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A telerobotics construction set with integrated performance analysis

A telerobotics construction set with integrated performance ...

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

作者： M. Skubic G.V. Kondraske J.D. Wise G.J. Khoury R.A. Volz S. Askew Department of Computer Science Texas A and M University College Station TX USA Human Performance Institute University of Texas Arlington Arlington TX USA Department of Electrical and Computer Engineering Rice University Houston TX USA Automation and Robotics Division NASA-Johnson Space Center Houston TX USA

The Universities Space Automation and robotics Consortium (USARC) was established to promote research into robotics and telerobotics for remote applications. An important part of the work of the Consortium has been the design and implementation of the Telerobotic Construction Set (TCS), which enables the building of modular telerobotic networks. Online and off-line performance analyses are integrated into TCS using quantitative analytical models. This provides the capabilities of measuring and predicting performance and system work loads quantitatively under different conditions, such as different levels of remote autonomy or different operator interfaces. This paper presents the methodology used in the performance/workload analysis and describes experiments, measuring teleoperation performance under time delay.

关键词： Telerobotics robotics and automation Orbital robotics Performance analysis Educational institutions Modular construction Buildings Analytical models Time measurement Delay effects

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Tactical route planning: new algorithms for decomposing the map

Tactical route planning: new algorithms for decomposing the ...

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International Conference on Tools for Artificial Intelligence (ICTAI)

作者： J. Benton S.S. Iyengar W. Deng N. Brener V.S. Subrahmanian Simulation and Visualization Laboratory U.S. Army Topographic Engineering Center Alexandria VA USA Department of Computer Science & Robotics Research Laboratory Louisiana State University Baton Rouge LA USA Department of Computer Science & Institute for Advanced Computer Studies University of Maryland College Park MD USA

The paper defines a new approach and investigates a fundamental problem in route planners. This capability is important for robotic vehicles (Martian Rovers, etc.) and for planning off road military manoeuvres. The emphasis throughout the paper is on the design and analysis and hierarchical implementation of our route planner. The work was motivated by anticipation of the need to search a grid of a trillion points for optimum routes. This cannot be done simply by scaling upward from the algorithms used to search a grid of 10,000 points. Algorithms sufficient for the small grid are totally inadequate for the large grid. Soon, the challenge will be to compute off road routes more then 100 km long and with a one or two meter grid. Previous efforts are reviewed and the data structures, decomposition methods and search algorithms are analyzed and limitations are discussed. A detailed discussion of a hierarchical implementation is provided and the experimental results are analyzed. The principal contributions of the paper are: new algorithms for decomposing the map and new search methods; analysis of new approaches; and the use of expert systems, deductive databases and mediators. Experimental results are included of a detailed implementation.

关键词： Roads Vehicles Computer science Laboratories Robots Military computing Algorithm design and analysis Constraint optimization Computational modeling Computer simulation

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Development of engineering courseware for university undergraduate teaching using computer animation

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Computer Applications in engineering Education 1995年第2期3卷 121-121页

作者： Tan, F.-L. Fok, S.-C. School of Mechanical and Production Engineering Nanyang Technological University Singapore 2263 Fock-Lai Tan:was born in Singapore in 1959. He received his BEng in mechanical engineering from the National University of Singapore in 1984 and his MSME degree in mechanical engineering from Rensselaer Polytechnic Institute Troy New York in 1992. He is currently a lecturer in the School of Mechanical and Production Engineering of the Nanyang Technological University. His research interest is in the area of modeling of casting processes. He has recently been active in the development of multimedia educational coursewares for university teaching. Sai-Cheong Fok:was born in Singapore in 1957. He received his diploma in production engineering from Singapore Polytechnic in 1977 BASc from the University of Ottawa Canada in 1985 and his PhD from Monash University Australia in 1990. He is currently a lecturer in the School of Mechanical and Production Engineering of the Nanyang Technological University. His research interest is in the area of robotics and control. He has also been active in the development of multimedia courseware for laboratory teaching.

Computer animation on personal computers (PC) is becoming increasingly popular as an educational teaching aid. With the increasing CPU power and high-resolution graphics of PC, and the rapid evolution of animation softwares, engineering courses can be developed on the PC using computer animation. Many engineering systems and processes in the engineering courses can be animated to enhance learning by university undergraduates. These animation projects could be developed into engineering courseware on certain subjects or topics for effective teaching in classrooms, at home, or as computer-aided laboratory lessons. Several types of animation software are introduced in this article.

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CLOSED-FORM DIRECT KINEMATICS SOLUTION OF A NEW PARALLEL MINIMANIPULATOR

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JOURNAL OF MECHANICAL DESIGN 1994年第4期116卷 1141-1147页

作者： TAHMASEBI, F TSAI, LW Robotics Branch NASA/Goddard Space Flight Center Greenbelt MD 20771 Mechanical Engineering Dept. and Institute for Systems Research University of Maryland College Park MD 20742

Closed-form direct kinematics solution of a new three-limbed six-degree-of-freedom minimanipulator is presented. Five-bar linkages and inextensible limbs are used in synthesis of the minimanipulator to improve its positional resolution and stiffness. AN of the minimanipulator actuators are base-mounted. Kinematic inversion is used to reduce the direct kinematics of the minimanipulator to an eighth-degree polynomial in the square of tangent of half-angle between one of the limbs and the moving platform. Hence, the maximum number of assembly configurations for the minimanipulator is sixteen. Furthermore, if is proved that the sixteen solutions are eight pairs of reflected configurations with respect to the plane passing through the lower ends of the three limbs. A numerical example is also presented and the results are verified by an inverse kinematics analysis.

