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IEEE International Conference on systems, Man and Cybernetics

作者： Aiqiu Zuo K. Stanley Q.M.J. Wu W.A. Gruver Vision and Sensing Group National Research Council Canada Vancouver BC Canada Intelligent Robotics & Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

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Speech planning of an anthropomorphic talking robot for consonant sounds production

Speech planning of an anthropomorphic talking robot for cons...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K. Nishikawa A. Imai T. Ogawara H. Takanobu T. Mochida A. Takanishi Department of Mechanical Engineering Waseda University Japan Humanoid Robotics Institute Waseda University Japan Department of Mechanical Systems Engineering Kogakuin University Shinjuku Tokyo Japan Human and Information Science Laboratory NTT Communication Science Laboratories Atsugi Kanagawa Japan

This paper describes the speech planning of the anthropomorphic talking robot WT-1R (Waseda Talker-No.1 Refined) for the production of consonant sounds. WT-1R has articulators (the tongue, lips, teeth, nasal cavity and soft palate) and vocal organs (the lungs and vocal cords), and can reproduce human vocal movement. Its total DOF (degrees of freedom) is 15. The vocal movement of WT-1R for vowels is steady. We produced Japanese vowels (/a/, /i/, /u/, /e/, /o/) using the first robot WT-1 in 2000. However, the vocal movement for consonant sounds is transient. We must control the 15-DOF talking robot coordinately in the space and time to reproduce the complicated phenomena of the consonant sounds. Therefore, because the Japanese voice generally consists of two phonemes of the first consonant sound and the last vowel, we proposed the speech planning of WT-1R by considering the phenomenon of the voice as three parts (steady consonant sound, transient consonant sound and vowel). WT-1R could produce Japanese vowels (/a/, /i/, /u/, /e/, /o/) and some consonant sounds (/s/, /h/, /m/, /p/ and /waseda/).

关键词： Speech Production planning Anthropomorphism Robot kinematics Orbital robotics Refining Tongue Lips Teeth Lungs

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A new model of the visual feedback coordinate transformation in humans based on disturbance noise and feedback error that accounts for time delays

A new model of the visual feedback coordinate transformation...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： E. Oyama K.F. MacDorman T. Maeda S. Tachi A. Agah Science and Technology (AIST) National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Intelligent Robotics Laboratory Graduate School of Systems Engineering Wakayama University Wakayama Japan School of Engineering University of Tokyo Bunkyo Tokyo Japan Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA

An essential factor in understanding the motor learning capability of humans, is the coordinate transformation learning of the visual feedback controller. Although a number of learning models for the visual feedback controller have been proposed, none has been able to establish a definitive approach. In our previous work, we have suggested a learning model that uses disturbance noise and the feedback error signal to learn the human visual feedback controller's coordinate transformation. However, the model does not fully consider the time delay in the visual feedback control loop. This paper presents a modified learning model taking into account the time delay and the convergence properties of the model. Numerical simulations are presented to illustrate the effectiveness of the proposed approach.

关键词： Humans Delay effects Adaptive control Error correction Biological system modeling Feedback control Convergence Kinematics Intelligent robots Velocity control

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Achievability for telerobotic systems

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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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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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Development of a mechanical talking robot that produces natural vowels and consonant sounds

Development of a mechanical talking robot that produces natu...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： K. Nishikawa A. Imai T. Ogawara H. Takanobu T. Mochida A. Takanishi Humanoid Robotics Institute Waseda University Tokyo JAPAN Department of Mechanical Systems Engineering Kogakuin University Shinjuku-ku Tokyo JAPAN Human and Information Science Laboratory NTT Communication Science Laboratory Atsugi-Shi Kanagawa JAPAN

This research attempts to clarify the human vocal mechanism from engineering viewpoints by simulating the vocal movement with a robot, and to create a dynamic model. The authors developed an anthropomorphic talking robot, WT-1 (Waseda Talker-No.1) in 1999. It simulated the human vocal movement,. and had articulators and vocal organs. WT-1 could speak Japanese vowels (|a|, |i|, |u|, |e|, |o|). However, the vowels produced were not natural. Therefore, we develop a refined talking robot WT-1R that improves the realization of natural vowels and consonant sounds. WT-IR has articulators (the 6-DOF tongue, 4-DOF lips, 1-DOF teeth, a nasal cavity and a 1-DOF soft palate) and vocal organs (the 1-DOF lungs, 2-DOF vocal cords). The total DOF of the robot is 15. This paper describes the improved mechanisms of WT-IR and the realization of the fluctuation for the natural voice and the clearness of vowels.

关键词： Humanoid robots Tongue Lips Teeth Lungs Speech Human voice Modeling Fluctuations Mechanical engineering

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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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Development of multi-limb robot with omnidirectional manipulability and mobility

Development of multi-limb robot with omnidirectional manipul...

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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS 2000) (Cat. No.00CH37113)

作者： Y. Takahashi T. Arai Y. Mae K. Inoue N. Koyachi Department of Systems and Human Science Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan Department of Robotics Mechanical Engineering Laboratory Tsukuba Ibaraki Japan

In order to develop a high performance working robot, we design and develop a new robot based on the concept of "limb mechanism " for integration of legged locomotion and arm manipulation. The robot developed has six limbs which can be used for both locomotion and manipulation. The six limbs are set on vertices of regular hexagonal body so that this robot can have omnidirectional manipulability and mobility. We evaluate the stroke and the stability margin in all walking directions on six-legged and four-legged locomotion. As a result, this robot has higher omnidirectional mobility than conventional mechanisms.

关键词： Mobile robots Robot kinematics Legged locomotion Orbital robotics Service robots Leg Couplings Grippers Stability Robotic assembly

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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