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Operational systems, logistics engineering and technology insertion

NAVAL ENGINEERS JOURNAL 1997年第3期109卷 205-220页

作者： Grubb, MJ Skolnick, A Michael J. Grubb:has perfomzed naval engineering at the Crane Division Naval Surface Warfare Center (NSWC) for more than twenty-five years. He currently the program manager for the Sustainable Hardware and Affordable Readiness Practice Program (SHARP). is a Navy-wide logistics research and development prgram aimed at the successful transiton of proved technologies inot the fleet. SHARP focuses on reducing acquisition performance capability reliability maintainability and readiness of these systems. Mr. Grubb has served as a department director for the past eleven years. His most recent assignment was as director of the Tactical Computer Resources and Test Equipment Department. This organization provided acquisition and in-service engineering support of the Navy's tectical embedded computers priphirals displays and mass memory storage devices. The organization also provided a complete range of product engineering and metrology engineerig services for SSP NevSeaSysCom and the Trident Program. Prior to this appointment Mr. Grubb was deptuy director psysical security programs department and site responsible for program management and system integration of ashore integrated security systems. Mr. Grubb holds a B.S. degree in industrial engineering from Iowa State Universtiy an M.S. degree in industrial engineering from Purdue University and has copleted the course work (Dec.'96 for a master's degree in public and environment affairs at Indiana University-Purdue Univeristy Indianapolis. Dr. Alfred Skolnick operates System Science Consultants (SSC) specilizing in strategic planning technical program definiton technology assessment and engineering analyses on selected matters of national interest. He has taught physics mathematics and management sciences at University of Virginia and Marymount University and is currently adjunct professor of mathematics at Northern Virginia Community College. Form 1985 to 1989 he was president of the American Society of Noval Engineers. Dr. Skolnick served at Applied Physic

In an era of fiscal austerity, downsizing and unforgiving pressure upon human and economic capital, it is an Augean task to identify resources for fresh and creative work. The realities of the day and the practical demands of more immediate fleet needs can often dictate higher priorities. Yet, the Navy must avoid eating its seed corn. Exercising both technical insight and management foresight, the fleet, the R&D community, the Office of the Chief of Naval Operations (OpNav) and the product engineering expertise of the Naval Surface Warfare Center (NSWC) are joined and underway with integrated efforts to marry new, fully demonstrated technologies and operational urgencies. Defense funding today cannot sponsor all work that can be mission-justified over the long term because budgets are insufficient to support product maturation within the classical development cycle. However, by rigorous technical filtering and astute engineering of both marketplace capabilities and currently available components, it is possible in a few select cases to compress and, in effect, integrate advanced development (6.3), engineering development (6.4), weapon procurement (WPN), ship construction (SCN), operation and maintenance (O&M,N) budgetary categories when fleet criticalities and technology opportunities can happily meet. In short, 6.3 funds can be applied directly to ''ripe gateways'' so modern technology is inserted into existing troubled or aging systems, sidestepping the lengthy, traditional development cycle and accelerating practical payoffs to recurrent fleet problems. To produce such constructive results has required a remarkable convergence of sponsor prescience and engineering workforce excellence. The paper describes, extensively, the philosophy of approach, transition strategy, polling of fleet needs, technology assessment, and management team requirements. The process for culling and selecting specific candidate tasks for SHARP sponsorship (matching operational need with t

关键词： Naval vessels

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Efficient edge extraction of images by directional tracing

Efficient edge extraction of images by directional tracing

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International Conference on High Performance Computing

作者： S.S. Iyengar Yuyan Wu Hla Min Robotics Research Laboratory Department of Computer Science Louisiana State University Baton Rouge LA USA

The ability to recognize edges of an object fast and accurately is a fundamental goal in computer vision and image processing. The facility is important in automatic manufacturing environment in industry. This paper defines and investigates an efficient method of edge extraction of image using directional tracing algorithm. Based on the approach of linear feature extraction presented by R. Nevatia and K.R. Babu (1980), our algorithm is developed for the general situation of edge extraction. The technique employs the basic and intuitive principle that an edge pixel should possess local maximal gradient but no more domain information or knowledge is required. An effective and robust tracing strategy is proposed. Our algorithm has been tested on different kinds of images, and the results are satisfactory.

关键词： Image edge detection Image segmentation Pixel Image processing Data mining Robustness Detectors Service robots Robot vision systems robotics and automation

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Efficiency Assessment of Performance of Decentralized Autonomous Multi-Robot systems

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Journal of robotics and Mechatronics 1996年第3期8卷 286-291页

作者： Agah, Arvin Bekey, George A. Research Scientist Fellow Bio-Robotics Division Mechanical Engineering Laboratory 1-2 Namiki Tsukuba305 Japan Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90089 United States Robotics Research Laboratory University of Southern California Los AngelesCA90089 United States

This paper presents a new methodology for the efficiency assessment of task performance of decentralized autonomous multi-robot system. This formulation considers the types of the robots (in terms of sensing, action, and control), the description of the environment (the world), the facts (rules) of the world, and the specifications of the tasks to be performed. The performance efficiency is defined in terms of the total time required for completing the task, total energy requirement, and the comparison of the final results and the desired results. A robot colony simulator was used to perform a number of experiments, measuring the task performance efficiency, of a colony of simulated robots which perform specific tasks in a virtual world. The experimental results are presented in this paper. This paper also describes a team of four robots designed and fabricated in hardware. The physical robots were used successfully to validate the results from the simulated colony. © 1996, Fuji Technology Press. All rights reserved.

