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View-point independent 3D curved object recognition using range data

View-point independent 3D curved object recognition using ra...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： W.S. Yang R.C. Luo Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering North Carolina State University Raleigh NC USA

An approach to representing and recognizing general 3D curved objects using range data is introduced. A 3D generalized Hough transformation which can be applied to general 3D curved-object recognition and which reduces the computation time and storage requirements is developed. The approach makes use of the relative geometric differences between particular points on the object surface and some virtual points which are prespecified arbitrarily and by task. The method has several advantages, such as a simple knowledge base with less storage requirement, flexibility of the database design according to the tasks to be performed, and the capability of compensating for the uncertainties of position estimation due to noise and quantization error. However, the algorithm may not be suitable for a purely planar object.< >

关键词： Object recognition Shape Image recognition intelligent robots computer vision Least squares approximation Layout intelligent systems Laboratories Data engineering

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On reducing compensator bandwidth of LQG/LTR control: an H∞- optimization approach

On reducing compensator bandwidth of LQG/LTR control: an H∞...

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American Control Conference (ACC)

作者： K. C. Han T. C. Hsia Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA 95616 Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

Due to lack of robustness, the Linear Quadratic Gaussian (LQG) approach to the design of control systems is enhanced by Loop Transfer Recovery (LTR) techniques. However, the robustness is recovered with the price paid to the unduly large or infinite bandwidth of the compensator. Such compensators are undesirable because plant output measurement noise is greatly amplified so as to degrade the system performance. A simple method is presented for reducing compensator bandwidth by H ∞ - optimization of a stable function which combines the usual sensitivity function difference with a weighted closed-loop transfer function from noise to plant input. An example is given to show the improvement achievable by this new design method.

关键词： Bandwidth Noise robustness Robust control Control systems Noise measurement Degradation System performance Optimization methods Transfer functions Noise reduction

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Review of the four parameter controller approach for FDI problems

Review of the four parameter controller approach for FDI pro...

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IEEE International Symposium on intelligent Control (ISIC)

作者： C.A. Jacobson K.P. Valavanis Robotics Laboratory Department of Electrical and Computer Engineering Northeastern University Boston MA USA

A summary of fault detection and isolation methodologies used to accommodate system actuator and sensor failures is given. The four-parameter controller for failure diagnostic problems is described in detail. Applicat... 详细信息

关键词： Fault detection Sensor systems Acoustic sensors Failure analysis Actuators Open loop systems Control systems Jacobian matrices Robot sensing systems Laboratories

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Efficient Plan Formulation and Organization for Robotic Assemblies and intelligent Robotic Systems

Efficient Plan Formulation and Organization for Robotic Asse...

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American Control Conference (ACC)

作者： Kimon P. Valavanis Socrates J. Carelo Robotics Laboratory Department of Electrical and Computer Engineering Northeastern University Boston MA USA

An efficient planning technique for the organization and formulation of complete plans applicable to both Robotic Assemblies and intelligent Robotic Systems is proposed. Constraints are introduced to facilitate and optimize the organizer operations. An example demonstrates the feasibility and applicability of the proposed methodology.

关键词： Robotic assembly intelligent robots intelligent systems Hierarchical systems Assembly systems Laboratories Constraint optimization Mathematics Reliability engineering Design engineering

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T-buffer: Fast visualization of relativistic effects in spacetime 90

T-buffer: Fast visualization of relativistic effects in spac...

引用

1990 Symposium on Interactive 3D Graphics, I3D 1990

作者： Hsiung, Ping-Kang Thibadeau, Robert H. Wu, Michael Carnegie Mellon University PittsburghPA15213 United States Department of Electrical and Computer Engineering Carnegie Mellon University United States Imaging Systems Laboratory Robotics Institute Carnegie Mellon University United States

ISBN: (纸本)0897913515

Wc have developed an innovative ray-tracing simulation algorithm to describe Welativistic Effects in SpaceTime ("REST"). Our algorithm, called REST-frame, models light rays that have assumed infinite speed in conventional ray-tracing to have a finite speed in spacetime, and uses the non-Newtonian Lorentz Transformation to relate measurements of a single event in different inertial coordinate systems {inertial frames). Our earlier work [5][6][7] explored the power of REST-frame as an experimentation tool to study the rich visual properties in natural world modeled by Special Relativity. Non-intuitive images of the anisotropic deformation ("warping") of space, the intensity concentration/spreading of light sources in spacetime, and the relativistic Doppler shift were visualized from our simulations. REST-frame simulations arc computationally expensive. Several hours of CPU time may be needed to generate one intricate image on a relatively powerful DECStation 3100. This high simulation cost of REST-frame precludes its application in interactive, real-time graphics environments. In this paper, we report a scanline based REST-frame rendering method that provides a faster alternative to the original ray-tracing based REST-frame implementation. This new method operates in the spirit of the classical Z-buffer in computer graphics[2] and the inter-inortial frames point-mapping method investigated in physics in the early 1960's[14][12], and determines the visibility of points in spacetime by their spatial and temporal visibility. Specifically, all spacetime event points that arc potentially visible from the viewpoint at the imaging time are geometrically projected in three dimensional (3D) space to the image plane pixel buffer. Multiple points with a same pixel affiliation arc sorted by their time distance © 1990 ACM.

