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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： J. Chen D.M. Dawson W.E. Dixon A. Behal Department of Electrical & Computer Engineering Clemson University Clemson SC USA Engineering Science and Tech. Division-Robotics Oak Ridge National Laboratory Oak Ridge TN USA

In this paper, a homography-based adaptive visual servo controller is described to enable a robot end-effector to track a desired Euclidean space trajectory as determined by a sequence of images for the fixed camera configuration. To achieve the objective, a Lyapunov-based adaptive control strategy is employed to actively compensate for unknown depth measurements and the lack of an object model. The error systems are constructed as a hybrid of pixel information and reconstructed Euclidean variables obtained by comparing the images and decomposing a homographic relationship.

关键词： Servomechanisms Adaptive control Programmable control Image reconstruction Acoustic sensors Sensor fusion Orbital robotics Cameras Image sensors Kinematics

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Adaptive range identification for exponential visual servo tracking

Adaptive range identification for exponential visual servo t...

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IEEE International Symposium on Intelligent control (ISIC)

作者： W.E. Dixon Y. Fang D.M. Dawson J. Chen Engineering Science and Tech. Division-Robotics Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical & Computer Engineering Clemson University Clemson SC USA

A projective homography is developed by relating feature points extracted from images taken at the reference and current camera position/orientation. By decomposing the homography into translation and rotation components, geometric relationships are determined that facilitate the construction of an adaptive strategy to identify unknown depth information. The development of the parameter identification strategy provides a mechanism to develop a position-based and a hybrid position/image-based visual servo controller for a trajectory tracking control problem. By using information obtained from the parameter identification strategy, both visual servoing controllers are proven to yield exponential tracking.

关键词： Servomechanisms Cameras Acoustic sensors Feature extraction Robot vision systems Parameter estimation Visual servoing Servosystems Sensor fusion Image reconstruction

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An exponential class of model-free visual servoing controllers in the presence of uncertain camera calibration

An exponential class of model-free visual servoing controlle...

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IEEE Conference on Decision and control

作者： Y. Fang W.E. Dixon D.M. Dawson J. Chen Department of Electrical & Computer Engineering Clemson University Clemson SC USA Engineering Science and Tech. Division-Robotics Oak Ridge National Laboratory Oak Ridge TN USA

ISBN: (纸本)0780379241

In recent papers, a new class of model-free (i.e., the 3-dimensional task-space model of the object is unknown) visual servoing methods was proposed that are based on the estimation of the relative camera orientation between two views of an object. By utilizing homography-based techniques, the control problem is decoupled by separating the rotation and translation components. A single controller is used to control the rotation component, and the class members consist of various translation controllers. Each of the current class members has been proven to yield asymptotic regulation in the presence of uncertainty in the intrinsic and extrinsic calibration parameters. New control development and stability analysis techniques are crafted in this paper to develop a new translation controller that yields exponential rotation and translation regulation in the presence of uncertainty in the intrinsic and extrinsic calibration parameters. Extensions to this research can be used to yield exponential regulation by the other translation controllers in the asymptotic class presented.

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Identification of a moving object's velocity with a fixed camera

Identification of a moving object's velocity with a fixed ca...

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IEEE Conference on Decision and control

作者： V.K. Chitrakaran D.M. Dawson W.E. Dixon J. Chen Department of Electrical & Computer Engineering Clemson University Clemson SC USA Engineering Science and Tech. Division-Robotics Oak Ridge National Laboratory Oak Ridge TN USA

ISBN: (纸本)0780379241

In this paper, a continuous estimator strategy is utilized to asymptotically identify the six degree-of-freedom velocity of a moving object using a single fixed camera. The design of the estimator is facilitated by the fusion of homography-based techniques with Lyapunov design methods. Similar to the stereo vision paradigm, the proposed estimator utilizes different views of the object from a single camera to calculate 3D information from 2D images. In contrast to some of the previous work in this area, no explicit model is used to describe the movement of the object; rather, the estimator is constructed based on bounds on the object's velocity, acceleration, and jerk.

