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IEEE Conference on Decision and Control

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation Rensselaer Polytechnic Institute Troy NY USA

The kinematic path planning problem of a nonholonomic system can be posed as a point-to-point control problem of a nonlinear system. This system has the property that it is not locally stabilizable but is globally controllable. The authors present a new algorithm for constructing a feasible path between specified initial and final configurations. The algorithm iteratively warps the entire path until all the constraints are satisfied. Polyhedral constraints in both configuration and nonconfiguration spaces (possibly nonconvex) can also be incorporated in this framework. The algorithm is based on the assumption that the system is usually controllable about a nontrivial trajectory, which is true for many cases. An initial trajectory is iteratively warped until the desired final configuration is reached. Examples of a front-wheel driven car and of tractors with one, two, and three trailers are included to illustrate the efficacy of the proposed algorithm.< >

关键词： Iterative algorithms Control systems Kinematics Path planning Position control Nonlinear systems

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Extrusion process control. II. Identification and open-loop control

Extrusion process control. II. Identification and open-loop ...

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American Control Conference (ACC)

作者： B. Tibbetts J. Wen New York State Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

For pt.I see ibid., p.3726-30. Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. In Part I, we developed a dynamical system model which could be used for real-time applications. In this paper, we use this model development plus output relationships from our previous model development work (1995, 1996) to develop parameter identification and open-loop control methodologies. An example with plant trial data is provided.

关键词： Process control Open loop systems Equations Temperature sensors manufacturing automation robotics and automation Automatic control Computer aided manufacturing manufacturing processes Parameter estimation

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Task-based servoing in quaternion space

Task-based servoing in quaternion space

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IEEE International Conference on robotics and automation (ICRA)

作者： L. Singh H. Stephanou New York State Center for Advanced Technology in Robotics Automation and Manufacturing and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces and analyzes a method based on vector-quaternion pairs for accomplishing task-based control. The optimal control paradigm has been extended into quaternion space with a complete definition of the control law required to control a plant in such a space. A complete set of derivations of the quaternion algebra used to accomplish the optimal control have also been developed. The advantage of this approach is that it decouples the position and orientation states, thereby reducing the complexity of the control algorithms. The intended application of this research is task-level control of the five-fingered Anthrobot mounted on a PUMA 760.

关键词： Quaternions Optimal control Space technology Orbital robotics Force control robotics and automation manufacturing automation Computer aided manufacturing Motion control Acceleration

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Extrusion process control. I. Dynamical system model development

Extrusion process control. I. Dynamical system model develop...

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American Control Conference (ACC)

Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. A process model is required for control. The difficulties with currently available models are stated. An appropriate decomposition and associated assumptions are introduced, permitting construction a real-time process model via spectral approximation to solve the axi-symmetric, 2D transient heat conduction equation with heat generation and loss. This solution, simulation results, and model execution times are provided.

关键词： Process control Billets manufacturing automation robotics and automation Shape Power system modeling Computer aided manufacturing manufacturing processes Containers Inorganic materials

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On the derivation of geometric constraints in stereo

On the derivation of geometric constraints in stereo

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： C.V. Stewart Department of Computer Science and New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

Probability density functions (PDFs) are derived for many of the geometric measurements upon which stereo matching techniques are based, including orientation differences between matching line segments or curves, the gradient of disparity, the directional derivative of disparity, and disparity differences between matches. The PDFs resulting from the transformations are used to critically examine many existing stereo techniques. Several techniques based on these PDFs are proposed.< >

关键词： Layout Cameras Geometry robotics and automation Probability density function Image segmentation Solid modeling Jacobian matrices Measurement uncertainty Computer science

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Dynamic Modelling and Tracking Control of Nonholonomic Wheeled Vehicles

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IFAC Proceedings Volumes 1993年第2期26卷 61-64页

作者： G.J. Pappas K.J. Kyriakopoulos New York State Center for Advanced Technology in Automation and Robotics & Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY 12180-3590 USA

Nonholonomic vehicles are shown to be kinematically equivalent to unicycles. A dynamic model for mobile vehicles moving on planar surfaces under nonholonomic constraints is derived. The model is decomposed into a kinematic and a dynamic subsystem. The kinematic subsystem is shown to be globally stabilizable by using continuous control laws on reference trajectories that are nonstationary and continuously differentiable with respect to time. The continuity of the kinematic control inputs allows the extension of the vehicle control at the dynamic level. Stability of the overall closed loop system is examined using singular perturbation theory. Simulations verify all theoretical derivations.

