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Autonomous Robots 2002年第2期13卷 111-111页

作者： Sukhatme, Gaurav S. Robotics Research Laboratory Computer Science Department University of Southern California Los Angeles CA 90089-0781 United States

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Cooperative tracking using mobile robots and environment-embedded, networked sensors

Cooperative tracking using mobile robots and environment-emb...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： Boyoon Jung G.S. Sukhatme Robotics Embedded Systems Laboratory Robotics Research Laboratory Department of Computer Science University of Southern California Los Angeles CA USA

We study the target tracking problem using multiple, environment-embedded, stationary sensors and mobile robots. An architecture for robot motion coordination is presented which exploits a shared topological map of the environment. The stationary sensors and robots maintain region-based density estimates which are used to guide the robots to parts of the environment where unobserved targets may be present. Experiments in simulation show that the region-based approach works better than a naive target following approach when the number of targets in the environment is high.

关键词： Mobile robots Target tracking Robot sensing systems Robot kinematics Sensor systems Broadcasting embedded system computer science computer architecture Robot motion

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Planar spline trajectory following for an autonomous helicopter

Planar spline trajectory following for an autonomous helicop...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： K. Harbick J.F. Montgomery G.S. Sukhatme Robotic Embedded Systems Laboratory Robotics Research Laboratories Department Of Computer Science University of southern California Los Angeles CA USA

This paper proposes a technique for planar trajectory following for an autonomous aerial robot. A trajectory is modeled as a planar spline. A behavior-based control system. which stabilizes the robot and enforces trajectory following, has been implemented and tested on an autonomous helicopter. Results from two flight, experiments are presented. The trajectory tracking error is on the order of the size of the robot (1.8 m). Given the inherent error in GPS positioning, and environmental disturbances (wind), this is quite reasonable.

关键词： Spline Helicopters Robots Global Positioning System Aircraft navigation Application software Fuels computer architecture Reconnaissance Control systems

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Fault detection and identification in a mobile robot using multiple model estimation and neural network

Fault detection and identification in a mobile robot using m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Goel G. Dedeoglu S.I. Roumeliotis G.S. Sukhatme Robotics Research Laboratory Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los Angeles CA USA

We propose a method to detect and identify faults in wheeled mobile robots. The idea behind the method is to use adaptive estimation to predict the outcome of several faults, and to learn them collectively as a failure pattern. Models of the system behavior under each type of fault are embedded in multiple parallel Kalman filter (KF) estimators. Each KF is tuned to a particular fault and predicts, using its embedded model, the expected values for the sensor readings. The residual, the difference between the predicted readings (based on certain assumptions for the system model and the sensor models) and the actual sensor readings, is used as an indicator of how well each filter is performing. A backpropagation neural network processes this set of residuals as a pattern and decides which fault has occurred, that is, which filter is better tuned to the correct state of the mobile robot. The technique has been implemented on a physical robot and results from experiments are discussed.

关键词： Fault detection Fault diagnosis Mobile robots Neural networks Filters Predictive models Tires Mechanical sensors Intelligent robots Robot sensing systems

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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Building hybrid observers for complex dynamic systems using model abstractions 1

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2nd International Workshop on Hybrid systems: Computation and Control, HSCC 1999

作者： Mosterman, Pieter J. Biswas, Gautam Institute of Robotics and System Dynamics DLR Oberpfaffenhofen P.O. Box 1116 WesslingD-82230 Germany Knowledge Systems Laboratory Department of Computer Science Stanford University StanfordCA94305 United States Department of Computer Science Vanderbilt University NashvilleTN United States

ISBN: (数字)9783540489832

ISBN: (纸本)3540657347

Controllers for embedded dynamic systems require models with continuous behavior evolution and discrete configuration changes. These changes may cause fast continuous transients in state variables. Time scale and parameter abstractions simplify the analysis of these transients, causing discontinuities in the state variables. The two abstraction types have a very different impact on the analysis of system behavior. We have developed a systematic modeling approach that introduces formal semantics for behavior generation. This paper discusses the implementation of this scheme in a hybrid observer designed to track embedded system behavior. The resultant observer is based on piecewise simpler continuous models with mode transitions defined between them. Actual mode transitions in the system are provided by a digital controller and directly obtained from measuring physical variables. © Springer-Verlag Berlin Heidelberg 1999.