关键词： Multi agent systems

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TACTICAL ROUTE PLANNING: NEW ALGORITHMS FOR DECOMPOSING THE MAP

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International Journal on Artificial Intelligence Tools 1996年第1N02期5卷 199-218页

作者： J.R. BENTON S.S. IYENGAR W. DENG N. BRENER V.S. SUBRAHMANIAN Modeling and Simulation Division U.S. Army Topographic Engineering Center 7701 Telegraph Road Alexandria VA 22315–3864 USA Department of Computer Science & Robotics Research Laboratory Louisiana State University Baton Rouge LA 70803–4020 USA Department of Computer Science & Institute for Advanced Computer Studies University of Maryland College Park Maryland 20742 USA

This 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 maneuvers. The emphasis throughout this paper will be on the design and analysis and hieiaichical implementation of our route planner. This 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 than 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 hieraichical implementation is provided and the experimental results are analyzed.

关键词： Route planning heirarchical planning A* algorithm robotic vehicles

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A GENERAL COMPUTATIONAL FRAMEWORK FOR DISTRIBUTED SENSING AND FAULT-TOLERANT SENSOR INTEGRATION

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IEEE TRANSACTIONS ON systems MAN AND CYBERNETICS 1995年第4期25卷 643-650页

作者： IYENGAR, SS PRASAD, L Robotics Research Laboratory Department of Computer Science Louisiana State University Baton Rouge LA USA

This paper proposes an abstract framework to address the problem of fault-tolerant integration of information provided by multiple sensors. Extending our earlier results[10], this paper presents a formal description of spatially distributed sensor networks, where i) clusters of sensors monitor (possible overlapping) regions of the environment;ii) sensors return measured values of a multi-dimensional parameter of interest;and iii) uncertainities associated with a sensor output are represented by a connected subset in the parameter space. A method to obtain interval estimates of components of the actual parameter vector is developed, wherein information from faulty sensors (whose uncertainty subspaces do not contain the true value of the parameter) are filtered out. The problem addressed involves combining interval estimates of sensor outputs into a best intersection estimate of outputs. The sensor fault model used assumes most faults are ''tame.'' That is, faults cluster in the neighborhood of the correct values. The procedure of this paper, assuming this fault model, is superior to earlier work by Marzullo. To test the theoretical analysis of the computational framework proposed in our paper, we have developed a modular parameter-driven simulator SIMDSN for the fault-tolerant integration of abstract sensor interval estimates. The simulator uses the well-known Monte-Carlo technique to generate random correct and tamely faulty intervals. The results of our algorithm and Marzullo's are compared. We conclude based on the simulation that the union of the disjoint intervals (if any are disjoint) determined by our algorithm and the gaps between these intervals together can never exceed the width of the final output of Marzullo's method. Thus, while Marzullo's method specifies a rather large interval as the final output of the integration process, our method subdivides this interval into (possibly) disjoint intervals each with an associated reliability measure.

关键词： Distributed computing Fault tolerance Sensor phenomena and characterization Computational modeling Condition monitoring Information filtering Information filters Testing Analytical models Actuators

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EXPERIMENTAL RESULTS ON ADAPTIVE NONLINEAR CONTROL AND INPUT PRESHAPING FOR MULTILINK FLEXIBLE MANIPULATORS

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AUTOMATICA 1995年第1期31卷 83-97页

作者： KHORRAMI, F JAIN, S TZES, A School of Electrical Engineering and Computer Science Control/Robotics Research Laboratory (CRRL) Polytechnic University Brooklyn NY 11201 United States Department of Mechanical Engineering Control/Robotics Research Laboratory (CRRL) Polytechnic University Brooklyn NY 11201 United States

Adaptive input precompensators in conjunction with nonlinear controllers for multi-link flexible manipulators are considered in this paper. In an earlier paper, we had shown that application of a nonlinear inner-loop control reduces the variations in frequencies due to the geometrical configuration for multi-link flexible manipulators. This results in a better performance when input preshaping or any other controller based on a linear model is designed. To improve the performance of the system to parameter variations (e.g. changes in payload), an adaptive version of the advocated controller is utilized. This is achieved by estimating the time of application of the impulses for on-line preshaping and in the case of payload uncertainty, estimation of the payload and real-time adjustment of the nonlinear inner-loop based controller. Frequency domain Time-Varying Transfer Function Estimate (TTFE) and Empirical Transfer Function Estimate (ETFE) system identification algorithms are proposed for estimation of vibrational modes and unknown payload. Experimental results on a two-link flexible manipulator with adaptive nonlinear control and preshaping are provided to show the effectiveness of the advocated controllers. Overall, the present paper completely generalizes the adaptive input preshaping technique for multi-link flexible manipulators.

