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作者： Larochelle, Pierre M. Agius, Agnes Robotics and Spatial Systems Laboratory Mechanical and Aerospace Engineering Department Florida Institute of Technology Melbourne FL 32901 United States

ISBN: (纸本)0791836215

This paper presents a software tool entitled SPASUR (SPAtial SURface) for the interactive visualization of the coupler surfaces of the spatial 4C mechanism. The 4C mechanism is a two degree of freedom spatial four-bar linkage. The path traced by a point attached to the coupler or floating link defines a surface in space. An interactive graphical user interface has been created and integrated with kinematic analysis routines to generate and display these coupler surfaces. The result is a user-friendly and efficient means of generating and visualizing the coupler surfaces of the spatial 4C four-bar mechanism. Copyright © 2002 by ASME.

关键词： Degrees of freedom (mechanics)

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Image Processing-Based Mine Detection Techniques: A Review

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Subsurface Sensing Technologies and Applications 2002年第3期3卷 153-202页

作者： Paik, Joonki Lee, Cheolha P. Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering The University of Tennessee Knoxville

Various mine detection techniques are reviewed with particular emphasis on signal and image processing methods. Based on the target, mines are classified into two types; anti-tank mine (ATM) and anti-personnel mine (APM). Because of the variety of mine types, current mine detection techniques are diversified. The assumption is made that most mine detection techniques consist of sensor, signal processing, and decision processes. For the sensor part, ground penetration radar (GPR), infrared (IR), and ultrasound (US) sensors are reviewed and their characteristics are summarized for the corresponding output signals. For the signal processing and decision parts, a set of image processing techniques including filtering, enhancement, feature extraction, and segmentation are surveyed. Segmentation is used to extract mine signal from various competing signals. For most image processing techniques covered by this paper, mine detection related experimental results are included or reproduced from existing works.

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Reactive collision avoidance for navigation with dynamic constraints

Reactive collision avoidance for navigation with dynamic con...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： J. Minguez L. Montano O. Khatib Dept. of Computer Science and Systems Engineering University of Zaragoza Spain Robotics Laboratory University of Stanford USA Robotics Laboratory Stanford University USA

We address the problem of applying reactive navigation methods for collision avoidance to systems where the dynamics cannot be neglected: mobile robots with slow dynamic capabilities, or systems working at high speeds. Rather than embedding the motion constraints when designing a navigation method, we propose to introduce the robot dynamic constraints directly into the spatial representation. In this space the dynamic capabilities of the robot are implicitly represented. With minor modifications, standard reactive navigation methods can be used in this space implicitly taking into account the robot dynamic constraints. To validate this framework, we show experimental results using two reactive navigation methods whose original formulation do not take the robot dynamic constraints into account (the nearness diagram navigation and the potential field method).

关键词： Collision avoidance Navigation Vehicle dynamics Orbital robotics Mobile robots Vehicles Computer science systems engineering and theory Design methodology Strips

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MODELING AND CONTROL OF KEYHOLE ARC WELDING PROCESS

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IFAC Proceedings Volumes 2002年第1期35卷 151-156页

作者： Y.M. Zhang Y.C. Liu Welding Research Laboratory Center for Robotics and Manufacturing Systems and Department of Electrical and Computer Engineering College of Engineering University of Kentucky Lexington KY 40506 USA

This paper addresses the development of an adaptive control system for keyhole arc welding process. The system developed adjusts the amperage of the peak current to achieve the desired peak current period under varying manufacturing conditions. A nominal model is selected from models identified using experimental data and is used as the a prior model of the controlled process. A predictive control algorithm has been designed for the nominal model structure. Closed-loop control experiments have been conducted to verify the effectiveness of the developed system under varying set-point and varying travel speed.

关键词： Adaptive control manufacturing processes identification predictive control

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An autonomous mobile robot with fuzzy obstacle avoidance behaviors and a visual landmark recognition system

An autonomous mobile robot with fuzzy obstacle avoidance beh...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： S.X. Yang Hao Li Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Guelph ONT Canada

Multi-sensor fusion has been a hot topic in the field of robotics. Inspired by the modern philosophy's spirit, the behavior-based systems interact with the real world directly. In this study, a fully autonomous mobile robot is developed that extracts all its knowledge from physical sensors and expresses all its goals and desires as physical action to affect its environment. The control software implements behavior-based artificial intelligence, where the coordination between various sensors are realized by layers of several simple and primitive behaviors similar to those observed in animals. In the developed mobile robot, each module itself generates behaviors. Behaviors corresponding to different sensors have different priorities, where the vision system has the lowest priority, and the ultrasonic sensors and bumper sensors have higher priority. The effectiveness of the developed system is demonstrated by experimental studies.

