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IEEE International Conference on robotics and automation (ICRA)

作者： L. Kleeman R. Kuc Intelligent Robotics Research Centre Department of Electrical & Computer Systems Eng Monash University Australia Intelligent Sensors Laboratory Department of Electrical Engineering Yale University USA

A novel sonar array for mobile robots is presented with applications to localization and mapping of indoor environments. The ultrasonic sensor localizes and classifies multiple targets in two dimensions to ranges of up to 8 meters. By accounting for effects of temperature and humidity, the system is accurate to within 1 mm and 6.1 degrees in still air. Targets separated by 10 mm can be discriminated. Targets are classified into planes, corners, edges and unknown, with the minimum of two transmitters and two receivers. A novel approach is that receivers are closely spaced to minimize the correspondence problem of associating echoes from multiple targets. A set of templates is generated for echoes to allow the optimal arrival time to be estimated, and overlapping echoes and disturbances to be rejected.< >

关键词： Intelligent sensors Pulse measurements Transmitters Leg Sonar measurements Sensor arrays Intelligent robots Robot localization Rough surfaces Surface roughness

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Random parameter variation in analog VLSI neural networks for linear image filtering

Random parameter variation in analog VLSI neural networks fo...

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International Joint Conference on Neural Networks (IJCNN)

作者： B.E. Shi T. Roska L.O. Chua Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA Dual and Neural and Neural Computing Systems Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

This paper introduces an analytic method to determine the sensitivity to random parameter variations of analog VLSI neural network architectures for linear image filtering. The authors compare the robustness of several different circuit architectures for low pass filtering. This method can also determine which components within a particular architecture should specified the most precisely.< >

关键词： Intelligent networks Very large scale integration Neural networks Nonlinear filters Circuits Filtering Robustness Low pass filters computer architecture Cellular neural networks

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TECHNICAL ISSUES REGARDING SATELLITE PACKET-SWITCHING

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INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1994年第3期12卷 257-267页

作者： IVANCIC, WD CHU, P SHYY, DJ National Aeronautics and Space Administration Lewis Research Center Cleveland Ohio 44135 USA. A design engineer in the Digital Technology Branch of the Space Electronics Division. He has extensive experience in satellite communications systems modulation and coding on-board switching and routeing and high speed digital design. Since joining NASA in 1982 Mr. Ivancic has been responsible for the development of a variety of matrix switch controllers ground terminal equipment numerous pieces of special test equipment a beacon controller for the SARSAT program (Search and Rescue Satellite) and a time-shared decoder for a processing satellite. In addition Mr. Ivancic has been technical contract monitor on a number of advanced communications technology contracts including the Advanced Modulation Technology Development a 5 GHz fibre-optic link and multi-programmable modem study. He was awarded the B.S.E.E. and M.S.E.E. degrees by Cleveland State University in 1982 and 1986 respectively. Cleveland State University Cleveland Ohio 44115 USA. Currently an assistant professor of Electrical Engineering Department at Cleveland State University. He obtained the M.S. and Ph.D. degrees from Iowa State University majoring in Electrical and Computer Engineering. His research interests include high-speed computer networks digital systems and neural networks applications. He is a member of Sigma Xi Phi Kappa Phi as well as the IEEE and ACM. ComSearch Reston Virginia 22091 USA. Received the B.S. degree in electrical engineering from National Chiao-Tung University Hsin-Chu Taiwan in 1983 and the M.S. and Ph.D. degrees in electrical engineering from Georgia Institute of Technology Atlanta GA in 1986 and 1990 respectively. From June 1987 to October 1987 he worked for the Department of Neurology Emory University Atlanta as a Programmer. From September 1989 to December 1989 he worked for the Advanced Development Laboratory. AMP Inc. Atlanta as a Test Engineer. From February 1990 to August 1993 he wor

Many concepts for advanced communication satellite networks have recently been proposed. Critical technical issues relating to satellite packet switching for meshed very small aperture terminal networks and broadband ... 详细信息

关键词： FAST PACKET SWITCH BISDN MESHED VSAT ON-BOARD PROCESSING

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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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Registration of dissimilar featureless models for inspection

Registration of dissimilar featureless models for inspection

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IEEE International Conference on robotics and automation (ICRA)

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

General-purpose CAD-based inspection of a manufactured workpiece often involves comparing a part model created using intensity or range images of the part to a toleranced reference model of the part. Before this comparison can be made, however, the sensed object model must be registered to the reference object model. Most registration approaches assume that it is possible to identify and match features in the models and that the object models represent very similar geometries. A registration approach that deals with featureless dissimilar models is presented, and experimental results are demonstrated. Although the need for such an approach was motivated by needs in inspection, the approach is very general and can be used in a variety of other applications.< >

关键词： Inspection Casting robotics and automation Solid modeling Data structures systems engineering and theory Geometry Valves Manufacturing processes Surface morphology

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Nonholonomic path planning with inequality constraints

Nonholonomic path planning with inequality constraints

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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 Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

A class of Newton-type algorithms is effective in solving the kinematic path planning problem for a system with nonholonomic equality constraints. A key result in this approach has been the generic full rank condition of a certain gradient operator. We have extended this method to path planning problems with inequality constraints and shown its efficacy in solving some challenging problems, but a similar genericity result is not currently available. In this paper, we present some extension of our algorithm for nonholonomic path planning with equality and inequality constraints and show the generic full rank condition for a special case. Simulation examples involving a steerable tractor-trailer vehicle and experiment results of a quarter-scale car with a trailer are presented.< >

