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检索条件"机构=Laboratory of Robotics and Systems in Science and Engineering"

共 817 条记录，以下是161-170 订阅

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Motion planning using binary space partitioning

Motion planning using binary space partitioning

引用

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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Performance charts for the design of robotic mechanisms with three moving links

Performance charts for the design of robotic mechanisms with...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Feng Gao W.A. Gruver Yuru Zhang Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

This research concerns a method for the analysis, classification and design of robotic mechanisms with three moving links. Using the workspace geometry, we describe relationships between the kinematic properties and link lengths. The method utilizes a model of the solution space for planar serial mechanisms. Using this model, performance charts are obtained for three types of workspaces. As an example of the proposed methodology, a large number of industrial robots and research manipulators are classified. The technique has wide application to the analysis and design of robotic hands, manipulators, and walking machines.

关键词： Intelligent robots Legged locomotion Orbital robotics Computational geometry Service robots Robot kinematics Solid modeling Industrial relations Manipulators Mechanical factors

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Criteria based analysis and design of three degree of freedom planar robotic manipulators

Criteria based analysis and design of three degree of freedo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Gao F. Guy W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

Three degree of freedom planar mechanisms occur in nature and are fundamental to many robotic devices. This paper concerns the use of evaluation criteria, developed by the authors, to select the link lengths of 3 DOF planar manipulators and analyze their operational performance. The technique has wide application to the design of serial and parallel robots.

关键词： Manipulators Intelligent robots Orbital robotics Legged locomotion Humans Animals Biological system modeling Service robots Manufacturing systems Parallel robots

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Redundancy and fault-tolerance in grasping and manipulation by multifingered hands

Redundancy and fault-tolerance in grasping and manipulation ...

引用

International Conference on Advanced robotics (ICAR)

作者： L. Li W.A. Gruver T. Zhang Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

This paper treats grasping and manipulation of objects by articulated, multifingered hands. We discuss how to use redundancy to improve the performance of hand-object systems and compensate for potential task failures. We analyze the kinematics for manipulation. Definitions of redundancy based on a minimum-case measure are presented and an optimization method for redundancy control is proposed. Strategies for optimal fault-tolerant control are introduced to accomplish tasks using finger reconfiguration and joint torque redistribution.

关键词： Redundancy Fault tolerance Grasping Pollution measurement Fingers Fault tolerant systems Intelligent robots Force measurement Equations Manufacturing systems

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Experimental Study on the Correlation of Cutting Head Vibrations and Kerf Characteristics during Abrasive Waterjet Cutting of Titanium Alloy 9

Experimental Study on the Correlation of Cutting Head Vibrat...

引用

9th CIRP Conference on High Performance Cutting, HPC 2020

作者： Karmiris-Obratański, Panagiotis Karkalos, Nikolaos E. Kudelski, Rafal Papazoglou, Emmanouil L. Markopoulos, Angelos P. National Technical University of Athens School of Mechanical Engineering Laboratory of Manufacturing Technology Heroon Politechniou 9 Athens15780 Greece AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems al. Mickiewicza 30 Cracow30-059 Poland

ISBN: (纸本)9781713835431

Processing of hard-to-cut materials is always challenging, justifying the need of the adoption of efficient non-conventional cutting processes, such as Abrasive Waterjet (AWJ) cutting. In the present study, an experimental work on AWJ cutting of a titanium alloy is performed and analysis of the results is conducted in two steps;after the correlation between process parameters and slot depth and width is established, the correlation between cutting head vibrations and kerf characteristics is investigated, in order to determine whether it is possible to use vibration values for the monitoring of the outcome of the AWJ cutting process. © 2020 The Authors. Published by Elsevier B.V.

关键词： Titanium alloys

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Surface topography of Ti 6Al 4V ELI after high power EDM 23

Surface topography of Ti 6Al 4V ELI after high power EDM

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23rd International Conference on Material Forming, ESAFORM 2020

作者： Karmiris-Obratański, Panagiotis Zagórski, Krzysztof Cieślik, Jacek Papazoglou, Emmanouil Lazaros Markopoulos, Angelos AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems al. Mickiewicza 30 Cracow30-059 Poland National Technical University of Athens School of Mechanical Engineering Laboratory of Manufacturing Technology Heroon Polytechniou 9 Athens15780 Greece

Titanium alloys find extensive applications in the modern aerospace and offshore industry, as well in the field of biomedical implants. Nevertheless, the titanium inherent thermo-physical properties (low thermal conductivity and high chemical reactivity) make it a hard to machine material. For the efficient machining of titanium alloys, non-conventional machining processes are employed. Electrical Discharge Machining (EDM) is a non-contact machining process, in which the material removal occurs through repetitive electrical sparks. The capabilities of machining any electrically conductive material, regardless of its thermo-physical and other properties, render it as one of the most widely used non-conventional machining processes. As titanium alloys are used in high-quality parts and products, the integrity and texture of the machined surface constitute an essential parameter. The current study presents an experimental investigation of the surface texture and integrity of Ti6Al4V ELI after its machining with high power EDM. Namely, a full-scale experiment has been carried out, for pulse currents up to 65A and pulse-on time up to 200 μs, using graphite electrode. The surface texture (ST) and integrity has been estimated in terms of arithmetic mean height (Sa), the maximum height of scale-limited surface (Sz), maximum peak height (Sp), maximum pit height (Sv) and skewness of the scale-limited surface (Ssk). Additionally, through microscopy observation, the surface topography and integrity have been estimated, distinguishing and characterizing the surface cracks and micro-cracks. For all the above mentioned ST parameters, an Analysis of Variance (ANOVA) test has been performed. © 2020 The Authors. Published by Elsevier Ltd.

