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1992 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1992

作者： Aras, C.M. Luo, Ren C. Reeves, D.S. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering United States Department of Computer Science North Carolina State University RaleighNC27695 United States

ISBN: (纸本)0780307372

We propose a new interprocessor communication network, named the Segmented Bus, for multiprocessor message passing computer architectures executing groups of processes with localized communication patterns and time varying computational demands. The control of autonomous robots includes such process sets, making this architecture suitable for the intelligent robot control problem and other control systems with localized and changing message communication patterns. The Segmented Bus also allows dynamic segmentation of the interprocessor communication network for dynamic reconfiguration based on task communication locality. Virtual cut-Through and preemptive circuit switched data transfers are used for inter-segment data transfers on the Segmented Bus. Hardware and protocols for implementing these two techniques are discussed. The performance of the Segmented Bus using the two data transfer techniques is evaluated with simulation and the results are compared to the single bus and the multiple bus in terms of the performance, expandability and the complexity of hardware. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Data transfer

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Kinematic calibration of an active camera system

Kinematic calibration of an active camera system

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1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 1992

作者： Young, G.-S. Hong, T.-H. Herman, M. Yang, J.C.S. GaithersburgMD20899 United States Robotics Laboratory Department of Mechanical Engineering University of Maryland College ParkMD20742 United States Department of Computer Science and Information Systems American University WashingtonDC20016 United States

ISBN: (纸本)0818628553

A technique for the calibration of an active camera system is presented. The calibration of manipulator, camera-to-manipulator, camera, and base-to-world is treated in a unified and elegant way. In this approach, the camera frames and manipulator link frames are all related to the world frame, therefore the camera-to-manipulator and base-to-world calibration is very straightforward. The approach is simple, since it uses the form of one equation solving one parameter. Two experiments that verify the accuracy of the technique are reported. © 1992 IEEE.

关键词： Manipulators

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Efficient distance computation using best ellipsoid fit

Efficient distance computation using best ellipsoid fit

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IEEE International Symposium on Intelligent Control (ISIC)

作者： E. Rimon S.P. Boyd Robotics Laboratory Department of Computer Science University of Stanford USA Information Systems Laboratory Department of Electrical Engineering University of Stanford USA

The effectiveness of the ellipsoid representation for geometrical reasoning is demonstrated in the context of robotics. Specifically, a robot collision-detection problem that consists of computing a quantity that reflects, as a function of the geometrical data, the amount of clearance between the robot and its environment is discussed. The method consists of two algorithms. The first computes the optimal ellipsoid surrounding a convex polyhedron. The second computes an analytic formula for the free margin about one ellipsoid with respect to another, as a standard eigenvalue problem. An efficient incremental version of the latter algorithm is proposed. This system has been implemented, and preliminary simulation results are provided.< >

关键词： Ellipsoids Robots Shape measurement Laboratories Computational modeling Application software Computer science Information systems Data structures Eigenvalues and eigenfunctions

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Kinematic calibration of an active camera system

Kinematic calibration of an active camera system

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Conference on Computer Vision and Pattern Recognition (CVPR)

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 DC USA

关键词： Kinematics Calibration Cameras Robot vision systems Helium Manipulators Equations NIST Laboratories Mechanical engineering

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Obstacle detection for a vehicle using optical flow

Obstacle detection for a vehicle using optical flow

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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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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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Learning Control System Design - A Case Study for EBR-II Nuclear Reactor

Learning Control System Design - A Case Study for EBR-II Nuc...

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American Control Conference (ACC)

作者： Zheng Geng Robert Carroll Mo Jamshidi Department of Electrical Engineering and Computer Science George Washington University Washington D.C. DC USA CAD Laboratory for Systems/Robotics University of New Mexico Albuquerque NM USA

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Dissertation abstracts

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Machine Vision and Applications 1989年第2期2卷 117-120页

作者： Tanimoto, Steven L. Srihari, Sargur N. Levine, Martin D. Seering, Warren P. Nevatia, R. Department of Computer Science FR-35 University of Washington Seattle USA Technical Report 88-08 Department of Computer Science SUNY at Buffalo Buffalo USA Technical Report 88-22 Department of Computer Science SUNY at Buffalo Buffalo USA Research Centre for Intelligent Machines McGill University Montréal Canada Publications Department Technical Report 932 MIT Artificial Intelligence Laboratory Cambridge USA Institute for Robotics and Intelligent Systems University of Southern California School of Engineering Los Angeles USA

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Expert self-learning controller for robot manipulator

Expert self-learning controller for robot manipulator

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IEEE Conference on Decision and Control

作者： Z. Geng M. Jamshidi Department of Electrical Engineering and Computer Science George Washington University Washington D.C. DC USA CAD Laboratory of Systems / Robotics Department of ECE University of New Mexico Albuquerque NM USA

Real-time expert system techniques and applications to robot manipulator control systems are discussed. A novel type of intelligent controller structure, the expert learning controller prototype ELEC (expert learning controller), is developed for the trajectory tracking control in repeat operations. ELEC, acting as an intelligent real-time controller in a closed-loop system, can modify the control series in a human-expert-like manner using the experience of previous operations in order to force the system output to converge to the prespecified desired trajectory. ELEC does not require the knowledge of system models, so it can be used in a fairly wide range of control problems. A numerical example for a two-link robot manipulator is given which shows the satisfactory performance of ELEC.< >

关键词： Robot control Manipulators Control systems Real time systems Intelligent robots Force control Expert systems Intelligent structures Prototypes Trajectory

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