关键词： Ray tracing

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Robot manipulator control using decentralized linear time-invariant time-delayed joint controllers

Robot manipulator control using decentralized linear time-in...

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IEEE International Conference on robotics and Automation (ICRA)

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

It is shown that robot manipulator control can be accomplished using simple decentralized linear time invariant time-delayed joint controllers instead of the complicated computed torque control scheme. This means that all the online computational problems associated with computing robot inverse dynamics can be avoided, and the robot control problem is essentially reduced to that of computing n linear proportional-derivation controls for n joint subsystems. The proposed control technique employs a time-delayed control with a specially designed constant diagonal gain matrix to decouple and linearize the robot joint dynamics so that linear centralized joint control can be achieved. It is shown that the proposed controller is stable, and the value of the special gain matrix can be selected based on a sufficient condition of stability presently developed. However, the establishment of this sufficient condition requires knowledge of the inertial matrix of the robot. It is also shown that the controller is robust in the presence of payload uncertainty. A two-link planar robot is presented to illustrate the controller design procedures and the performance of the controller.< >

关键词： Robot control Torque control Centralized control Transmission line matrix methods Manipulator dynamics Sufficient conditions Proportional control Stability Robust control Payloads

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Joint trajectory generation for redundant robots in an environment with obstacles

Joint trajectory generation for redundant robots in an envir...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Z.Y. Guo T.C. Hsia Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

The problem of determining collision-free joint space trajectories for redundant robots is considered, and the command-generator approach is used to generate such trajectories. In this approach, a distance objective function is defined and is optimized along the robot joint trajectories through a vector in a null space. Algorithms for implementing this optimization problem are fully developed. It is shown that the proposed collision-free trajectory generation scheme is efficient and practical. Extensive simulation results of a four-link robot example are presented and analyzed.< >

关键词： Orbital robotics Collision avoidance Robot sensing systems Kinematics Null space Analytical models Path planning Object detection Robot control Servomechanisms

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Survey of the Robust Control of Robots

Survey of the Robust Control of Robots

引用

American Control Conference (ACC)

作者： C. Abdallah P. Dorato M. Jamshidi CAD Laboratory for Systems and Robotics Electrical and Computer Engineering Department University of New Mexico Albuquerque NM USA

In this survey, we discuss current approaches to the robust control of the motion of robots and summarize the available literature on the subject. The three major designs discussed are the "Linear-Multivariable" Approach, the "Passivity" approach and the "Variable-Structure" approach. The survey is limited to rigid robots and nonadaptive controllers.

关键词： Robust control Robot kinematics Control systems Tellurium Equations Robot control Adaptive control Symmetric matrices Gravity Lagrangian functions

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IROS: an intelligent rehabilitative orthotic system for cerebrovascular accident

IROS: an intelligent rehabilitative orthotic system for cere...

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IEEE International Conference on Systems, Man and Cybernetics

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

An intelligent externally powered orthotic system (exoskeleton) for the treatment of motor dysfunctions of the upper extremities of stroke patients is described. IROS is an interactive and cooperative human-machine system, with both controlling the human arm. Initially, the machine is the main controller of the arm. As the patient improves, the human control of the arm increases, and the machine control of the arm decreases. The system combines the skills of professional therapists with a sensor-integrated orthosis and a real-time graphics system to ensure proper interaction and cooperation with the patient in order to achieve the goals of therapy. It uses the expertise of the therapists, which is incorporated into its knowledge system, while monitoring the sensory information from the patient, including the force, motion, and electromyogram (EMG) signals. The treatment-related tasks are displayed on the real-time graphic system to increase the interest and enhance the motivation of the patient. Such a system can be used to improve the rehabilitation process for stroke patients.< >

关键词： intelligent systems Orthotics Medical treatment Machine intelligence Humans Real time systems Graphics Exoskeletons Extremities Man machine systems

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Robust Servomechanism in Nonlinear Systems

Robust Servomechanism in Nonlinear Systems

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American Control Conference (ACC)

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

Based on the integral manifold concept, a controller is designed that achieves asymptotic tracking and disturbance rejection in a class of nonlinear systems. If the given nonlinear MIMO plant is exponentially stable and has a nonvanishing I/O gain, we show that the control governed by a low gain nonlinear compensator solves this robust servomechanism problem. We also show how the range of initial conditions determines the servo rate of a successful tracking process.

关键词： Robustness Servomechanisms Nonlinear systems Robust control Control systems MIMO Birth disorders Feedback Content addressable storage Linear systems

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