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IEEE International Conference on systems, Man and Cybernetics

作者： Wong-Gie Han Tae-Yong Kuc Agency for Defense Development Naval Weapon Systems Research and Development Center Chinhae Kyunggi South Korea Intelligent Control and Dynamic Simulation Laboratory School of Electrical and Computer Engineering Sung Kyun Kwan University Suwon Kyunggi South Korea

ISBN: (纸本)0780347781

Proposes a robust visual servoing scheme for robot manipulator with eye-in-hand camera configuration. To perform the tasks defined in the image plane, the velocity Jacobian matrix is used to transform the camera motion to the object position change. In addition, a dynamic learning controller is designed to improve the tracking performance of robotic system. The proposed control scheme is implemented for tasks of tracking moving objects and shown to outperform the conventional visual servo system without the dynamic control loop in convergence and robustness to parameter uncertainty, disturbances, low sampling rate, etc.

关键词： Robustness Robot vision systems Control systems Manipulator dynamics Cameras Visual servoing Jacobian matrices Tracking loops Servomechanisms Convergence

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Bounded tracking for non-minimum phase nonlinear systems with fast zero dynamics

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INTERNATIONAL JOURNAL OF CONTROL 1997年第4期68卷 819-847页

作者： Tomlin, CJ Sastry, SS Department of Electrical Engineering and Computer Sciences Intelligent Machines and Robotics Laboratory University of California Berkeley CA 94720-1770 United States

In this paper, we derive tracking control laws for non-minimum phase nonlinear systems with both fast and slow, possibly unstable, zero dynamics. The fast zero dynamics arise from a perturbation of a nominal system. These fast zeros can be problematic in that they may be in the right half plane and may cause large magnitude tracking control inputs. In this paper, we combine the ideas from some recent work of Hunt, Meyer and Su with that of Devasia, Chen and Paden on an asymptotic tracking procedure for non-minimum phase nonlinear systems. We give (somewhat subtle) conditions under which the tracking control input is bounded as the magnitude of the perturbation of the nominal system becomes zero. Explicit bounds on the control inputs are calculated for both SISO and MIMO systems using some interesting non-standard singular perturbation techniques. The method is applied to a suite of examples, including the simplified planar dynamics of VTOL and CTOL aircraft.

关键词： STABILIZATION AIRCRAFT perturbation Vertical take off Fasting tracking control Zero dynamics control input Aircraft Bounded multiple input multiple output systems

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Geometry and thermal regulation of GMA welding via conventional and neural adaptive control

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JOURNAL OF intelligent & ROBOTIC systems 1997年第2期19卷 153-186页

作者： Tzafestas, SG Rigatos, GG Kyriannakis, EJ Department of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory National Technical University of Athens 15773 Zografou Campus Athens Greece

This paper investigates the application of conventional and neural adaptive control schemes to Gas Metal Are (GMA) welding. The goal is to produce welds of high quality and strength. This can be achieved through proper on-line control of the geometrical and thermal characteristics of the process. The welding process is variant in time and strongly nonlinear, and is subject to many defects due to improper regulation of parameters like arc voltage and current, or travel speed of the torch. Adaptive control is thus naturally a very good candidate for the regulation of the geometrical and thermal characteristics of the welding process. Here four adaptive control techniques are reviewed and tested, namely: model reference adaptive control (MRAC), pseudogradient adaptive control (PAC), multivariable self-tuning adaptive control (STC), and neural adaptive control (NAC). Extensive numerical results are provided, together with a discussion of the relative merits and limitations of the above techniques.

关键词： gas metal arc (GMA) welding geometric characteristics thermal characteristics adaptive control pseudogradient control self-tuning control neural adaptive control regulation of GMA welding

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Compensation of teleoperator modeling uncertainties with a sliding mode controller

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robotics AND computer-INTEGRATED MANUFACTURING 1997年第1期13卷 9-20页

作者： Tzafestas, SG Prokopiou, PA Intelligent Robotics and Automation Laboratory Computer Science Division Department of Electrical and Computer Engineering National Technical University of Athens Zografou Campus 15773 Athens Greece

The response of a previously proposed teleoperator system, which was not based on the traditional notion of telepresence but on an original form of kinesthetic feedback, is tested under modeling errors of up to 50%. The original system is enhanced by replacing the previous controller of each robot with a sliding mode robust one. A two-stage approach is employed: a desired trajectory is first generated and then tracked by the controller. The difficulties incurred for the man/machine cooperation are discussed. This extension of the original teleoperator architecture is tested through simulations and compared with a twin system based on neural controllers, presented elsewhere. (C) 1997 Elsevier Science Ltd.

