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A virtual environment for construction and analysis of manufacturing prototypes 15

A virtual environment for construction and analysis of manuf...

引用

ASME 1995 15th International computers in engineering Conference, CIE 1995 and the ASME 1995 9th Annual engineering Database Symposium collocated with the ASME 1995 Design engineering Technical Conferences

作者： Chuter, Christopher J. Ramaswamy, S. Barber, K.S. Laboratory for Intelligent Processes and Systems Department of Electrical and Computer Engineering The University of Texas at Austin AustinTX78712-1084 United States

ISBN: (纸本)9780791817018

The building of a virtual environment for the construction, analysis, and design of a three dimensional virtual manufacturing prototype is discussed. An agent-based framework is used to specify the visual environment. The environment is built to be flexible enough to support research efforts in scheduling, planning, and behavior modeling. The implementation consists of a heterogeneous, distributed interactive virtual environment using the virtual environment tool, DIVE. © 1995 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Virtual reality

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A sonar sensor for accurate 3D target localisation and classification

A sonar sensor for accurate 3D target localisation and class...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： H. Akbarally L. Kleeman Intelligent Robotics Research Centre Department of Electrical & Computer Systems Engineering Monash University Australia

This paper presents a novel sonar sensor consisting of three transmitters and three receivers that can localise and classify 3D targets into 16 different naturally occurring indoor classes. The sensor produces submillimeter range and sub-degree bearing accuracies using an optimal matched filter time of flight estimator up to a range of 6 meters. The sensor configuration, hardware and processing are described. Experimental results from the sensor are presented.

关键词： Sonar measurements Transmitters intelligent sensors Matched filters Pulse measurements intelligent robots Robot sensing systems Sensor phenomena and characterization Sensor fusion Robustness

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A low sample rate 3D sonar sensor for mobile robots

A low sample rate 3D sonar sensor for mobile robots

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Hong Mun Li L. Kleeman Intelligent Robotics Research Centre Department of Electrical & Computer Systems Engineering Monash University Australia

This paper describes an ultrasonic sensor which uses the times of flight from three Polaroid ultrasonic transducers arranged in an equilateral triangle to identify and localise planes, 2D and 3D corners. The sensor employs a maximum likelihood estimator and a data acquisition system with a low sampling rate of about 59 kHz. The hardware and processing requirements are modest and fast due to the simple identification algorithms and sensor structure. Localisation of the objects can be achieved with range error of about 2 mm and bearing error of less than 1/spl deg/. The sensor has been applied to localising a robot in a known indoor environment using 3D natural features and has achieved accuracies of 1 cm in position and 2/spl deg/ in bearing.

关键词： Sonar Mobile robots Sensor phenomena and characterization Ultrasonic transducers Sensor systems Maximum likelihood estimation Data acquisition Sampling methods Hardware Robot sensing systems

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Statistical estimation for exterior orientation from line-to-line correspondences 3rd

引用

3rd International computer Science Conference, ICSC 1995

作者： Lee, Chung-Nan Haralick, Robert M. Institute of Computer and Information Engineering National Sun Yat-Sen University Kaohsiung 80424 Taiwan Intelligent Systems Laboratory Department of Electrical Engineering • FT-10 University of Washington SeattleWA98195 United States

ISBN: (纸本)9783540606970

This paper presents a statistical estimation from which a new objective function for exterior orientation from line correspondences is derived. The objective function is based on the assumption that the underlying noise model for the line correspondences is the Fisher distribution. The assumption is appropriate for 3D orientation, is different from the underlying noise models for k pixels positions, and allows us to do a consistent estimation of the unknown parameters. The objective function gives two important facts: its formulation and concept is different for that of previous work, and it automatically estimates six unknown parameters simultaneously. As a result, it provides an optimal solution and better accuracy. We design an experimental protocol to evaluate the performance of the new algorithm. The results of each experiment shows that the new algorithm produces answers whose errors are 10%–20% less than the competing decoupled least squares algorithm. © Springer-Verlag Berlin Heidelberg 1995.

关键词： Parameter estimation

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Improving the response of SMA actuators

Improving the response of SMA actuators

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R.A. Russell R.B. Gorbet Intelligent Robotics Research Centre Department of Electrical & Computer Systems Engineering Monash University Clayton NSW Australia Department of Electrical and Computer Engineering University of Waterloo Waterloo ON Canada

Shape memory alloy (SMA) based actuators have a number of attributes which make them useful for robotic applications. Unfortunately their response is relatively slow being limited by the speed with which the SMA can be heated and cooled. This paper describes two novel developments of the basic SMA actuator which improve dynamic performance. To allow rapid heating of the shape memory alloy wire without the danger of over heating an infrared temperature sensor is introduced. Cooling is improved with the aid of a mobile heat sink. These developments are described and preliminary results are presented.

