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1992 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1992

作者： Aras, C.M. Luo, Ren C. Reeves, D.S. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering United States Department of Computer Science North Carolina State University RaleighNC27695 United States

ISBN: (纸本)0780307372

We propose a new interprocessor communication network, named the Segmented Bus, for multiprocessor message passing computer architectures executing groups of processes with localized communication patterns and time varying computational demands. The control of autonomous robots includes such process sets, making this architecture suitable for the intelligent robot control problem and other control systems with localized and changing message communication patterns. The Segmented Bus also allows dynamic segmentation of the interprocessor communication network for dynamic reconfiguration based on task communication locality. Virtual cut-Through and preemptive circuit switched data transfers are used for inter-segment data transfers on the Segmented Bus. Hardware and protocols for implementing these two techniques are discussed. The performance of the Segmented Bus using the two data transfer techniques is evaluated with simulation and the results are compared to the single bus and the multiple bus in terms of the performance, expandability and the complexity of hardware. © 1992 Institute of electrical and Electronics Engineers Inc. All rights reserved.

关键词： Data transfer

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The window corner algorithm for planning translational paths among polyhedral subassemblies

The window corner algorithm for planning translational paths...

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1992 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1992

作者： Krishnan, S.S. Sanderson, A.C. New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180 United States

ISBN: (纸本)0780307372

In this paper, we present a complete and exact algorithm for planning a geometrically feasible path for a polyhedral subassembly (robot) translating amongst polyhedral obstacles. Our algorithm can be used to determine whether a pair of non-convex subassemblies can be separated by a sequence of fine-motions and, possibly, contact-motions, when the amount of free space tends to be severly limited. We present the three-dimensional Window Corner algorithm to plan feasible paths. The algorithm solves the FeosiblePath problem, in worst-case time O(m5) where m is the product of the number of vertices describing the robot and obstacles respectively. A Feasiblepath solution hierarchy, for assembly sequence planning, is described for incremental, straight-line and multi-step paths. The Polyhedral Cone Representation (PCR) is introduced to efficiently represent the geometrical constraints on translation and as a basis for fast collision avoidance checks. We introduce the concept of Window Corners in the PCR and this results in a finite search space. The Polyhedral Cone Obstacle Representation (PCUR), which is a constructive representation of all boundary contact configurations, transforms the problem into that of a point moving amongst a collection, O(m), of convex obstacles. In comparison, the worstcase space complexity of the C-space boundary is O(m3). Certain contact-constrained, feasible motions, which lie on surfaces without interior points can be inaccessible in a typ i d C-space representation. © 1992 Institute of electrical and Electronics Engineers Inc. All rights reserved.

关键词： Robot programming

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An Information Theoretic Approach to Approximate Reasoning

An Information Theoretic Approach to Approximate Reasoning

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1992 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1992

作者： Gottschlich, S.N. Stephanou, H.E. New York State Center for Advanced Technology in Automation and Robotics Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0780307372

In traditional geometric modeling, it is common to assume that models of objects created are complete and correct. Unfortunately in real life robots and other autonomous machines may have only uncertain knowledge of only a portion of an object's geometry and therefore we need to be able to create object models that are incomplete and uncertain. Towards this end we have developed mechanisms for representing geometric entities in terms of Dempster-Shafer belief functions. To do this we have extended the notion of belief functions to include continuous frames of discernment. A fractal model of the belief functions is developed and information theory concepts are applied for reasoning about a sensor data model vis-a-vis reference object models. An implementation of these concepts and experiments involving them are discussed. © 1992 IEEE.

关键词： Uncertainty analysis

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Volumetric Based Inspection

Volumetric Based Inspection

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1992 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1992

作者： Tarbox, G.H. Gottschlich, S.N. Gerhardt, L.A. New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0780307372

A novel approach to inspection is presented based on comparing a volumetric representation of a reference object to a volumetric representation of an actual object iteratively created from sensor data. The use of volumetric representations gives this approach a number of distinct advantages over the more traditional surface-based inspection methods. One significant advantage of volumetric inspection is that there is no need to identify geometric "features", particularly important when inspecting objects such as castings and forgings whose features are often difficult to identify. Secondly, the volumetric representation lends itself naturally to a multi-sensor environment. By this we mean that a volumetric model of the sensed object can be synthesized utilizing information from multiple sensors of varying types, accuracy, location, etc. This allows a choice of the most appropriate sensor for acquiring information about the different regions of the object. Finally, the volumetric representation allows us to carry out true three-dimensional inspection as opposed to the typical approach where renderings of the reference model are compared to two-dimensional images of the actual object. © 1992 IEEE.