关键词： Cameras Kinematics Robot vision systems Stereo vision Biological system modeling Adaptive control Network address translation Laboratories Design methodology Acceleration

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Robust 2.5D visual servoing for robot manipulators

Robust 2.5D visual servoing for robot manipulators

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American control Conference (ACC)

作者： Y. Fang W.E. Dixon D.M. Dawson J. Chen Department of Electrical & Computer Engineering Clemson University Clemson SC USA Eng. Science and Tech. Division-Robotics Oak Ridge National Laboratory Oak Ridge TN USA

In this paper, the 3-dimensional (3D) position and orientation of a camera held by the end-effector of a robot manipulator is regulated to a constant desired position and orientation despite (i) the lack of depth information of the actual or desired camera position from a target, (ii) the lack of a geometric model of the target object, and (iii) uncertainty regarding both the angle and axis of rotation of the camera with respect to the robot end-effector (i.e., the orientation extrinsic camera parameters). By fusing 2D image-space and projected 3D task-space information (i.e., 2.5D visual servoing), a robust controller is developed that ensures exponential regulation of the position and orientation of the camera. The stability of the controller is proven through a Lyapunov-based analysis.

关键词： Robustness Visual servoing Manipulators Cameras Robot vision systems Robust control Biosensors Uncertainty control systems Robot sensing systems

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Range identification for perspective vision systems

Range identification for perspective vision systems

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American control Conference (ACC)

作者： W.E. Dixon Y. Fang D.M. Dawson T.J. Flynn Eng. Science and Tech. Division-Robotics Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical & Computer Engineering Clemson University Clemson SC USA Department of Computer Science Southem Illinois University Carbondale Carbondale IL USA

In this paper, a new continuous observer is developed to determine range information (and hence the 3-dimensional (3D) coordinates) of an object feature moving with affine motion dynamics (or the more general Riccati motion dynamics) with known motion parameters. The unmeasurable range information is determined from a single camera provided an observability condition is satisfied that has physical significance. To develop the observer, the perspective system is expressed in terms of the nonlinear feature dynamics. The structure of the proposed observer is inspired by recent disturbance observer results. The proposed technique facilitates a Lyapunov-based analysis that is less complex than the sliding-mode based analysis derived for recent discontinuous observer designs. The analysis demonstrates that the 3D task-space coordinates of the feature point can be asymptotically identified.

关键词： Machine vision Nonlinear dynamical systems Cameras Motion measurement Robot kinematics Network address translation computer science Riccati equations Observability Image analysis

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Integration of topological and metric maps for indoor mobile robot path planning and navigation 2nd

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2nd Hellenic Conference on Artificial Intelligence, SETN 2002

作者： Zavlangas, Panagiotis G. Tzafestas, Spyros G. Intelligent Robotics and Automation Laboratory Signals Control and Robotics Division Department of Electrical and Computer Engineering National Technical University of Athens Zografou Athens15773 Greece

ISBN: (纸本)3540434720

Autonomous mobile robots need to use spatial information about the environment in order to effectively plan and execute navigation tasks. The information can be represented at different levels of abstraction, ranging from detailed geometric maps to coarse topological maps. Each level is adequate for some sub-task, but not for others. In this paper, we consider the representation of spatial knowledge at two different levels of abstraction, which are commonly considered in the robotics literature: the geometric level, and the topological level. We propose to represent the environment by local metric maps connected into a topological network. This technique allows us to use maps that are not metrically consistent on the global scale, although they are metrically consistent locally. The structure allows also the combination of abstract global reasoning and precise local geometric computations. Moreover, this structure reflects the typical organization of indoor environments, where rooms and hallways define independent but connected local working spaces. To navigate in the environment, the robot uses the topological information to plan a sequence of sectors to traverse, and uses the metric information in each sector to locally move within the sector and to the next one. The functioning of the proposed system with respect to omnidirectional mobile robots and results of simulated experiments are presented. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Abstracting

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Human systems integration and advanced technology in engineering department workload and manpower reduction

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NAVAL ENGINEERS JOURNAL 2003年第1期115卷 57-65页

