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Achievability for telerobotic systems

AIP Conference Proceedings 2001年第1期552卷 52-57页

作者： Reid L. Kress John V. Draper William R. Hamel 1Mechanical and Aerospace Engineering and Engineering Science Department The University of Tennessee Knoxville Tennessee 2Robotics & Process Systems Division Oak Ridge National Laboratory Oak Ridge Tennessee

Methods are needed to improve the capabilities of autonomous robots to perform tasks that are difficult for contemporary robots, and to identify those tasks that robots cannot perform. Additionally, in the realm of remote handling, methods are needed to assess which tasks and/or subtasks are candidates for automation. We are developing a new approach to understanding the capability of autonomous robotic systems. This approach uses formalized methods for determining the achievability of tasks for robots, that is, the likelihood that an autonomous robot or telerobot can successfully complete a particular task. Any autonomous system may be represented in achievability space by the volume describing that system’s capabilities within the 3-axis space delineated by perception, cognition, and action. This volume may be thought of as a probability density with achievability decreasing as the distance from the centroid of the volume increases. Similarly, any task may be represented within achievability space. However, as tasks have more finite requirements for perception, cognition, and action, each may be represented as a point (or, more accurately, as a small sphere) within achievability space. Analysis of achievability can serve to identify, a priori, the survivability of robotic systems and the likelihood of mission success; it can be used to plan a mission or portions of a mission; it can be used to modify a mission plan to accommodate unpredicted occurrences; it can also serve to identify needs for modifications to robotic systems or tasks to improve achievability.

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Experimental studies of neural network impedance force control for robot manipulators

Experimental studies of neural network impedance force contr...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Seul Jung Sun Bin Yim T.C. Hsia Intelligent Systems and Emotional Engineering Laboratory Department of Mechatronics Engineering Chungnam National University Daejeon South Korea The Robotics Research Laboratory University of California Davis Davis CA USA

ISBN: (纸本)0780365763

In this paper, the neural network force control is presented. Under the framework of impedance control, neural network is used to compensate for all the uncertainties from robot dynamics and unknown environment. A modified simple impedance function is realized after the convergence of the neural network. Learning algorithms for the neural network to minimize the force error directly are designed. As a test-bed, the large X-Y table robot was implemented. Experimental results obtained show better force tracking when the neural network is used.

关键词： Neural networks Impedance Force control Orbital robotics Robot kinematics Equations Intelligent robots Uncertainty Manipulator dynamics Intelligent networks

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Light signaling for social interaction with mobile robots

Light signaling for social interaction with mobile robots

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： F. Michaud Minh Tuan Vu Laborius-Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

To give autonomous mobile robots some kind of "social intelligence", they need to be able to recognize and interact with other agents in the world. This paper describes how a light signaling device can be used to identify another individual and to communicate simple information. By having the agents relatively close to each other, they share the same perceptual space, which allows them to sense or deduce implicit information concerning the context of their interaction. Using a vision- and sonar-based Pioneer I robot equipped with a colored-light signaling device, experimental results demonstrate how the robot. can interact with a human interlocutor in a ball-passing game.

关键词： Mobile robots Intelligent robots Intelligent agent Human robot interaction Humanoid robots Robot sensing systems Orbital robotics Animals Robot vision systems Protocols

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Operational scheduling for rough mills using a virtual manufacturing environment

Operational scheduling for rough mills using a virtual manuf...

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IEEE International Conference on systems, Man and Cybernetics

作者： D.B. Kotak M. Fleetwood H. Tamoto W.A. Gruver Manufacturing Systems Engineering Group National Research Council Canada Vancouver BC Canada Intelligent Robotics & Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

