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IEEE Symposium on Intelligent Vehicle

作者： G.-S. Young T.-H. Hong M. Herman J.C.S. Yang Robotics Laboratory Department of Mechanical Engineering University of Maryland College park MD USA National Institute for Standards and Technology Gaithersburg MD USA Department of Computer Science and Information Systems American University Washington D.C. DC USA

A novel approach to obstacle detection using optical flow without recovering range information has been developed. This method can be used for ground vehicles to navigate through man-made roadways or natural outdoor terrain or for air vehicles to land on known or unknown terrain. A linear relationship, plotted as a line and called a reference flow line, has been found. This reference flow line can be used to detect discrete obstacles above or below the reference terrain. Slopes of surface regions are also computed. The approach is simple, fast, and robust because: (1) the only required information is one component of the optical flow, (2) each image line can be processed in parallel, and (3) the error sources involved are reduced to a minimum. An initial experiment using noisy synthetic data is also included to demonstrate the applicability and robustness of the method.< >

关键词： Vehicle detection Image motion analysis Optical sensors Biomedical optical imaging Navigation Land vehicles Cameras Road vehicles Robustness Remotely operated vehicles

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Optical tracking system for automatic guided vehicles using cellular neural networks

Optical tracking system for automatic guided vehicles using ...

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IEEE International Workshop on Cellular Nanoscale Networks and their Applications, (CNNA)

作者： G. Eross T. Boros A. Kiss A. Radvanyi T. Roska J. Bito J. Vass Centre of Robotics and Automation Tungsram TH Company Limited Budapest Hungary Dual and Neural Computing Systems Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary Department of information Technology Faculty of Engineering University of Veszprém Veszprem Hungary

A method for the path-control of automated guided vehicles (AGVs) in computer integrated manufacturing (CIM) systems that combines the flexibility and easy installation of optical methods with the simplicity and robustness of the inductive method is proposed. Using a new computing paradigm, the cellular neural network (CNN), and a related device, the VLSI CNN chip, a very high speed solution that is less expensive than the conventional methods can be achieved. This AGV control complies with the requirements of CIM systems. Further advantages of the proposed system are as follows: fault tolerance and the ability to give instructions along the path, and the use of a simple local control.< >

关键词： Vehicles Computer integrated manufacturing Cellular neural networks High speed optical techniques Control systems Integrated optics Optical computing Robustness Computer networks Very large scale integration

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A KNOWLEDGE-BASED APPROACH TO MODELING OF ROBOTIC ASSEMBLY CELLS

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ROBOTICA 1991年第1期9卷 31-42页

作者： KIM, DW LEE, BH KO, MS Robotics and Intelligent Systems Laboratory Department of Control and Instrumentation Engineering Seoul National University Seoul 151–742 (Korea)

In this paper, an approach to modelling of a robotic assembly cell is proposed and a method for managing the cell operation is described using a knowledge base. Since the modelling structure is based on the concept of the state variable, the relationships between states are described by the state transition map (STM). The knowledge-bases for state transition and assembly job information are obtained from the STM and the assembly job tree (AJT), respectively. Using the knowledge-base, the system structure is discussed in relation to both managing the cell operation and evaluating the performances. Finally, a simulation algorithm is presented with the simulation results to show the significance of the proposed modelling approach.

关键词： MODELING ASSEMBLY CELLS robotics KNOWLEDGE-BASE STATE TRANSITION

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Survey of Robust Control for Rigid Robots

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IEEE Control systems 1991年第2期11卷 24-30页

作者： Abdallah, C. Dorato, P. Jamshidi, M. Dawson, D. CAD Laboratory for Systems and Robotics Electrical and Computer Engineering Department University of New Mexico Albuquerque NM 87131 United States Department of Electrical and Computer Engineering Clemson University Clemson SC 29634-0915 United States

This survey discusses current approaches to the robust control of the motion of rigid robots and summarizes the available literature on the subject. The five major designs discussed are the “Linear-Multivariable” approach, the “Passivity” approach, the “Variable-Structure” approach, the “Saturation” approach and the “Robust-Adaptive” approach. © 1991 IEEE

关键词： Robust control Robot kinematics Adaptive control Programmable control Control systems Robot control Equations Robustness Uncertainty Lagrangian functions

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Specification and Verification for Integration of a CIM System

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IFAC Proceedings Volumes 1991年第5期24卷 79-84页

作者： Fei-Yue Wang S. Jagdale Hongyu Xie Robotics and Flexible Manufacturing Laboratory Department of Systems and Industrial Engineering University of Arizona Tucson AZ 85721 USA

Specification and verification of system integration are the central issues in the design, implementation, and operation of Computer-Integrated Manufacturing systems. This paper shows that both specification and verification can be addressed conveniently and effectively by using Petri nets. The primary goals here are to develop a Petri net model for the integration specification of a CIM system for part processing, to conduct process analysis for the system based on its Petri net model for the purpose of verification, and finally, to determine some supervisory control procedures, such as deadlock prevention and avoidance, for the system according to the result of analysis and the other specified requirements.

