In this paper we develop a framework for integrating real-Time software modules that comprise a reconfigurable multi-sensor based system. Our framework is based on the proposed concept of a global database of state in...
详细信息
The programmability (as a stored program) of the CNN Universal Machine is discussed first. It is shown why and in which sense this machine is universal. A new type of algorithm, the analogic one, is introduced. The ap...
Various types of CNNs are summarized and the taxonomy of CNN is given according to the different types of grids, processors, interactions, and modes of operation. Next, the CNN Universal Machine is introduced. The arc...
作者：
S.S. KrishnanA.C. SandersonElectrical
Computer and Systems Engineering Department Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA
The feasible path problem is solved for planning a collision-free path to translate an arbitrary polyhedral robot from an initial position to some goal position in a polyhedral environment. The shortest path problem e...
详细信息
The feasible path problem is solved for planning a collision-free path to translate an arbitrary polyhedral robot from an initial position to some goal position in a polyhedral environment. The shortest path problem entails finding the shortest feasible path. The authors present two versions of the window corner (WC) algorithm, which is a novel solution to the problems for the case of single and multistep translational paths for two dimensions, and then summarize the extension to the three-dimensional WC algorithm, for feasible paths. The concept of window corners in the polyhedral cone representation (PCR) is introduced, which reduces the search space. The PCR cones store constraints between boundary elements. The PCO representation has O(m) vertices compared to O(m/sup 2/) in a C-space representation. The WC algorithm was tested and an example from assembly path planning is presented.< >
The effectiveness of the ellipsoid representation for geometrical reasoning is demonstrated in the context of robotics. Specifically, a robot collision-detection problem that consists of computing a quantity that refl...
详细信息
The effectiveness of the ellipsoid representation for geometrical reasoning is demonstrated in the context of robotics. Specifically, a robot collision-detection problem that consists of computing a quantity that reflects, as a function of the geometrical data, the amount of clearance between the robot and its environment is discussed. The method consists of two algorithms. The first computes the optimal ellipsoid surrounding a convex polyhedron. The second computes an analytic formula for the free margin about one ellipsoid with respect to another, as a standard eigenvalue problem. An efficient incremental version of the latter algorithm is proposed. This system has been implemented, and preliminary simulation results are provided.< >
This paper presents an approach for designing robust tracking controller for lumped mass model of a vibrating link (VL) robot manipulator. The control methodology is intuitively simple since it is based on concepts wh...
详细信息
This paper presents an approach for designing robust tracking controller for lumped mass model of a vibrating link (VL) robot manipulator. The control methodology is intuitively simple since it is based on concepts which are familiar to most control engineers. The approach is illustrated by developing a robust tracking controller that achieves global uniform ultimate boundedness (GUUB) stability of the link tracking error in spite of model uncertainty and the additional link dynamics.
The paper proposes a two-stage design approach to optimal H 2/ and H ∞ decentralized control problems. In the first stage, an optimal centralized controller is computed. Then based on the parametrization results fo...
详细信息
The paper proposes a two-stage design approach to optimal H 2/ and H ∞ decentralized control problems. In the first stage, an optimal centralized controller is computed. Then based on the parametrization results for centralized controllers, in the second stage, the parameter that decentralizes the controller is optimized. The design approach is applied to an observer-based decentralized controller. Optimality conditions are derived.
Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, ide...
详细信息
Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, identified sources of fuzziness, and proposed a fuzzy algorithm for multifingered prehension. These ideas are extended by assuming fuzziness in the object location and geometric hand configuration, computing information on proximity of the hand and object, analyzing the computational efficiencies, and indicating how geometric information can be used in the process of prehension. The implementation details are outlined. The computation is useful in grasp planning and in analyzing the local behavior of the robot hand in the vicinity of the object.< >
暂无评论