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IEEE International Conference on robotics and automation (ICRA)

作者： J.F. O'Brien J.T. Wen Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer & Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions. By altering the mechanism through, for example, additional kinematic linkages, the singularity can be modified or even removed. Another approach is to actuate certain unactuated degrees of freedom. The manipulability is guaranteed to improve over the original mechanism, but the mechanism is now over-actuated. By studying a recently proposed parallel machining center, we examine the effectiveness of singularity modification through redundant actuation. As a metric, we use the condition number of the recently developed manipulability ellipsoid for general parallel mechanisms.

关键词： Kinematics Parallel robots Ellipsoids Manufacturing automation robotics and automation computer aided manufacturing Manipulators Concurrent computing systems engineering and theory Couplings

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The mapping of texture on VR polygonal models 2

The mapping of texture on VR polygonal models

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2nd International Conference on 3-D Digital Imaging and Modeling, 3DIM 1999

作者： Laurendeau, Denis Bertrand, Nathalie Houde, Régis Computer Vision and Systems Laboratory Department of Electrical Engineering and Computer Engineering Laval University QuebecQCG1K 7P4 Canada Robotics Division Hydro Quebec Research Institute VarennesQCJ3X 1S1 Canada

ISBN: (纸本)0769500625

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene. © 1999 IEEE.

关键词： Image texture

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Recent algorithms for fuzzy and neurofuzzy path planning and navigation of autonomous mobile robots

Recent algorithms for fuzzy and neurofuzzy path planning and...

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European Control Conference (ECC)

作者： Costas S. Tzafestas Spyros G. Tzafestas Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zografou 157 73 Athens Greece

This paper reviews a number of recent algorithms for mobile robot path planning, navigation and motion control, which employ fuzzy logic and neuro-fuzzy learning and reasoning. Starting with a discussion of the structure of fuzzy and neuro-fuzzy systems, two fuzzy obstacle avoidance path planning algorithms are presented followed by a 3-level neuro-fuzzy local and global path planning scheme. Then the motion planning and control problem is considered. A fuzzy path tracking strategy is outlined, followed by a fuzzy navigation algorithm among polygonal obstacles and a learning-by-doing neuro-fuzzy motion planning scheme. The paper ends with a hybrid robust motion control technique which combines the minimum interference and sliding mode control principles with fuzzy inference. A representative set of examples are included which illustrate the performance of the algorithms under various realistic conditions.

关键词： Navigation Collision avoidance Robot kinematics Mobile robots Path planning Neurons

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The mapping of texture on VR polygonal models

The mapping of texture on VR polygonal models

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： D. Laurendeau N. Bertrand R. Houde Department of Electrical Engineering and Computer Engineering Computer Vision and Systems Laboratory Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes QUE Canada

关键词： Virtual reality Layout Solid modeling computer vision Color computer graphics Rendering (computer graphics) Cameras Laboratories Data engineering

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Towards variable-time-delays-robust telemanipulation through master state prediction

Towards variable-time-delays-robust telemanipulation through...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： P.A. Prekopiou S.G. Tzafestas W.S. Harwin Dept. of Electr. & Comput. Eng. Nat. Tech. Univ. of Athens Greece Intelligent Robotics & Automation Laboratory Department of Electrical & Computer Engineering National and Technical University of Athens Zografou Greece The Human-Robot Interface Laboratory Department of Cybernetics University of Reading Reading UK

This paper presents the conceptual framework and simulation results on a general technique for time delay compensation in teleoperation, based on the prediction of the human arm position and force, i.e. effectively the master state. This is shown to be significantly less complex and more intuitive than predicting the slave and environment dynamics. Simple polynomial or spline predictors, employing no knowledge of the human arm dynamics, are shown to produce good performance for small time delays when the master force and position are smooth. However, for real life force profiles, better performance is achieved by employing a human arm model and predicting the neural input to it.

关键词： Humans Predictive models Master-slave Delay effects Intelligent robots robotics and automation Communication channels Displays Computational modeling computer simulation

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Invertible operations on a Cellular Neural Network Universal Machine

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International Journal of Circuit Theory and Applications 1999年第6期26卷

作者： Márton Csapodi Joos Vandewalle Tamás Roska Analogic and Neural Computing Systems Laboratory Computer and Automation Institute Hungarian Academy of Sciences P.O. Box 63 H-1502 Budapest Hungary ESAT Laboratory Department of Electrical Engineering Katholieke Universiteit Leuven K. Mercierlaan 94 B-3001 Leuven Belgium

This paper is concerned with the invertibility of parallel operations definable on two-dimensional binary arrays by means of a local Boolean function. In this way, it contributes to the theory of cellular automata and may open new potentialities to cellular neural network applications. We provide a theoretically new approach to the invertibility of two-dimensional additive maps which can be used to obtain detailed information on the behaviour of these operations. Other ways to make invertible operations are also investigated, including local maps which are additive in only one of the terms, and second-order cellular automata. The discussed techniques yield a rich variety of invertible operations on infinite and/or finite two-dimensional binary arrays. When implemented on CNN Universal Chips, all of these operations, performed by TeraOPS speed, become subroutines of a 2D analogic algorithm. These operations can be used in 2D cryptography. © 1998 John Wiley & Sons, Ltd.