关键词： Titanium alloys

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Solution to the general robust strictly positive real synthesis problem for polynomial segments

Solution to the general robust strictly positive real synthe...

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2003 European Control Conference, ECC 2003

作者： Yu, Wensheng Wang, Long Ackermann, Jürgen Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing100080 China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing100871 China Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center DLR-Oberpfaffenhofen Postfach 1116 WesslingD-82230 Germany

For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl... 详细信息

ISBN: (纸本)9783952417379

关键词： Polynomials

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Learn to Coordinate: A Whole-Body Learning from Demonstration Framework for Differential Drive Mobile Manipulators

Learn to Coordinate: A Whole-Body Learning from Demonstratio...

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2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Yang, Yuqiang Huang, Darong Chen, Chen Zeng, Chao He, Yanong Yang, Chenguang South China University of Technology Automation Science and Engineering Guangzhou China Application Innovate Laboratory Huawei Technologies Co. Ltd Shenzhen China Universitat Hamburg Technical Aspects of Multimodal Systems Hamburg Germany Bristol Robotics Laboratory University of the West of England Bristol United Kingdom

ISBN: (纸本)9798350337020

This paper proposes a whole-body learning from demonstration (LfD) framework that enables differential drive mobile manipulators to learn coordination working and disturbance rejection. First, an efficient kinesthetic teaching method is devised based on the weighted least-norm (WLN) inverse kinematics solution and an admittance controller, which facilitates human users to guide the mobile manipulator to perform tasks. Second, we propose a whole-body LfD framework through Gaussian Process, which endows the mobile manipulator's skill learning process with features of large-scale convergence, coordination working and disturbance rejection, after just a few human demonstrations. The proposed learning framework also allows for human-in-the-loop correction when the whole-body is conducting a task. Finally, the effectiveness of the proposed framework is verified via two simulations and a pick-and-place experiment. Supplementary video for this paper is available in github https://***/yuqiang-yang/SMC2023-Video. © 2023 IEEE.

关键词： Gaussian Process Learning from Demonstration Wholebody Control

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Boosting-Based One-Class SVM for Recognizing True-Fake Chinese Liquors Using Electronic Noses

Boosting-Based One-Class SVM for Recognizing True-Fake Chine...

引用

World Congress on Intelligent Control and Automation

作者： Zhi-Hua Li Qing-Hao Meng Pei-Feng Qi Yu Zhou Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Department of Robotics College of Science and Engineering Ritsumeikan University

ISBN: (纸本)9781467384155

The true-fake detection of Chinese liquors can be considered as a one-class classification problem. Using only positive sample in training process brings about difficulties in determining the optimal parameters of one-class SVM and its kernel. And one-class SVM optimized with conventional grid search method has a low recognition rate of positive test samples. Hence, we proposed a new idea for recognition, namely boosting-based one-class SVM. Six different kinds of liquors were sampled by a self-designed electronic nose system. After the preprocessing and feature extraction of sample data, 18 groups of optimum parameters of one-class SVM were chosen from specified parameter range, each group was used to train a classifier with training algorithm. Then the true-fake decisions were made for test samples with boosting integration rules. Finally the recognition rates of Hongjinjiu and Lanjinjiu positive sample reached 95.24% and 100%, and the recognition rates of both positive and negative sample reached 97.04% and 94.83%, respectively.

关键词： Support Vector Network optimal parameter Electronic Nose Recognition (Psychology) Search methods Chinese Chinese Chinese philosophy Chinese art Feature extraction test sample

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A general approach to terrain relative navigation for planetary landing

A general approach to terrain relative navigation for planet...

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2007 AIAA InfoTech at Aerospace Conference

作者： Johnson, Andrew E. Ansar, Adnan Matthies, Larry H. Trawny, Nikolas Mourikis, Anastasios I. Roumeliotis, Stergios I. Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States University of Minnesota Minneapolis MN 55455 United States Mobility and Robotics Systems Section United States AIAA United States Computer Science and Engineering Department

ISBN: (纸本)1563478935

We describe an algorithm for navigation state estimation during planetary descent to enable precision landing. The algorithm automatically produces 2D-to-3D correspondences between descent images and a surface map and 2D-to-2D correspondences through a sequence of descent images. These correspondences are combined with inertial measurements in an extended Kalman filter that estimates lander position, velocity and attitude as well as the time varying biases of the inertial measurements. The filter tightly couples inertial and camera measurements in a resource-adaptive and hence real-time capable fashion. Results from a sounding rocket test, covering the dynamic profile of typical planetary landing scenarios, show estimation errors of magnitude 0.16 m/s in velocity and 6.4 m in position at touchdown. These results vastly improve current state of the art and meet the requirements of future planetary exploration missions.

关键词： Planetary landers

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