关键词： Man machine systems

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Calibrating a multi-manipulator robotic system (vol 4, pg 20, 1997)

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IEEE robotics & AUTOMATION MAGAZINE 1997年第2期4卷 44-44页

作者： Bonitz, RG Hsia, TC Jet Propulation Laboratory Pasadena CA USA Systems.Control and Robotics Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is tested on a dual-arm system which resulted in an order of magnitude reduction in the pose error. Coordinated dual-arm manipulation experiments are conducted using the calibrated kinematic model to validate the usefulness of the calibration process

关键词： Calibration Robot kinematics Manipulators robotics and automation Force control End effectors Acoustic measurements Testing Coordinate measuring machines Position measurement

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Three-dimensional scene analysis using multiple range finders — Data capture, coordinate transformations and initial segmentation 10th

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10th Australian Joint Conference on Artificial Intelligence, AI 1997

作者： Hofman, Irving Jarvis, Ray Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash Univeristy ClaytonVIC3168 Australia

ISBN: (纸本)3540637974

A system for acquiring a complete three-dimensional surface description of a complex scene using multiple rangefinders is described. These scenes may contain multiple free-form objects with both convex and concave surface elements. A unique approach for registering each of the views is also proposed. A diamond shaped model with known geometric properties is used to register each of the six views. Range data acquired from each of the views is transformed to match the model using affine transforms that are calculated using a least squares minimisation approach. Once the transformation is known, it can be used for all successive range data acquisition. This method is accurate, requires very little computation time, and is invariant to initial conditions. An efficient method for calculating surface normals at each data point is also described. It makes use of the rectangular grid of points in the image from which each three-dimensional data set is extracted. Low level processing of the registered data using the shared nearest neighbour clustering technique is also described. This provides a very rich set of semantic free partitions upon which to base higher level processing. This will ultimately lead to complete scene descriptions, including object identity, pose and juxtaposition, suitable for supporting intelligent robotic manipulation. © Springer-Verlag Berlin Heidelberg 1997.

关键词： Data acquisition

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Robust motion segmentation using rank ordering estimators 3rd

Robust motion segmentation using rank ordering estimators

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3rd Asian Conference on computer Vision, ACCV 1998

作者： Bab-Hadiashar, Alireza Suter, David Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3168 Australia

ISBN: (纸本)3540639314

Robust estimators have become popular tools for solving a wide range of problems in computer vision. Despite many successes in this field, there is still a need for estimators, which are suited to specific problems such as recovering structures from multi-structural data. This paper offers an alternative approach to, and some practical insights into, the implementation of well-known rank ordering based robust estimators. The approach has been tested on synthetic and real image data for motion segmentation purposes. © 1997, Springer Verlag. All rights reserved.

关键词： Image segmentation

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A nephelometric tactile sensor 10th

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10th Australian Joint Conference on Artificial Intelligence, AI 1997

作者： Russell, R. Andrew Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3168 Australia

ISBN: (纸本)3540637974

This paper describes the design and construction of a novel robot tactile sensor array. The sensory principle employed is the measurement of diffuse reflected light emanating from a turbid liquid when the liquid is illuminated by a collimated light source. External objects pressed against the sensor vary the thickness of a layer of turbid liquid. Light entering this liquid is back-scattered in proportion to the liquid thickness. If the light passes through more liquid then more light is backscattered. Operation of the sensor does not rely on light being reflected by the outer flexible membrane which contains the liquid. This is seen as an advantage of this sensor design. Being optical the transduction mechanism is immune to electric and magnetic interference. Compliance of the sensor surface would accommodate a degree of inaccuracy in positioning, aid stable grasping and resist damage in robotic applications. Results obtained using a prototype version of the sensor are also presented. © Springer-Verlag Berlin Heidelberg 1997.

关键词： Liquids

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Robust total least squares based optic flow computation 3rd

Robust total least squares based optic flow computation

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3rd Asian Conference on computer Vision, ACCV 1998

作者： Bab-Hadiashar, Alireza Suter, David Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3168 Australia

ISBN: (纸本)3540639306

This paper considers the problem of finding a robust solution to the optic flow problem. The optical flow field is recovered by solving a system of over-determined linear equations with all the data matrices containing both outliers and noise. Here, we present a novel and very effective solution for this problem called weighted total least squares. The weights for this method are computed using a new robust statistical method named least median of squares orthogonal distances. Unlike the total least squares which is only robust to noise, this method is extremely robust to both noise and outliers and can tolerate up to 50% of equations in the system to be contaminated by outliers. The proposed weighting method is fast and the total computation remains inexpensive. To demonstrate the performance of the proposed algorithm, we compare the accuracy of our algorithm for computing optic flow field for a number of synthetic and real image sequences and show that the proposed method, despite being very simple and straightforward, out performs all methods used for comparison. © Springer-Verlag Berlin Heidelberg 1997.

关键词： Flow fields

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Creating adroit mechanisms by using large numbers of simple homogeneous structures 10th

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10th Australian Joint Conference on Artificial Intelligence, AI 1997

作者： Russell, R. Andrew Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3168 Australia

ISBN: (纸本)3540637974

The project described in this paper investigates the idea that, in some circumstances, the functions of a complex mechanism can be performed by a large number of simpler units. There are example in nature that support this approach. In the case of locomotion this is seen in the starfish that walks on a large number of tube feet. The structure and control of starfish feet are both simpler than would be the case if the starfish had a small number of more complex legs. There are similar examples in the case of manipulation. Cilia, which line the bronchial passages, work together to transport foreign particles out of the lungs. Individual cilia are simple and their great numbers provide reliability through redundancy. In this paper the idea of creating a versatile system from many elementary units is developed in the context of a multi fingered gripper. The prototype gripper has eight simple, one degree-of-freedom fingers. It is found that this gripper provides excellent grasp stability for a wide range of object shapes and is able to translate, rotate and measure the surface profile of gripped objects. This paper outlines the gripper design together with algorithms for performing grasping, repositioning and object recognition. Experimental results are also presented which illustrate the performance of the gripper. © Springer-Verlag Berlin Heidelberg 1997.

关键词： Grippers

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