关键词： embedded systems

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Face model adaptation with active tracking

Face model adaptation with active tracking

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IEEE International Conference on Image Processing

作者： Lijun Yin A. Basu Computer Vision and Robotics Research Laboratory Department of Computing Science University of Alberta Edmonton AB Canada

A system for face model adaptation combining active tracking is presented. Input from an active camera is used for MPEG4 model based coding. First, the background is compensated considering a moving camera (tilt or pan). Second, the talking face is segmented from the compensated background using fusion of frame differences. A morphological filter is then applied to make the system less sensitive to noise. Third, Hough transform and deformable template coupled with color information are exploited to detect the facial features, e.g., eyes, mouth. Fourth, a wireframe model is adapted to the extracted face by an extended dynamic mesh. The feasibility of the proposed system is demonstrated using several real active video sequences.

关键词： Adaptation model Face detection Cameras MPEG 4 Standard Filters Colored noise Facial features Eyes Mouth Data mining

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Robotic assistants for aircraft inspectors

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IEEE Instrumentation and Measurement Magazine 1998年第1期1卷 16-30页

作者： Siegel, Mel Gunatilake, Priyan Podnar, Gregg Intelligent Sensor Msrmt. C. Robotics Institute Carnegie Mellon University University of Colorado JILA University of Virginia SUNY Buffalo NY United States Extranuclear Laboratories ABB-Extrel Aircraft Diagnostics Corporation University of Alaska Fairbanks AK United States Elec. and Comp. Eng. Department Carnegie Mellon University CMU Vis. Lab. of the Robotics Institute CMU Mobile Robot Laboratory Engineering Design Research Center CMU Computer Science Department JiangXi University Robotics Institute Measurement and Control Laboratory

Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described. Remote 3D stereoscopic visual inspection is outlined and algorithms developed for crack detection and surface and subsurface corrosion detection are described. Future development trends are also outlined.

关键词： Robots Aircraft Aerospace electronics Instruments

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Compensation for end to end delays in a VR system

Compensation for end to end delays in a VR system

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IEEE Annual International Symposium Virtual Reality

作者： Y. Akatsuka G.A. Bekey Robotics Research Laboratory Computer Science Department University of Southern California Los Angeles CA USA

In virtual reality applications, time delay is one of the essential factors which need compensation. We measured the end to end time delay of our system and developed a compensation technique using a head motion model and a predictive Kalman filter. Compared to a previously developed predictive filter with a model free approach, our filter reduces the error, by 20 to 30%. Due to recent advances in PC technology, it was possible to implement the entire system (including the compensation) on a single PC. Our system consists of a PC, head mounted display, and a 6 degrees of freedom magnetic tracking sensor.

关键词： Virtual reality Delay effects Magnetic heads Predictive models Filters Magnetic separation Motion measurement Time measurement Displays Magnetic sensors

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IMACS: A case study in real-world planning

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IEEE Intelligent systems and Their Applications 1998年第3期13卷 49-60页

作者： Gupta, Satyandra K. Nau, Dana S. Regli, William C. Robotics Institute Carnegie Mellon University United States Computer Science Department Institute for Systems Research University of Maryland United States Dept. of Math. and Computer Science Drexel University United States Robotics Institute United States Grad. Sch. of Indust. Administration Carnegie Mellon University United States University of Maryland United States Amercian Soc. of Mech. Engineers Society of Manufacturing Engineers United States Robotics Inst. Carnegie Mellon Univ. Pittsburgh PA 15213 United States University of Maryland Department of Computer Science Institute for Systems Research United States Systems Integration Research Group Electro-Mech. Syst. Des. Plan. R. United States Comp.-Intgd. Mfg. Laboratory United States Duke University United States AAI United States Computer Science Dept. Univ. of Maryland College Park MD 20742 United States ACM ASME IEEE Computer Society United States Dept. of Math. and Computer Science Drexel Univ. Philadelphia PA 19104 United States

This article discusses the complexities of real-world planning and how to create planning systems to address them. IMACS, an automated designer's aid, evaluates machined parts and suggests design modifications to improve their manufacturability, offering advantages over planning techniques used in classical planning systems. IEEE intelligent systems.

关键词： computer aided software engineering Process planning Artificial intelligence Manufacturing processes Machining computer science Meeting planning Design automation computer aided manufacturing Virtual manufacturing

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