关键词： Actuators Cooling Heat sinks Wire Robots Energy consumption Shape memory alloys Infrared heating Water heating Shafts

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Categorical color projection for robot road following

Categorical color projection for robot road following

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Nan Zeng J.D. Crisman Robotics & Vision Systems Laboratory Department of Electrical and Computer Engineering Northeastern University Boston MA USA

This paper shows that categorical color developed in Yue Du (1994) is a good representation of color space for some robot vision tasks. The authors use SCARF as a test case to compare 'equivalent' RGB, categorical color, and intensity robot vision algorithms on a difficult robot road following task. SCARF uses a full three-dimensional representation of color space to formulate road and off-road colors. Performing categorical color or intensity projection, the authors can model the road and off-road colors as single dimensional probability density functions. This greatly reduces the time to process the color image. Moreover, the authors show that categorical color is a good representation in that it outperforms an equivalent intensity algorithm on the robot tasks. Categorical color, while it cannot outperform the original RGB algorithm, performs well enough to be used in this particular robot application. Its effectiveness is verified by many experiments on difficult road image sequences.

关键词： Roads Robot vision systems Orbital robotics Color Machine vision Mobile robots Image segmentation Layout Image edge detection Degradation

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A reduced complexity vision system for autonomous helicopter navigation

A reduced complexity vision system for autonomous helicopter...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： P.H. Batavia M.A. Lewis G.A. Bekey Department of Computer ScienceInstitute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Department of Electrical Engineering Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

Many current avenues of vision research involve fully analyzing an image with expensive, high powered computers. This approach has major implications in terms of cost, size, and power consumption. Other methods have involved sub-sampling an image to reduce cost and complexity. This has the disadvantage of information loss. We present a low cost, low powered, reduced complexity vision system capable of intelligently sampling an image to reduce this information loss. The design philosophy and methodology is discussed, along with sample applications. Primarily we demonstrate how the reduced complexity vision system will be used to aid in navigation of an autonomous flying vehicle. This is quantified by showing how having multiple sampling schemes result in increased robustness and accuracy of our helicopter line tracking algorithm.

关键词： Machine vision Helicopters Costs Image sampling Image analysis computer vision Energy consumption intelligent systems Design methodology Aircraft navigation

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Mission reachability for extraterrestrial rovers

Mission reachability for extraterrestrial rovers

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： G.S. Sukhatme M.A. Lewis G.A. Bekey Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Department of Electrical Engineering Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

A methodology for the mobility evaluation and mission oriented performance assessment of an autonomous mobile robot is developed. The evaluation strategy uses both time and energy based measures resulting in the development of isochronal/isoenergy contours which characterize the expected mobility of the robot over novel terrain using sample trials on patches of land prior to the mission. This work has a basis in the evaluation of a robot for extraterrestrial exploration and demonstrates the feasibility of the evaluation methodology proposed using simulations. Simulation results are reported for two designs of micro-rovers viz. legged and wheeled on a simulated Martian terrain. Future work is discussed in the context of increased complexity due to hardware implementations, better terrain models and statistical simulations all of which are currently under development.

关键词： Mobile robots Path planning intelligent robots Context modeling Mars Testing Performance evaluation robotics and automation computer science intelligent systems

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OARS: an object-oriented architecture for reactive systems

OARS: an object-oriented architecture for reactive systems

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： B.T. Barcio S. Ramaswamy K.S. Barber The Laboratory for Intelligent Processes and Systems Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

This paper discusses an architecture designed to provide support for the development of state transition models for an object-oriented distributed environment. The state transition models can be constructed and specified hierarchically as well as derived into new classes of objects through the use of inheritance. A new concept called "exit-safe states" is introduced to assist in the specification of hierarchical state transition models. A graphical monitor to analyze the system at run time has been developed.

关键词： Object oriented modeling computer architecture Encapsulation Software reusability intelligent systems Monitoring Software design Software systems Software maintenance Information analysis

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APE: an experience-based assembly sequence planner for mechanical assemblies

APE: an experience-based assembly sequence planner for mecha...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： A. Swaminathan K.S. Barber The Laboratory for Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

This paper presents an approach to the assembly sequence planning problem based on a "plan reuse" philosophy, called the Assembly Planner using Experience (APE). Assembly planning research in the past has attempted to completely plan each problem from scratch. This research shows that stored cases of basic assembly configurations can be applied to a given assembly problem. It is observed that the number of such basic assembly configurations is quite small. Constraints affecting the assembly are also explicitly handled.

关键词： Assembly systems Process planning Laboratories intelligent systems Production planning Control systems Production systems Job shop scheduling Manufacturing Production equipment

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