关键词： CNN universal machine two-dimensional CA additive maps complementary landscapes

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A new solution methodology for fuzzy relation equations 11th

A new solution methodology for fuzzy relation equations

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11th International Conference on Industrial and engineering Applications of Artificial Intelligence and Expert systems, IEA/AIE 1998

作者： Tzafestas, Spyros G. Stamou, Giorgos B. Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zographou Athens15773 Greece Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Greece

ISBN: (纸本)3540645829

In this paper a general methodology for studying and solving fuzzy relation equations based on sup-t composition, where t is any continuous triangular norm, is proposed. To this end the concept of the "solution matrices" is introduced, as a way of representing the process information required for the resolution. Using this concept, the solution existence of a fuzzy relation equation is first examined. When the relation equation has no solution, the reasons for this lack of solvability are found. Otherwise, the solution set is determined. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Fuzzy systems

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Motion Planning of Drift-Free systems Under a Discrete Levels Constraint with Low-Bounded Switching Intervals

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IFAC Proceedings Volumes 1998年第20期31卷 645-652页

作者： P.G. Skiadas N.T. Koussoulas Laboratory for Automation and Robotics Electrical and Computer Engineering Department University of Patras Rio Patras 265 00 Greece

We study the behavior of drift-free systems, whose inputs take values in a finite discrete levels set with low bounded switching intervals. In particular, we solve the motion planning problem of drift-free systems under the above constraints and we prove that the proposed methods provide exact steering when the system is nilpotent. Finally, we explore the details of our methods applying them to the motion planning of a drift-free system.

关键词： Mobile robots drift-free system differential geometry

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Sonar resolution-based environment mapping 15

Sonar resolution-based environment mapping

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15th IEEE International Conference on robotics and automation, ICRA 1998

作者： Cahut, Leyla Vlavanis, Kimon P. Delic, Hakan Robotics and Automation Laboratory Center for and Advanced Computer Studies University of Southwestern Louisiana LafayetteLA70504 United States Signal and Image Processing Laboratory Department of Electrical Engineering BogaziCi University Bebek 80815 Istanbul Turkey

ISBN: (纸本)078034300X

Ultrasonic range sensors are used to obtain the information required for collision-free navigation of a mobile robot in a semi-structured or unstructured environment. A set of range readings from a ring of sonars are correlated to acquire a 2D map of the robot's environment. The map is continuously enhanced via novel matching and update algorithms as new data are collected while the robot is in motion. The algorithm utilizes confidence measures that are directly obtained from the sonar's resolution or accuracy. There are no additional modeling assumptions and the approach is robust. The algorithms are experimentally tested on the Nomad 200 mobile robot and Nomad's Cognos Software Development Package. © 1998 IEEE.

关键词： Software testing

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MULTI-AGENT ROBOT ARCHITECTURES: THE DECOMPOSITION ISSUE AND A CASE STUDY

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International Journal on Artificial Intelligence Tools 1998年第2期7卷 163-187页

作者： ELPIDA S. TZAFESTAS SPYROS N. RAPTIS SPYROS G. TZAFESTAS Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zographou 15773 Greece

In this paper, some fundamental issues of modern multi-agent robot architectures are discussed. It is argued that the multi-agent approach provides the necessary flexibility and adaptivity for such architectures, and that the primary issue in designing a multi-agent robot architecture is the selection of the granularity level, i.e., the decision on decomposing the overall desired functionality physically or across tasks. It is explained why at the various system levels different decomposition grains are needed; physical components, tasks or hybrid. This granularity decision is made on the basis of specific criteria of control localization, knowledge decoupling and interaction minimization so as to identify the decision points of the overall functionality. The above criteria lead to a dual composition-decomposition relation, which provides a good basis for system scaling. The paper specializes the discussion to a proposed neuro-fuzzy multi-agent architecture, which is then applied to design the local path planning system of an indoor mobile robot.

关键词： Multi-agent robot systems distributed artificial intelligence robotic modeling decomposition neuro-fuzzy systems fuzzy agents neural agents robot path planning

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