Production scheduling in wood product plants, such as furniture factories, is highly complex due to its sensitivity to defects occurring in wood. Due to the huge number of choices and uncertainty of the outcome an optimum schedule cannot be computed mathematically. These choices, with complex interdependencies, have to be made on an hourly basis at different machines and must be coordinated to achieve the overall production,objectives. A decision support tool, using a 3D simulation model, is provided to predict the production performance of the null under various operational schedules, before a selected schedule is implemented. A 3D simulation model was developed accurately depicting the layout and operation of a rough mill. A historical database, some of it maintained via human input and some of it collected automatically, was analyzed to provide the basis for predicting the behavior of the mill when processing different type of raw materials and when producing different combination of products. The validated model, which links to the scheduling database (i.e., raw material available, products required) is used to test-fly alternate production schedules as often as required, thus identifying potential production problems before they occur in the mill. The next step will be to incorporate intelligent scheduling agents using techniques, such as fuzzy logic and genetic algorithms, to provide scheduling recommendations on individual machines. In the future these will be coordinated in a holonic manufacturing execution system to achieve better global performance. Performance measurement will require assessment based upon multiple criteria (e.g., productivity, recovery, grade utilization, and satisfaction of order files).

关键词： Milling machines Job shop scheduling Processor scheduling Predictive models Databases Raw materials Production facilities Uncertainty Computational modeling Humans

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Mobile robot that can read symbols

Mobile robot that can read symbols

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： F. Michaud D. Letourneau LABORIUS-Research Laboratory on Mobile Robotics aid Intelligent Systems Department of Electrical and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

To give an autonomous robot the ability to read symbols, we need to integrate character recognition techniques with methods to position the robot in front of the symbol, to capture the image that will be used in the identification process, and to validate the overall approach on a robot. Our goal is to address the different aspects required in making a mobile robotic platform recognize symbols placed in real world environment, using current hardware and software capabilities. Validated on a Pioneer 2 robot, the approach described in this paper uses colors to detect symbols, a PID controller to position the camera, simple heuristics to select image regions that could contain symbols, and finally a neural system for symbol identification. Results in different lighting conditions are presented.

关键词： Mobile robots Intelligent robots Robot vision systems Hardware Cameras Roads Sonar Mobile computing Intelligent systems Character recognition

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Fault detection for wheeled mobile robots with parametric uncertainty

Fault detection for wheeled mobile robots with parametric un...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： W.E. Dixon I.D. Walker D.M. Dawson Robotics and Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical & Computer Engineering Clemson University Clemson SC USA

ISBN: (纸本)0780367367

We develop a new method for wheeled mobile robot (WMR) fault detection. Specifically, we develop kinematic and dynamic models of the WMR in the presence of faults such as a change in the wheel radius (e.g., deformation, broken spoke, flat tire) or general kinematic disturbances that model slipping or skidding faults. Utilizing the WMR models, we employ a torque filtering technique to develop a prediction error based fault detection residual. The structure of the prediction error allows for fault detection despite parametric uncertainty in the WMR model.

关键词： Fault detection Mobile robots Kinematics Deformable models Predictive models Wheels Tires Torque Filtering Uncertainty

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A Simulink-based robotic toolkit for simulation and control of the PUMA 560 robot manipulator

A Simulink-based robotic toolkit for simulation and control ...

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)

作者： W.E. Dixon D. Moses I.D. Walker D.M. Dawson Robotics and Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical and Computer Engineering Clemson University Clemson SC USA

A Simulink robotic toolkit (SRTK) for the Puma 560 robot manipulator is developed on the MATLAB/Simulink-based platform. Through the use of the real-time Linux target and the real-time Windows target, the SRTK can be executed on the Linux or Win32-based operating systems in real-time. Moreover, the graphical user-friendly nature of Simulink allows the SRTK to be a flexible tool that can easily be customized to fit the specific needs of the user, that is, based on the layered approach of the SRTK, the user can perform operations such as calibration, joint control, Cartesian control, Cartesian PD control, impedance control, some trajectory generation tasks, and real-time simulation of the Puma 560 through a user-friendly MATLAB-based graphical user interface without writing any code. The SRTK allows a researcher to use the Puma 560 without the burden of the external issues related to the control, interface, and software issues, while providing for the flexibility for easily modifying components for increased functionality.