关键词： Nonholonomic Control Vehicle Control Mobile Robots

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A quantitative treatment of multilevel specificity and certainty in variable precision reasoning

A quantitative treatment of multilevel specificity and certa...

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IEEE Conference on Decision and Control

作者： W.L. Perry H.E. Stephanou Rand Corporation DC USA The New York State Center of Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

The authors develop a methodology for reasoning about the state of the environment based on evidence received from some source. It is assumed that the evidence is expressed as a probability mass function defined on a discrete set of mutually exclusive hypotheses about the state of the environment. Given that the quality of the evidence is variable, it follows that the precision of the reasoning process must also vary. That is, the level of specificity and the certainty associated with decisions made at that level depend directly on the quality of the evidence. An indistinguishability measure is used to generate a core set of aggregate focal elements, each of which may consist of logical disjunctions of the basic hypothesis set. The measure takes into account both the differences in support levels for the hypotheses and the degree to which they are similar. Partial dominance is then used to associate a basic probability assignment on the core set. This approach makes it possible to apply simple, quantitative methods to express the variations in the precision associated with decisions. The result is a set of aggregate hypotheses and their support levels which become input to the classification process. In most cases, multiple sets of aggregate hypotheses will be used in an evidential classification scheme to produce a composite characterization of the environment.< >

关键词： robotics and automation Uncertainty Aggregates Production Probability distribution

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Fuzzy proximity measures for robot grasp planning

Fuzzy proximity measures for robot grasp planning

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IEEE International Symposium on Intelligent Control (ISIC)

作者： K. Sridharan H.E. Stephanou New York State Center for Advanced Technology in Automation and Robotics and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, identified sources of fuzziness, and proposed a fuzzy algorithm for multifingered prehension. These ideas are extended by assuming fuzziness in the object location and geometric hand configuration, computing information on proximity of the hand and object, analyzing the computational efficiencies, and indicating how geometric information can be used in the process of prehension. The implementation details are outlined. The computation is useful in grasp planning and in analyzing the local behavior of the robot hand in the vicinity of the object.< >

关键词： Robots robotics and automation Solid modeling Paper technology Systems engineering and theory Fuzzy systems Electric variables measurement Fingers Kinematics End effectors

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A tactile sensing system for dexterous manipulation

A tactile sensing system for dexterous manipulation

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： B.L. Gery S.N. Gottschlich New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

One factor that limits the range of tasks that robots can perform robustly is the scarcity of useful sensors available to provide feedback to the robot control system. While much progress has been made with vision sensors and force/torque sensors, tactile sensing systems have fallen behind, and so general-purpose tactile sensing systems are not commercially available. The aim of this work is therefore to produce a tactile sensing system that could be manufactured inexpensively, could be used on a wide variety of robotic systems, and would provide the kind of output typically required in dexterous manipulation applications. Such a tactile sensing system will be presented in this paper. The tactile transducers used in this system are based on semiconductive ink technology that allows transducers of any size, shape, and resistance range to be produced merely by altering the ink printing process and substrate geometry. Each sensor outputs three pieces of information that are useful in robotic manipulation-two parameters indicating the location of a contact point on the transducer and one parameter specifying the amount of force being exerted at the contact point. So that the sensing system could support transducers of different shapes and sizes, the analog interface circuitry of this system has been designed to be fully programmable, and also includes circuitry to enable self-calibration with appropriate software.< >

关键词： Transducers Robot sensing systems Sensor systems Tactile sensors Force sensors Ink Shape Circuits Robust control Feedback

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The Window Corner Algorithm For Planning Translational Paths Among Polyhedral Subassemblies

The Window Corner Algorithm For Planning Translational Paths...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： S.S. Krishnan A.C. Sanderson New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

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