作者： Lively, KA Seman, AJ Kirkpatrick, M KENNETH A. LIVELY graduated from the University of Colorado with a BS in applied mathematics and an MS in mathematics in 1976 and from the Massachusetts Institute of Technology with an MS in electrical engineering and the degree ocean engineer in naval architecture and marine engineering in 1984. He retired from the U.S. Navy in 1989 after 23 years of service. Assignments included electrical officer on the USS Constellation (CV 64) project engineer for the DDG 51 machinery control system (NAVSEA) and DDG 51 Technical Director (NAVSEA). He was vice president of the PDI Division of Bird-Johnson Company from July 1989 to November 1998 where he managed various gas turbine and machinery controls related development projects. He joined Anteon Corporation's Systems Engineering Group as senior controls engineer in December 1998 where he provided technical support to the integrated power systems program (NAVSEA PMS 510) and managed the Office of Naval Research Afloat Laboratory. DR. MARK KIRKPATRICK is currently an independent consultant in human factors and work-load/manning analysis and modeling. He holds a Ph.D. degree in experimental psychology from The Ohio State University and has 34 years of experience in applied human factors. From 1982 through 2000 Dr. Kirkpatrick served as the senior vice president of Carlow International. Prior to joining Carlow in 1982 Dr. Kirkpatrick served as a member of the technical staff at North American Rockwell's Missiles Division and as a project director and vice president for Essex Corporation. His areas of expertise include workload simulation task analysis operator-in-the-loop simulation human performance experimentation statistical analysis and human factors T&E. He has directed and/or participated in human factors projects for the U.S. Navy U.S. Army NASA Department of Transportation the U.S. Nuclear Regulatory Commission and private industry. ANTHONY J. SEMAN III is the technical manager for the reduced ship's crew by virtual presence (RSVP) advanced technology d

Aboard current ships, such as the DDG 51, engineering control and damage control activities are manpower intensive. It is anticipated that, for future combatants, the workload demand arising from operation of systems under conditions of normal steaming and during casualty response will need to be markedly reduced via automated monitoring, autonomous control, and other technology initiatives. Current DDG 51 class ships can be considered as a manpower baseline and under Condition III typical engineering control involves seven to eight watchstanders at manned stations in the Central control Station, the engine rooms and other machinery spaces. In contrast to this manning level, initiatives such as DD 21 and the integrated engineering plant (IEP) envision a partnership between the operator and the automation system, with more and more of the operator's functions being shifted to the automation system as manning levels decrease. This paper describes some human systems integration studies of workload demand reduction and, consequently, manning reduction that can be achieved due to application of several advanced technology concepts. Advanced system concept studies in relation to workload demand are described and reviewed including. Piecemeal applications of diverse automation and remote control technology concepts to selected high driver tasks in current DDG 51 activities. Development of the reduced ship's crew by virtual presence system that will provide automated monitoring and display to operators of machinery health, compartment conditions, and personnel health. The IEP envisions the machinery control system as a provider of resources that are used by various consumers around the ship. Resource needs and consumer priorities are at all times dependent upon the ship's current mission and the availability of equipment pawnbrokers.

关键词： Naval warfare

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Permanent magnet stepper motor control via position-only feedback

Permanent magnet stepper motor control via position-only fee...

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American control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

In this paper, a robust nonlinear dynamic controller is designed to achieve global practical stabilization for position tracking error of a voltage-fed permanent-magnet stepper motor. The control design is an output-feedback design that utilizes only rotor position measurement. Rotor velocity and stator phase currents are not available for feedback. Furthermore, only upper and lower bounds are required for the electromechanical parameters of the motor. The proposed controller is robust to load torques, friction, cogging forces, and other disturbances satisfying certain bounds. These results can also be extended to other classes of motors.

关键词： Motor drives Feedback Robust control Rotors Voltage control Error correction Permanent magnet motors control design Position measurement Stators

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Generalized adaptive output-feedback form with unknown parameters multiplying high output relative-degree states

Generalized adaptive output-feedback form with unknown param...

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IEEE Conference on Decision and control

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

We propose a global high-gain scaling based observer/controller for systems in the uncertain generalized output-feedback canonical form. Time-varying nonlinear parametric uncertainty is allowed to occur coupled with unmeasured states in the system dynamics. This represents a significant generalization from existing results which allow unknown parameters only in output-dependent terms. This restriction in previous results is mainly owing to the fact that no general solution is known for systems involving bilinear terms in unmeasured states. The design utilizes the dual architecture of a high-gain observer and controller with the underlying state scaling being dynamically output-dependent. The proposed observer/controller structure provides a globally asymptotically stabilizing output-feedback solution for the benchmark open problem proposed in our earlier work with the provision that a magnitude bound on the unknown parameter be given.

关键词： Riccati equations control systems Linear matrix inequalities Differential equations Robot control Laboratories Ear Uncertainty Lyapunov method Linear systems

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