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Shape matching from grasp using a minimal representation size criterion

Shape matching from grasp using a minimal representation siz...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： R. Joshi A.C. Sanderson New York Center for Advanced Technology in Automation and Robotics USA Electrical Computer and Systems engineering Department Rensselaer Polytechnic Institute Troy NY USA

A robust polynomial-time algorithm for model-based pose estimation from tactile grasp data is presented. A minimal representation criterion is used to formulate the matching problem as a global optimization. The hypothesize-and-test paradigm is invoked to search for the optimal solution. A three-on-three match of model features to data features is used to reduce the transform search space to polynomial size. A polynomial-time assignment algorithm is used to compute the optimal correspondence for each hypothesized pose. The strength of the algorithm lies in its ability to perform with noisy or incomplete data and with missing or spurious features. It is capable of rejecting outliers and finding partial matches, and it produces sensible results even in the presence of large noise. The algorithm has been implemented and tested on actual data.< >

关键词： Shape Polynomials robotics and automation Testing Robustness Kinematics Least squares approximation Fingers Data engineering Systems engineering and theory

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Teaching modular automation concepts

Teaching modular automation concepts

引用

ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Derby, Stephen Cooper, Clay Director Mechatronics and Assembly Lab New York State Center for Advanced Technology in Automation D Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States American Dixie Group Inc. 25 Industrial Park Drive Albany NY12206 United States

ISBN: (纸本)9780791880364

Teaching a course on Modular automation Concepts (MAC) for the automation field has been twice accomplished. In order to demonstrate the MAC strategies, the packaging automation industry is reviewed to find new opportunities for production machines. Student teams then designed new machines using MAC techniques. Samples of project results are summarized. © 1998 by ASME.

关键词： automation

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

A quantitative treatment of multilevel specificity and certa...

引用

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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Tetrobot: A Modular System for Hyper-Redundant Parallel robotics

Tetrobot: A Modular System for Hyper-Redundant Parallel Robo...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： G.J. Hamlin A.C. Sanderson Electrical Computer and Systems Engineering Department Rensselaer Polytechnic InstituteNew York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute RPI Troy NY USA

A modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms is described. The Tetrobot system features a novel concentric multilink spherical (CMS) joint which allows an arbitrary number of links to share a common center of rotation. The CMS joint facilitates the construction of a wide variety of variable geometry truss mechanisms using an integrated control and computational framework. A distributed control algorithm is based on an iterative virtual force based solution which propagates the goal positions of target nodes to determine systematic adjustments of actuators. Capabilities of the Tetrobot system have been demonstrated by the construction of several configurations of up to 18 nodes, 48 links, and 15 actuators. Implementations of a double Stewart platform and a six-legged walker, constructed from the same set of parts, are described in this paper.

关键词： Parallel robots Collision mitigation Actuators Concurrent computing Design engineering Systems engineering and theory Electric variables control Control systems Computational geometry Centralized control

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On computing a distance measure for path planning

On computing a distance measure for path planning

引用

IEEE International Conference on robotics and automation (ICRA)

作者： K. Sridharan H.E. Stephanou S.S. Keerthi New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA Department of Computer Science and Automation Indian Institute of Science Bangalore India

Given two objects, A and B, such that A intersection B not= theta , the authors define a measure to characterize the penetration between A and B. They present fast algorithms for computing the measure for planar and p... 详细信息

关键词： Path planning robotics and automation Computer science Object detection Motion measurement Robot motion Euclidean distance Linear programming

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AMP-CAD: an assembly motion planning system

AMP-CAD: an assembly motion planning system

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IEEE International Conference on robotics and automation (ICRA)

作者： S.N. Gottschlich A.C. Kak New York State Center for Advanced Technology in Robotics and Automation Rensselaer Polytechnic Institute Troy NY USA Robot Vision Lab School of Electrical Engineering Purdue University West Lafayette IN USA

The authors discuss a system, called AMP-CAD, which develops assembly motion plans using CAD models of parts. They place an emphasis on the calculation of the potential fields used for motion planning. Potential fields can be thought of as a mechanism to interface CAD representations with plan development. AMP-CAD is a complete system that combines an assembly representation, a two-phase motion planner, and a execution unit into a single integrated package. Implementation and experimental results are discussed.< >

关键词： Assembly systems Uncertainty Robotic assembly Motion planning Aggregates Solid modeling Force control Torque control robotics and automation Fitting

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Process monitoring and control for robotic resistive welding

Process monitoring and control for robotic resistive welding

引用

IEEE Conference on Control technology and Applications (CCTA)

作者： D. Mintz J.T. Wen Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute New York State Center for Advanced Technology in Automation Troy NY USA

Spot welding is a commonly used process for joining metals. Under nominal operating conditions, existing weld controllers can produce high quality welds. In practice, however, the process can significantly deviate from the nominal condition, and thus compromise the quality of the weld. This paper presents an overview of the main contributing factors to the process variation and suggest methods to detect and ameliorate them.

关键词： Monitoring Robot control Process control Spot welding Electrodes Surface resistance robotics and automation Manufacturing automation Computer aided manufacturing Manufacturing processes

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Optimal Motion Planning for Collision Avoidance of Mobile Robots in Non-stationary Environments

Optimal Motion Planning for Collision Avoidance of Mobile Ro...

引用

American Control Conference (ACC)

作者： K.J. Kyriakopoulos G.N. Saridis New York State Center for Advanced Technology in Automation and Robotics Rensaelaer Polytechnic Institute Troy NY 12160-3590 Rensselaer Polytechnic Institute Troy NY USA

An optimal control formulation of the problem of collision avoidance of mobile robots moving in general terrains containing moving obstscles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. A perturbation control type of approach is used to update the optimal plan. Simulation results verify the value of the proposed strategy.

关键词： Motion planning Collision avoidance Mobile robots robotics and automation Optimal control Orbital robotics Path planning Robot sensing systems Tellurium Planing

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Dynamic modularization and synchronization for intelligent robot coordination: the concept of functional time-dependency

Dynamic modularization and synchronization for intelligent r...

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IEEE International Conference on robotics and automation (ICRA)

作者： V.G. Kountouris H.E. Stephanou School of Information Technology and Engineering George Mason University Fairfax VA USA New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

The intelligent coordination of multiple robots requires modularization of robots at some level higher than the joint, corresponding task representations, and a concept of time that allows the dynamic specification of task synchronization. The necessary representations of robots and tasks are developed, and the structural and operational semantics of the primitive task and reflex models are specified. A concept of time, called functional time-dependency, that allows the dynamic specification of the distributed semantics during task execution by multiple robots is developed. The utility of functional time-dependency is shown using two examples.< >

关键词： Intelligent robots Manipulator dynamics Robot kinematics robotics and automation Information technology Transportation Concurrent computing

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Inducing patterns of behavior in distributed system processes

Inducing patterns of behavior in distributed system processe...

引用

IEEE International Conference on robotics and automation (ICRA)

The authors utilize a class of Petri nets, called colored Petri nets (C/P-nets), to induce patterns of behavior in synchronization structures. These patterns of behavior locally specify the interactions between the distributed system's processes. The induction of patterns of behavior in synchronization structures results in the specification of coordination structures. A coordination structure is a specification of the interaction behavior of a distributed system's processes in a particular context. C/P-nets are used for the differentiation of the system's context-sensitive variables and the representation of their instantiations. The three possible interactions between any two concurrent processes of the distributed system are specified.< >

关键词： Intelligent robots Control systems Petri nets robotics and automation Automatic control Kinematics Calculus Information technology Multiagent systems Robot control

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