in image segmentation. After an image is divided into many regions based on fractal features, the scene information is derived with a knowledge-based scene recognition process. The structure of this system and its interaction strategy for the extraction of scene description are presented. The experimental results are also discussed.< >

关键词： Layout Fractals Image segmentation Shape Geometry intelligent robots Image recognition computer vision Image analysis intelligent systems

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Developing Conductive Elastomers for Applications in Robotic Tactile Sensing

引用

Advanced robotics 1991年第2期6卷 255-271页

作者： Uldry, Jean-Pierre Andrew Russell, R. Intelligent Robotics Group Department of Electrical and Computer Systems Engineering Monash University Melbourne Australia

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On force-tracking impedance control of robot manipulators

On force-tracking impedance control of robot manipulators

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： T.A. Lasky T.C. Hsia Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davisburg CA USA

A reference force-tracking impedance control system is proposed, consisting of a conventional impedance controller in the inner-loop and a trajectory modifying controller in the outer-loop for force-tracking. The design of the outer-loop is presented and the stability of the two-loop control system is analyzed. A computationally efficient control algorithm for the inner-loop is suggested. Simulation results are presented. The controller is able to achieve excellent position and force-tracking with unknown environment stiffness and the presence of a burr on the tracking surface.< >

关键词： Force control Robot control Control systems Robot kinematics Manipulator dynamics Surface impedance Friction Velocity control Automatic control Algorithm design and analysis

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On dynamic motion planning problems

On dynamic motion planning problems

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R.C. Luo T.-J. Pan Robotics and Intelligent Systems Laboratory Department of Elecnical and Computer Engineering North Carolina State University Raleigh NC USA

A novel method for solving the motion planning problem in the presence of moving obstacles is presented. Compared to previous approaches, the proposed method is more general in that obstacles are allowed to move with translation and rotation at nonlinear velocity. Using path/velocity decomposition, the method emphasizes the development of an efficient algorithm for collision detection between the robot and moving polygons. This algorithm is devised using transversability vector theory to determine the geometric relationships between any two convex polygons or convex components of concave polygons. The interference between the robot and the moving obstacles is detected and registered on the constraint map to represent time constraints on the robot's motion along the path. The constraint map is then used for velocity planning using a simple algorithm. The problem of a robot crossing the street is used as an example for computational analysis.< >

关键词： Motion planning Vehicle dynamics robotics and automation Orbital robotics intelligent robots Interference constraints Robot motion Mobile robots Path planning intelligent systems

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Use of monocular groupings and occlusion analysis in a hierarchical stereo system

Use of monocular groupings and occlusion analysis in a hiera...

引用

Conference on computer Vision and Pattern Recognition (CVPR)

作者： R.C. Chung R. Nevatia Institute for Robotics and Intelligent Systems Department of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

A hierarchical stereo system is described that uses structural descriptions up to the surface level. Surface descriptions are computed from monocular images, by using a perceptual grouping technique. Occlusion can be a major problem in stereo analysis and is often not treated explicitly. An analysis is presented of occlusion effects in stereo, and it is shown how structural descriptions can be used to deal with them. Experimental results are given for scenes with curved objects and significant occlusions.< >

关键词： Layout intelligent robots Surface treatment Stereo image processing Image reconstruction intelligent systems intelligent structures Hierarchical systems Monitoring Contracts

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Flow equivalent nets for the performance analysis of generalized stochastic Petri nets

Flow equivalent nets for the performance analysis of general...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： H. Jungnitz A.A. Desrochers Center for Intelligent Robotics for Space Exploration (CIRSSE) Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

The reduction of the state space of generalized stochastic Petri net (GSPN) models is discussed. For a certain class of GSPNs it is possible to analyze subnets in isolation by keeping the number of tokens in the net constant. The authors construct a flow equivalent net (FEN), which has the same temporal and input/output properties of the original net, but with a strongly reduced state space. The FEN is substituted back into the complement of the original net.< >

关键词： Performance analysis Stochastic processes Petri nets State-space methods Stochastic systems intelligent robots Coupled mode analysis System recovery Orbital robotics Space exploration

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Neural networks for nonlinear servomechanism

Neural networks for nonlinear servomechanism

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IEEE International Conference on robotics and Automation (ICRA)

作者： H.C. Tseng V.H. Hwang Intelligent Control Laboratory Electrical Engineering and Computer Science Department Santa Clara University Santa Clara CA USA

A study is made of the servomechanism problem in unknown stable nonlinear systems. With a neural network as an identifier of the input-output characteristics of the plant, an error-feedback controller that achieves tr... 详细信息

关键词： Neural networks Servomechanisms Control systems Jacobian matrices Uncertain systems Nonlinear control systems Error correction Robots Nonlinear dynamical systems Gold

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