关键词： Mobile robots Fuzzy systems Intelligent sensors Robot sensing systems Robot kinematics Intelligent robots Sensor systems Fuzzy sets Artificial intelligence Fuzzy logic

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Analysis and design of an embedded fuzzy motion controller for a nonholonomic mobile robot

Analysis and design of an embedded fuzzy motion controller f...

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IEEE International Conference on systems, Man and Cybernetics

作者： Hao Li S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, fuzzy control laws for steering control of an autonomous nonholonomic mobile robot are designed and analyzed. The approach uses Lyapunov's direct method to formulate a class of control laws that guarantee the convergence of the steering error. Certain requirements for the control laws are presented for the designers to choose a suitable rule base for the fuzzy controller in order to make the system asymptotically stable. The stability of the proposed fuzzy controller is theoretically proved and also demonstrated by simulation studies. Simulations using the model of a four degree of freedom nonholonomic mobile robot are conducted to investigate the performance of the fuzzy controller. The proposed fuzzy controller is also implemented on a nonholonomic mobile robot described by the model and the results show that the proposed fuzzy controller can achieve the desired turning angle and the autonomous mobile robot follows the target satisfactorily.

关键词： Fuzzy control Motion analysis Motion control Mobile robots Control systems Convergence Error correction Fuzzy systems Stability Turning

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Neural dynamics and computation for navigation of multiple robots

Neural dynamics and computation for navigation of multiple r...

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IEEE International Conference on systems, Man and Cybernetics

作者： S.X. Yang Chaomin Luo Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

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Triangle mesh-based edge detection and its application to surface segmentation and adaptive surface smoothing

Triangle mesh-based edge detection and its application to su...

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IEEE International Conference on Image Processing

作者： Y. Sun D.L. Page J.K. Paik A. Koschan M.A. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville USA

Triangle meshes are widely used in representing surfaces in computer vision and computer graphics. Although 2D image processing-based edge detection techniques have been popular in many application areas, they are not well developed for surfaces represented by triangle meshes. This paper proposes a robust edge detection algorithm for triangle meshes and its applications to surface segmentation and adaptive surface smoothing. The proposed edge detection technique is based on eigen analysis of the surface normal vector field in a geodesic window. To compute the edge strength of a certain vertex, the neighboring vertices in a specified geodesic distance are involved. Edge information are used further to segment the surfaces with the watershed algorithm and to achieve edge-preserved, adaptive surface smoothing. The proposed algorithm is novel in robustly detecting edges on triangle meshes against noise. The 3D watershed algorithm is an extension from previous work. Experimental results on surfaces reconstructed from multi-view real range images are presented.

关键词： Image edge detection Smoothing methods Application software Image segmentation Surface reconstruction Computer vision Computer graphics Geophysics computing Noise robustness Image reconstruction

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From modern philosophy to intelligent robot

From modern philosophy to intelligent robot

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World Congress on Intelligent Control and Automation (WCICA)

作者： Hao Li S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

Thinking and intelligence can never be separated from the world. Modern philosophy rests on a new interpretation of the nature and fulfillment of human reason, and disputes about the nature of human reason are the ultimate battles of philosophy. The symbol based AI approach is not practical for real world problems. The world is artificial intelligence's best model. Intelligence can only be determined by the dynamics of interaction with the world. Being is a temporal event inseparable from the understanding of being embodied in Dasein's forms of life. Based on the modern philosophy's spirit, the behavior-based systems interact with real world directly. The constructed AI system based on philosophy has to express all its goals and desires as physical action to affect its environment, and extract all its knowledge from physical sensors. In this study, a fully autonomous mobile robot is built, after a thorough research to the philosophy's origin of the modern AI. In the mobile robot developed, each module itself generates behavior, and improvement in the competence of the system proceeds by adding new modules to the system. The performance of the robot proves that the whole system is stable.

关键词： Intelligent robots Artificial intelligence Humans Intelligent systems Sensor systems Mobile robots Cybernetics Machine intelligence Councils Casting

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Real-time ZMP compensation method using null motion for mobile manipulators

Real-time ZMP compensation method using null motion for mobi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jinhyun Kim Wan Kyun Chung Youngil Youm B.H. Lee Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Robotics & Intelligent Systems Laboratory School of Electrical Engineering Seoul National University Seoul South Korea

The dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystems is formulated using a redundant scheme. First, to conserve the dynamic stability of the system, we define the performance index for the redundant system using the ZMP (zero moment point). This performance index represents the stability of the whole mobile manipulator system. Then, the redundancy resolution problem for optimizing the given performance index is solved using the null motion. Finally, the performance of this method is demonstrated by simulation study.

关键词： Stability Manipulator dynamics Mobile robots Control systems Intelligent robots Performance analysis Motion control Acceleration Real time systems Biomechatronics

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