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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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MOTION ESTIMATION OF 3-D OBJECTS USING MULTISENSOR DATA FUSION

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JOURNAL OF ROBOTIC systems 1990年第3期7卷 419-443页

作者： LUO, RC YANG, WS Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering North Carloina State University Raleigh NC 27695–7911

This article presents an approach to estimate the general 3-D motion of a polyhedral object using multiple sensor data some of which may not provide sufficient information for the estimation of object motion. Motion can be estimated continuously from each sensor through the analysis of the instantaneous state of an object. The instantaneous state of an object is specified by the rotation, which is defined by a rotation axis and rotation angle, and the displacement of the center of rotation. We have introduced a method based on Moore-Penrose pseudoinverse theory to estimate the instantaneous state of an object, and a linear feedback estimation algorithm to approach the motion estimation. The motion estimated from each sensor is fused to provide more accurate and reliable information about the motion of an unknown object. The techniques of multisensor data fusion can be categorized into three methods: averaging, decision, and guiding. We present a fusion algorithm which combines averaging and decision. With the assumption that the motion is smooth, our approach can handle the data sequences from multiple sensors with different sampling times. We can also predict the next immediate object position and its motion. The simulation results show our proposed approach is advantageous in terms of accuracy, speed, and versatility.

关键词： Robots, Industrial

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SENSORS AND INTERFACING IN robotics AND MANUFACTURING

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 1990年第3-4期7卷 243-253页

作者： JAMSHIDI, M CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 U.S.A.

Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external ". Examples of the first group are position or velocity, while the second group includes proximity, touch, or vision to name a few. The other important problem in manufacturing is interfacing with the environment within a cell. The object of this tutorial paper is to survey the two issues of "sensing" and "interfacing" in robotics and manufacturing.

关键词： Robots, Industrial

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An intelligent path planning system for robot navigation in an unknown environment

An intelligent path planning system for robot navigation in ...

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Mobile Robots IV 1989

作者： Luo, Ren C. Pan, Tai-Jee Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

In this paper, a novel approach to solve the mobile robot path planning problem in an unknown environment is presented. Inherently, the obstacle information from robot perception is contaminated with uncertainties, and thus, the acquired obstacle knowledge for path planning needs to be updated dynamically. Therefore, the development of an adaptive path planning scheme capable of determining a desired path with uncertain, and incomplete obstacle knowledge is necessary. We use the concept of traversability vectors to analyze the spatial-relations between the robot and obstacles in the task environment. Then, these analyzed relations are used to determine the obstacles that must be bypassed by the robot, and the ways to bypass them. Dynamically changing obstacle knowledge can be accommodated by replanning the path at the time when a change is reported. The proposed scheme can work very efficiently since because of the elimination of an exhausted search process that is often required in previous approaches. We implement a computer program to simulated the proposed planning scheme. A graphical representation for robot motions guided by the planned paths is illustrated to show the feature of the presented work. © 1990 SPIE. All rights reserved.

关键词： Motion planning

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Intelligent motion control system for autonomous vehicles operating in a factory floor

Intelligent motion control system for autonomous vehicles op...

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1990 IEEE International Workshop on Intelligent Motion Control, IMC 1990

作者： Luo, Ren C. Pan, T.J. Aras, C.M. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University University RaleighNC27695 United States

To improve the performance of autonomous vehicles operating in a factory environment, it is important to develop an intelligent planning system to avoic. vehicle collisions as well as to design a good path network which can minimize the congestion problem. Given a path network, the collision problem can be eliminated by velocity planning for vehicles. To achieve this, we first represent each vehicle as an intersection of time varying half-planes. Then, we use traversability vectors method to predict vehicle collisions along their paths. Once a collision is predicted, time constraints on lower-priority vehicles are registered on a constraint map which shows time instances when the path is obstructed. Velocity planning is then accomplished ty a search on the map. To solve the congestion problem, we must reduce the average waiting time of vehicles. We use a queueing network model to evaluate the average waiting time for different path network configurations. As a result. the network that yields the best performance is selected. © 1991 IEEE.

关键词： Autonomous vehicles

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Surface reconstruction based on descripions of cross-sectional contours

Surface reconstruction based on descripions of cross-section...

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Sensing and Reconstruction of Three-Dimensional Objects and Scenes 1990

作者： Kim, Yonghoon Luo, Ren C. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

Surface reconstruction from cross-sectional contours has become increasingly important in medical image applications. In this paper, a method of reconstructing the surface of an object based on the descriptions of cross-sectional contours has been developed. Each cross-sectional contour is first partitioned into convex/concave segments based on the relative locations of points on the contour. Each segment of the contour is then described by a parametric cubic polynomial, and the boundary is recovered based on the description. A matching technique incorporating possible deformations between adjacent cross-sections is used to obtain the correspondence between adjacent cross-sectional contours. Once the correspondence is established, the surface between correspondent segments of adjacent crosssectional contours is reconstructed by a traditional triangulation technique. As the reconstruction is based on the shape of the cross-sections, the reconstructed surfaces are more close to that of the original object. © 1990 SPIE. All rights reserved.

关键词： Surface reconstruction

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3D object recognition using a mobile laser range finder

3D object recognition using a mobile laser range finder

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1990 IEEE International Workshop on Intelligent Robots and systems, IROS 1990

作者： Luo, Ren C. Scherp, Ralph S. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

The objective of this paper is to present a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented and described. In this paper we use a triangulation type laser range finder in which a CCD based imaging device is utilized to view a plane of laser light bounced from a sweeping mirror. The sensor characteristics are described and modeled. A set of criteria for use in constraining the. possible sensor site location for future scans is presented. These constraint conditions are essential to drive the actual sensor placement algorithm for 3D object recognition. © 1990 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Laser mirrors

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

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

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

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

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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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Survey of the Robust Control of Robots

Survey of the Robust Control of Robots

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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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