关键词： Path planning Control systems Nonlinear control systems Controllability robotics and automation systems engineering and theory Kinematics Space vehicles Velocity control Nonlinear systems

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Shape matching from grasp using a minimal representation size criterion

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

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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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Automatic synthesis and verification of compliance mappings

Automatic synthesis and verification of compliance mappings

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IEEE International Conference on robotics and automation (ICRA)

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

When the uncertainty is large compared to clearances between objects, some form of compliance is required for a robot to manipulate these objects. Such situations include, but are not restricted to, assembly operations. Compliance can be thought of as a task-dependent mapping from sensed forces to corrective motions which bring the robot closer to its goal. A methodology for the automated synthesis of this mapping is described. The possible erroneous configurations of the robot together with their resulting contact forces are computed, and a corrective motion is identified for each configuration. The validity of the mapping is checked to ensure that the sensed forces will provide unambiguous information during the actual execution of the planned compliant motion.< >

关键词： robotics and automation Robot sensing systems Uncertainty Robotic assembly Path planning Motion planning Damping systems engineering and theory Technology planning Sensor systems

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Stabilizers enhancing the frequency regulation action of HVDC links supplying weak AC systems

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European Transactions on electrical Power 1993年第3期3卷 201-212页

作者： Maris, T.I. Lygdis, A.D. Vovos, N.A. Giannakopoulos, G.B. Theodoros I. Maris (1961) received the Diploma in Electrical Engineering from the University of Patras/Greece in 1984. In 1985 he joined the Power Systems Laboratory at the Electrical Engineering Department of the University of Patras as research assistant where he is currently working for his Ph.D. degree. His area of interest is HVDC transmission. (University of Patras Dep. of Electrical Engineering Power Systems Laboratory GR-26 500 Rion. Patras/Greece T +3061/997350 Fax +3061/997362) Athanassios D. Lygdis (1954) received the Diploma in Electrical Engineering from the University of Patras/Greece in 1979. From 1979 until 1982 he worked at the Nuclear Technology Laboratory of the University of Patras as research assistant. In 1983 he joined the Power Systems Laboratory at the Electrical Engineering Department of the University of Patras as scientific collaborator. He is now working for his Ph.D. degree in this Department. His main field of interest is power transmission by HVDC systems. (University of Patras Dep. of Electrical Engineering Power Systems Labora- tory GR-26 500 Rion Patras/Greece T + 3061/997350 Fax + 3061/997361) Nickolas A. Vovos (1951) received the Diploma degree from the University of Patras/Greece the M.Sc. degree from the University of Manchester/England Institute of Science and Technology. and the Ph.D. degree from the University of Patras in 1974 1975 1978 respectively all in Electrical Engineering. In 1976 he joined the Power Systems Laboratory at the Electrical Engineering Department of the University of Patras where he is now Associate Professor. His main fields of interest are the modeiling and the transient stability study of integrated AC/DC systems. He is a member of the IEEE Power Engineering Society and CIGRE and a registered professional Engineer and member of the Technical Chamber of Greece (University of Patras Dep. of Electrical Engineering Power Systems laboratory GR-26500 Rion Patras/Greece. T +3061/997369 Fax +3061/997362) Gabriel B. Giannakopoulos (1

Power System Stabilizers (PSS) superimposed to the basic control system of an HVDC link supplying a weak AC system, in order to enhance its frequency regulation action, are proposed. To decrease the AC voltage sensitivity at the inverter side, the basic control system of the HVDC link is proposed to operate with the rectifier under Minimum Ignition Angle (MIA) control and the inverter under Constant Current (CC) control. Inputs to the PSS are the frequency and the AC voltage deviations at the inverter side and their constant parameters are calculated using modal control technique. Detailed simulation results for a practical integrated AC/DC system are presented to evaluate the performance of the proposed control scheme. Copyright © 1993 John Wiley & Sons, Ltd.

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EFFICIENT DISTANCE COMPUTATION USING BEST ELLIPSOID FIT

EFFICIENT DISTANCE COMPUTATION USING BEST ELLIPSOID FIT

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1992 IEEE INTERNATIONAL SYMP ON INTELLIGENT CONTROL

作者： RIMON, E BOYD, SP Robotics Laboratory Stanford University Department of Computer Science United States Information Systems Laboratory Stanford University Department of Electrical Engineering United States

ISBN: (纸本)0780305469

Knowledge of the distance between a robot and its surrounding environment is vital for any robotic system. The robot must obtain this information rapidly in order to plan and react in real-time. Our technique first surrounds the robot links and the obstacles by optimal ellipsoids, and then computes the clearance of the links from the obstacles with a generalized distance function. This approach offers an attractive alternative to the widely used technique of computing the distance via polyhedral representation of the robot and the obstacles. In particular, our approach offers a drastic reduction in the complexity of the data structures: each polyhedron, typically represented by a list of its features and their adjacency graph;is replaced by a minimum-volume ellipsoid represented by its center and a symmetric matrix whose dimension is either two or three (the workspace dimension). Moreover, while the computation time of the distance between polyhedra is often a function of their geometrical complexity, computation time in the ellipsoidal case is essentially constant;and becomes even more rapid when it is computed repeatedly along the robot's trajectory. Our method consists of the following two algorithms: The first computes the optimal ellipsoid surrounding a convex polyhedron. The second is an analytic formula for the free margin about one ellipsoid with respect to another, that is computed as a standard eigenvalue problem. An efficient incremental version of the latter algorithm is then proposed. This system has been implemented and preliminary simulation results are provided throughout the paper. © 1992 IEEE.

关键词： Geometry

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