关键词： Computer-Integrated Manufacturing (CIM) systems Deadlock Prevention Invariant Analysis Integration Petri Nets Specification Verification

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Motion planning using binary space partitioning

Motion planning using binary space partitioning

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： A.O. Tokuta Robotics and Visual Systems Laboratory Department of Computer Science and Engineering University of South Florida Tampa FL USA

This work explores a method for path planning for a robot in an environment that consists of stationary and moving obstacles. The technique uses binary partitioning of the environment by the obstacles to establish and analyze the spatial relationship between robot and obstacles. Hyperplanes are used to obtain recursively a disjoint set of D-dimensional cells, with each cell designated as belonging to either the interior or the exterior of the set. An overt idea of binary space partitioning as a representation of polytopes is given. Thus, the space-time configuration of free space is viewed as disjoint polytopes; each point in space-time is considered a map into a unique polytope. A traversal of the tree is used to obtain a linear order which gives the collision probability with the environment. Adjacent polytopes between the start and goal polytopes are then utilized to obtain a trajectory. Current implementation for a 2D static environment is discussed.< >

关键词： Path planning Orbital robotics Motion planning Robot motion robotics and automation Shape Visual system Computer science Computational efficiency Tree graphs

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Improving hierarchical architecture performance with dynamic segmentation

Improving hierarchical architecture performance with dynamic...

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IEEE International Conference on systems, Man and Cybernetics

作者： C.M. Aras R.C. Luo D.S. Reeves Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA Robotics and Intelligent Systems Laboratory Department of Computer Science North Carolina State University Raleigh NC USA

Dynamic segmentation is a method for improving the performance of cooperating tasks executed on loosely coupled multiprocessors. Four different data transfer techniques that can be used for intersegment data transfers in dynamically segmented buses are analyzed. Preemptive data transfers are considered for uniform message latencies and results are provided for message latency comparisons using various locality factors. These results indicate dynamic segmentation improves performance considerably, at a fraction of the cost of more complex interconnection networks such as multiple buses.< >

关键词： Mobile robots Intelligent robots Computer architecture Control systems Communication system control Communication channels Communication networks Bandwidth Robot control Delay

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On dynamic motion planning problems

On dynamic motion planning problems

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.C. Luo T.-J. Pan Robotics and Intelligent Systems Laboratory Department of Elecnical and Computer Engineering North Carolina State University Raleigh NC USA

A novel method for solving the motion planning problem in the presence of moving obstacles is presented. Compared to previous approaches, the proposed method is more general in that obstacles are allowed to move with translation and rotation at nonlinear velocity. Using path/velocity decomposition, the method emphasizes the development of an efficient algorithm for collision detection between the robot and moving polygons. This algorithm is devised using transversability vector theory to determine the geometric relationships between any two convex polygons or convex components of concave polygons. The interference between the robot and the moving obstacles is detected and registered on the constraint map to represent time constraints on the robot's motion along the path. The constraint map is then used for velocity planning using a simple algorithm. The problem of a robot crossing the street is used as an example for computational analysis.< >

关键词： Motion planning Vehicle dynamics robotics and automation Orbital robotics Intelligent robots Interference constraints Robot motion Mobile robots Path planning Intelligent systems

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Design and implementation of a multidegree of freedom intelligent robot hand

Design and implementation of a multidegree of freedom intell...

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： R.C. Luo Min-Hsiung Lin C.K. Shih Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A parallel-jaw type multiple-d.o.f. robot hand is designed and implemented to manipulate workpieces within the hand by rotation and translation. An efficient manipulator control algorithm and part mating application is developed. A simulation result is also presented to show the changes of force during part insertion to verify the models developed.< >

关键词： Intelligent robots Fingers Force control Force sensors Grippers DC motors Manipulators Fasteners Timing Parallel robots

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A feasible collision-detection algorithm for mobile robot motion planning with moving obstacles

A feasible collision-detection algorithm for mobile robot mo...

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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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