关键词： Inspection

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Two adaptive control structures of robot manipulators

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Journal of Intelligent and Robotic systems 1992年第2-3期6卷 203-218页

作者： Jamshidi, M. Oh, B.J. Seraji, H. CAD Laboratory for Intelligent and Robotic Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque 87131 NM United States Department of Automation Technologies Korea Electronics and Telecommunications Research Institute Daedog Danji Taejeon Korea Republic of Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive Pasadena 91109 CA United States

This paper proposes two simple adaptive control schemes of robot manipulators. The first one is the state feedback control which consists of feedforward from the desired position trajectory, PD feedback from the actual trajectory, and an auxiliary input. The second one is the feedforward/feedback control which consists of a feedforward term from the desired position, velocity, and acceleration trajectory based on the inverse of robot dynamics. The feedforward, feedback, and auxiliary gains are adapted using simple equations derived from the decentralized adaptive control theory based on Lyapunov's direct method, and using only the local information of the corresponding joint. The proposed control schemes are computationally fast and do not require a priori knowledge of the detail parameters of the manipulator or the payload. Simulation results are presented in support of the proposed schemes. The results demonstrate that both controllers perform well with bounded adaptive gains. © 1992 Kluwer Academic Publishers.

关键词： Trajectories

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The CNN Universal Machine part 2: Programmability and applications 2

The CNN Universal Machine part 2: Programmability and applic...

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2nd International Workshop on Cellular Neural Networks and their Applications, CNNA 1992

作者： Roska, Tamás Chua, Leon O. Electronics Research Laboratory Department of Electrical Engineering and Computer Science University of California at Berkeley BerkeleyCA94720 United States Dual and Neural Computing Systems Laboratory Computer and Automation Institute of the Hungarian Academy of Sciences Kende-u.13/17 BudapestH-1111 Hungary

ISBN: (纸本)0780308751

The programmability (as a stored program) of the CNN Universal Machine is discussed first. It is shown why and in which sense this machine is universal. A new type of algorithm, the analogic one, is introduced. The application potential is reviewed and the biological relevance is analyzed. It turns out that the architecture is optimal not only for silicon implementations, however, many biological information processing organs have the same structure. © 1992 IEEE.

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The CNN Universal Machine part 1: The architecture 2

The CNN Universal Machine part 1: The architecture

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2nd International Workshop on Cellular Neural Networks and their Applications, CNNA 1992

作者： Chua, Leon O. Roska, Tamás Electronics Research Laboratory Department of Electrical Engineering and Computer Science University of California at Berkeley BerkeleyCA94720 United States Dual and Neural Computing Systems Laboratory in the Computer and Automation Institute of the Hungarian Academy of Sciences Kende-u.13/17 BudapestH-1111 Hungary

ISBN: (纸本)0780308751

Various types of CNNs are summarized and the taxonomy of CNN is given according to the different types of grids, processors, interactions, and modes of operation. Next, the CNN Universal Machine is introduced. The architecture and the key features are outlined. A quite exhaustive list of references completes the paper. © 1992 IEEE.

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The window corner algorithm for robot path planning with translations

The window corner algorithm for robot path planning with tra...

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IEEE International Conference on robotics and automation (ICRA)

作者： S.S. Krishnan A.C. Sanderson Electrical Computer and Systems Engineering Department Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

The feasible path problem is solved for planning a collision-free path to translate an arbitrary polyhedral robot from an initial position to some goal position in a polyhedral environment. The shortest path problem entails finding the shortest feasible path. The authors present two versions of the window corner (WC) algorithm, which is a novel solution to the problems for the case of single and multistep translational paths for two dimensions, and then summarize the extension to the three-dimensional WC algorithm, for feasible paths. The concept of window corners in the polyhedral cone representation (PCR) is introduced, which reduces the search space. The PCR cones store constraints between boundary elements. The PCO representation has O(m) vertices compared to O(m/sup 2/) in a C-space representation. The WC algorithm was tested and an example from assembly path planning is presented.< >

关键词： Path planning robotics and automation Optical wavelength conversion Euclidean distance Mobile robots Orbital robotics systems engineering and theory Technology planning Tail Testing

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Efficient distance computation using best ellipsoid fit

Efficient distance computation using best ellipsoid fit

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IEEE International Symposium on Intelligent Control (ISIC)

作者： E. Rimon S.P. Boyd Robotics Laboratory Department of Computer Science University of Stanford USA Information Systems Laboratory Department of Electrical Engineering University of Stanford USA

The effectiveness of the ellipsoid representation for geometrical reasoning is demonstrated in the context of robotics. Specifically, a robot collision-detection problem that consists of computing a quantity that reflects, as a function of the geometrical data, the amount of clearance between the robot and its environment is discussed. The method consists of two algorithms. The first computes the optimal ellipsoid surrounding a convex polyhedron. The second computes an analytic formula for the free margin about one ellipsoid with respect to another, as a standard eigenvalue problem. An efficient incremental version of the latter algorithm is proposed. This system has been implemented, and preliminary simulation results are provided.< >

关键词： Ellipsoids Robots Shape measurement Laboratories Computational modeling Application software computer science Information systems Data structures Eigenvalues and eigenfunctions

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The Segmented Bus: A Dynamically Segmentable Interprocessor Communication Network For Intelligent Mobile Robot systems

The Segmented Bus: A Dynamically Segmentable Interprocessor ...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： C.M. Aras Ren C. Luo D.S. Reeves Department of Electrical and Computer Engineering Robotics and Intelligent Systems Laboratory North Carolina State University Raleigh NC USA

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