关键词： FLEXIBLE MANIPULATORS VIBRATION DAMPING NONLINEAR CONTROL INPUT PRESHAPING IDENTIFICATION ADAPTIVE CONTROL

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ACTIVE SPACE-VARIANT OBJECT RECOGNITION

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IMAGE AND VISION COMPUTING 1995年第3期13卷 215-226页

作者： TISTARELLI, M Department of Communication Computer and Systems Science Laboratory for Integrated Advanced Robotics (LIRA-Lab) University of Genoa Via Opera Pia 13 16145 Genoa Italy

The problem of object recognition is addressed. In the literature this task has been generally considered in a passive perspective, where everything is static and there is no definite relation between the object and its environment. In this paper, several aspects related to the application of active vision techniques to object recognition are discussed. The capability of the observer to move is very important to give a better description of the object during acquisition of the model database, and also for recognition. The recognition task can be simplified considerably by defining classes of expected objects based on contextual information. Moreover, a selective attentional mechanism allows us to reduce the amount of information needed to describe a database of objects. This is accomplished both at the task level, by performing planned fixations, and at the sensor level, by adopting a space-variant sampling of the image. The face recognition problem based on the face-space approach is considered to demonstrate the advantage of adopting an active retina in recognition tasks. By using an active space-variant retina, the size of the database is considerably reduced and, consequently, so too is the processing time for recognition.

关键词： OBJECT RECOGNITION ACTIVE VISION SPACE-VARIANT SENSING

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Integration of feature based design and feature recognition 15

Integration of feature based design and feature recognition

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ASME 1995 15th International computers in Engineering Conference, CIE 1995 and the ASME 1995 9th Annual Engineering Database Symposium collocated with the ASME 1995 Design Engineering Technical Conferences

作者： Han, JungHyun Requicha, Aristides A.G. Programmable Automation Laboratory Computer Science Department Institute for Robotics and Intelligent Systems University of Southern California Los AngelesCA United States

ISBN: (纸本)9780791817018

Process planning for machined parts typically requires that a part be described through machining features such as holes, slots and pockets. This paper presents a novel feature finder, which automatically generates a part interpretation in terms of machining features, by utilizing information from a variety of sources such as nominal geometry, tolerances and attributes, and design features. The feature finder strives to produce a desirable interpretation of the part as quickly as possible. If this interpretation is judged unacceptable by a process planner, alternatives can be generated on demand. The feature finder uses a hint-based approach, and combines artificial intelligence techniques, such as blackboard architecture and uncertain reasoning, with the geometric completion procedures first introduced in the OOFF system previously developed at USC. © 1995 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Gas turbines

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A simple and efficient procedure for polyhedral assembly partitioning under infinitesimal motions

A simple and efficient procedure for polyhedral assembly par...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L.J. Guibas D. Halperin H. Hirukawa J.-C. Latombe R.H. Wilson Robotics Laboratory Department of Computer Science University of Stanford Stanford CA USA Electrotechnical Laboratory Agency of Industrial Science and Technology Ministry of International Trade and Industry Tsukuba Japan Intelligent Systems and Robotics Center Sandia National Laboratories Albuquerque NM USA

We study the following problem: Given a collection A of polyhedral parts in 3D, determine whether there exists a subset S of the parts that can be moved as a rigid body by an infinitesimal translation and rotation, without colliding with the rest of the parts, AS. A negative result implies that the object whose constituent parts are the collection A cannot be taken apart with two hands. A positive result, together with the list of movable parts in S and a direction of motion for S, can be used by an assembly sequence planner. This problem has attracted considerable attention within and outside the robotics community. We devise an efficient algorithm to solve this problem. Our solution is based on the ability to focus on selected portions of the tangent space of rigid motions and efficiently access these portions. The algorithm is complete (in the sense that it is guaranteed to find a solution if one exists), simple, and improves significantly over the best previously known solutions. We report experimental results with an implementation of our algorithm.

关键词： Laboratories Partitioning algorithms Service robots computer industry Robotic assembly Robot sensing systems Orbital robotics research and development US department of Energy Contracts

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Randomized query processing in robot path planning 95

Randomized query processing in robot path planning

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Proceedings of the twenty-seventh annual ACM symposium on Theory of computing

作者： Lydia E. Kavraki Jean-Claude Latombe Rajeev Motwani Prabhakar Raghavan Robotics Laboratory Department of Computer Science Stanford University Stanford CA Department of Computer Science Stanford University Stanford CA IBM Research Division T.J. Watson Research Center Yorktown Heights NY

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