关键词： Polynomials Actuators Stiffness Kinematics Resolution (Optics) Linkages Manufacturing

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Controlled microstructure of arc-sprayed metal shells

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Journal of Thermal Spray Technology 1994年第2期3卷 148-161页

作者： Fussell, P.S. Kirchner, H.O.K. Prinz, F.B. Weiss, L.E. Alcoa Laboratories Alcoa Center Institut de Sciences des Matériaux Université Paris Orsay Cedex France Engineering Design Research Center Carnegie Mellon University Pittsburgh USA Robotics Institute Carnegie Mellon University Pittsburgh USA

Shells made of sprayed ferrous materials are feasible for prototype and limited production tooling. A systematic study of the microstructure of arc-sprayed ferrous structures is presented, demonstrating why these structures display a degree of mechanical anisotropic behavior. The results of controlling oxide formation with inert atomization gases are given, and methods for tailoring the composition and orientation of the lamellae through robotically controlled deposition are discussed.

关键词： Shells (structures)

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Robot-assisted shape deposition manufacturing

Robot-assisted shape deposition manufacturing

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IEEE International Conference on robotics and Automation (ICRA)

作者： K. Hartmann R. Krishnan R. Merz G. Neplotnik F.B. Prinz L. Schultz M. Terk L.E. Weiss The Robotics Institute and The Engineering Design Research Center Carnegie Mellon University USA

Solid freeform fabrication and shape deposition are rapid manufacturing processes which build parts by incremental material deposition and fusion of cross-sectional layers. In this paper, several thermal deposition processes are described for directly fabricating prototype metal shapes using robotically manipulated material deposition systems. A robotic palletizing/part transfer system is also described which integrates multiple deposition and shaping processes into a single facility for rapidly manufacturing functional shapes.< >

关键词： Robots Shape Thermal spraying Prototypes Computer numerical control Manufacturing processes Optical device fabrication Solids Production Fixtures

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A characterizable shape-from-texture algorithm using the spectrogram

A characterizable shape-from-texture algorithm using the spe...

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IEEE-SP International Symposium on Time-Frequency and Time-Scale Analysis

作者： J. Krumm S.A. Shafer Intelligent Systems and Robotics Center Sandia National Laboratories Albuquerque NM USA The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Perspective-induced deformations on otherwise uniformly textured surfaces can be used to compute surface normals of objects from monocular images. This is shape-from-texture. Traditional shape-from-texture algorithms are based on image features like blobs and lines, and it is hard to predict how well the algorithms will work on real data. Newer algorithms are based on local spatial frequency representations, which can be characterized mathematically from beginning to end. We summarize our spectrogram-based algorithm, and show how we can characterize the performance of the algorithm based on the program parameters and the underlying texture.< >

关键词： Spectrogram Surface texture Frequency Intelligent robots Image texture analysis Shape measurement Computer vision Algorithm design and analysis Cameras Intelligent systems

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A sensory robotic grasping system for object recognition and shape recovery

A sensory robotic grasping system for object recognition and...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Yunde Jiar Xiaoping Wu Zhanfang Zhao Kejie Li Department of Mechno-Electronic Engineering Robotics Research Center Beijing Institute of Technology Beijing China

ISBN: (纸本)0780319788

Describes a sensory robotic grasping system which is composed of an ADEPT robot, a servo gripper system, an image grabbing and processing system, a microcomputer and an optical soft rubber tactile sensing system. The system can stably grasp and effectively recognize machine parts as well as breaking objects, such as eggs, fragile glass containers, etc. The authors also present the object recognition and model-based shape recovery using two groups of tactile image sequences acquired from the two tactile sensors while the sensory gripper grasps objects. The algorithms have been implemented and tested on actual data obtained using this sensory robotic grasping system.< >

关键词： Robot sensing systems Object recognition Shape Grippers Servomechanisms Microcomputers Optical sensors Rubber Glass Containers

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A new method to calculate looming for autonomous obstacle avoidance

A new method to calculate looming for autonomous obstacle av...

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IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Joarder Raviv Robotics Center and Department of Electrical Engineering Florida Atlantic University Boca Raton FL USA Robot Systems Division National Institute for Standards and Technology Gaithersburg MD USA

The concept of visual looming can be used as a powerful visual cue for autonomous obstacle avoidance. In this paper a method that measures looming quantitatively by fixating a camera at a point on the surface of an object is presented. It is based on studying the texture and its temporal change near the fixation point. The surface may be tilted relative to the optical axis. Looming can be calculated from the relative change in texture density and from the local orientation of the surface. The orientation is obtained from a set of one-dimensional directional densities of the texture primitives. This visual cue is used as a feedback signal of a closed loop system to implement obstacle avoidance using a six-degree-of-freedom simulator.< >

关键词： Image texture analysis Object recognition Image orientation analysis Mobile robots, motion planning Robots, vision systems

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Position and force control of a multifingered hand: a comparison of fuzzy logic to traditional PID control

Position and force control of a multifingered hand: a compar...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： D. Hristu J. Babb H. Singh S. Gottschlich NYS Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

In this paper we will discuss the control of a five-fingered, 18 degree of freedom, tendon driven robot hand known as the Atlas Anthrobot. Developing a traditional PID controller for this hand has proved difficult because the behavior of the tendon drive system produces is highly nonlinear. This nonlinear nature of the system however does suggest it as a candidate for fuzzy control. Along these lines we have developed a PID control system and a fuzzy control system for the hand which are both capable of simultaneously controlling the position of the fingertips and the amount of force exerted through a contact point on the fingertip. In this paper we will present a comparison between the two systems in order to generally make statements about the appropriateness of each controller for controlling complicated tendon driven devices such as our robot hand.< >

关键词： Force control Fuzzy logic Three-term control Control systems Robots Fingers Tendons Fuzzy control robotics and automation Automatic control

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