关键词： Robots Real time systems Linux Manipulators MATLAB Operating systems Calibration PD control Impedance Computer languages

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Vibration control of a redundant robot for grinding

Vibration control of a redundant robot for grinding

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IEEE International Conference on systems, Man and Cybernetics

作者： H.O. Dimo Dewen Jin Jichuan Zhang W.A. Gruver Department of Precision Instruments and Mechanology School of Mechanical Engineering Tsinghua University Beijing China Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

Research on robotic grinding has emphasized process parameter control. When an industrial robot is used to remove excess material from castings, grinding weld beads, or welded surfaces, excessive vibrations often occur. Methods based on force control can improve the response. In this paper, we present practical methods for vibration reduction, feed-speed/force control, and an optimal configuration of a 4-DOF redundant robotic manipulator for grinding welded surfaces. An optimal configuration of the robotic manipulator is derived to minimize the arm compliance. The proposed method maximizes the robotic arm stiffness to reduce vibrations. The arm, parameters, and PID control were simulated using ADAMS/view and ADAMS/controls under MATLAB. The grinding force was considered as an input to the dynamical system in addition to the torque/force inputs at each joint. DC servomotors were modeled for actuation of each joint and the PID controller was tuned by the Ziegler-Nichols second rule. Simulation results demonstrate that feed speed/force control reduces vibrations, and provides the capability to use the robotic manipulator for profiling.

关键词： Vibration control Service robots Welding Force control Three-term control Process control Casting Manipulator dynamics MATLAB Torque

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Hierarchical systems control using threshold fuzzy systems

Hierarchical systems control using threshold fuzzy systems

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IEEE International Conference on systems, Man and Cybernetics

作者： J.L. Overholt K.C. Cheok Behavioral Robotics Laboratory U.S. Army Tank-Automotive and Armaments Command Warren MI USA Department of Electrical and Systems Engineering School of Engineering and Computer Science Oakland University Rochester MI USA

This paper describes a behavior-based method of controlling an autonomous skid-steer robot operating in an unknown environment. We introduce a new modular, neural-fuzzy system called a threshold fuzzy system (TFS). Supervised training, using error backpropagation, is used to find optimal parameters of the TFS. In this paper, a TFS controller is developed for a skid-steer autonomous vehicle system (AVS). Several hundred simulations are conducted and results for the AVS are compared (favorably) with a traditional neural network approach.

关键词： Hierarchical systems Control systems Fuzzy systems Mobile robots Neural networks Fuzzy neural networks Engines systems engineering and theory Computer science Computer errors

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Towards the standardization of a MATLAB-based control systems laboratory experience for undergraduate students

Towards the standardization of a MATLAB-based control system...

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American Control Conference (ACC)

作者： W.E. Dixon D.M. Dawson B.T. Costic M.S. de Queiroz Robotics and Process Systems Division Oak Ridge National Laboratory USA Department of Electrical and Computer Engineering Clemson University Clemson SC USA Department of Mechanical Engineering Lousiana State University Baton Rouge LA USA

The paper seeks to begin a discussion with regard to developing standardized computer aided control system design (CACSD) tools that are typically utilized in an undergraduate controls laboratory. The advocated CACSD design tools are based on the popular, commercially available MATLAB environment, the Simulink toolbox, and the Real-Time Workshop toolbox. The primary advantages of the proposed approach are as follows: 1) the required computer hardware is low cost, 2) commercially available plants from different manufacturers can be supported under the same CACSD environment with no hardware modifications, 3) both the Windows and Linux operating systems can be supported via the MATLAB based Real-Time Windows Target and the Quality Real Time systems (QRTS) based Real-Time Linux Target, and 4) the Simulink block diagram approach can be utilized to prototype control strategies; thereby, eliminating the need for low level programming skills. It is believed that the above advantages related to standardization of the CACSD design tools will facilitate: 1) the sharing of laboratory resources within each university (i.e., between departments) and 2) the development of Internet laboratory experiences for students (i.e., between universities).

关键词： Standardization Computer languages Control systems Laboratories Real time systems MATLAB Computer aided manufacturing Hardware Linux Costs

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