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IEEE International Conference on robotics and Automation (ICRA)

作者： R.A. Russell D. Thiel R. Deveza A. Mackay-Sim Intelligent Robotics Research Centre Department of Electrical&Computer Systems Engineering Monash University Clavton VIC Australia School of Microelectronic Engineering Griffith University Brisbane QLD Australia School of Science Griffith University Brisbane QLD Australia

Tracing leaks of airborne radioactive, poisonous or flammable materials is a potentially dangerous activity that could be undertaken by robotic systems. This paper describes a practical investigation of the possibility of developing simple, low cost, autonomous robots to perform this task. It is envisaged that these robots would be used in large numbers. This would improve reliability through redundancy and provide large area coverage from a wide distribution of robots. Failure of a single unit would not jeopardise the overall sensing operation. Sensing and control techniques developed to perform leak location in a simplified laboratory environment are described and experimental results are presented.

关键词： Chemical hazards Robot sensing systems Mobile robots Chemical sensors Wheels intelligent robots Chemical technology Orbital robotics Computational geometry Vehicles

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Complete algorithms for reorienting polyhedral parts using a pivoting gripper

Complete algorithms for reorienting polyhedral parts using a...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Rao D. Kriegman K. Goldberg Department of Computer Science Utrecht University Postbus Utrecht Netherlands Center for Systems Science Department of Electrical Engineering Yale University New Heaven CT USA University of Utrecht Netherlands Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los Angeles CA USA

To rapidly feed industrial parts on an assembly line, Carlisle et. al. (1994) proposed a flexible part feeding system that drops parts on a flat conveyor belt, determines the pose of parts with a vision system and manipulates them into a desired pose. A robot arm with 4-DOF is capable of moving parts through 6-DOF when equipped with a passive pivoting axis between the parallel jaws of its gripper. We refer to these actions as pivot grasps. This paper considers the planning problem. Given a polyhedral part shape, coefficient of friction and a pair of stable configurations as input, find pairs of grasp points that will cause the part to pivot from one stable configuration to the other. For some transitions, pivot grasps may not exist. For a part with n faces and m stable configurations, we give an O(m/sup 2/n log n) algorithm to generate the m/spl times/m matrix of pivot grasps. When the part is star shaped, this reduces to O(m/sup 2/n). We also study a generalization that considers "capture regions" around stable configurations. Both algorithms are complete in that they are guaranteed to find pivot grasps when they exist.

关键词： Grippers robotics and automation Service robots Feeds Belts Machine vision computer science intelligent robots Manipulators Robotic assembly

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TMS320 DSP based neuro-fuzzy controller

TMS320 DSP based neuro-fuzzy controller

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IEEE International Conference on systems, Man and Cybernetics

作者： K.K. Kumbla M.-R. Akbarzadeh-T. M. Jamshidi CAD Laboratory for Intelligent and Robotic Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA University of New Mexico Albuquerque NM US CAD Lab. for Intelligent & Robotic Syst. New Mexico Univ. Albuquerque NM USA

Fuzzy logic can be used to map complex nonlinear relations by a set of IF-THEN rules. The membership functions are designed by intuitive human reasoning. This poses two problems; first, for different control application a new set of membership functions have to developed and second, once these membership functions are developed and implemented there is no means of changing them. This means fuzzy logic lacks a learning function. Neural network on the other hand self-organizes the mapping relationship by learning. So by integrating neural networks and fuzzy logic it is possible to overcome these problems. Implementing this algorithm on a TMS320 DSP chip is discussed. Controlling a flexible link manipulator is taken as an example to evaluate the controller.

关键词： Digital signal processing Fuzzy logic Biological neural networks Artificial neural networks Fuzzy reasoning Neural networks Humans Fuzzy set theory Fuzzy control Fuzzy neural networks

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LONGITUDINAL CONTROL OF THE LEAD CAR OF A PLATOON

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 1994年第4期43卷 1125-1135页

作者： GODBOLE, DN LYGEROS, J Department of Electrical Engineering and Computer Intelligent Machines and Robotics Laboratory University of California Berkeley CA USA

We present longitudinal control laws for vehicles moving in an intelligent Vehicle Highway System (IVHS) [1], [2]. In particular, the scenario where cars move along the highway in;tightly spaced platoons is considered. We present control schemes that perform the major longitudinal tasks that will be required from the lead vehicle of a platoon moving on an automated highway. More specifically, schemes that maintain safe spacing, track an optimal velocity and perform various maneuvers (forming, breaking up platoons and changing lanes) are described. Simulation results are given in the Appendix.

关键词： LONGITUDINAL CONTROL Moving lead vehicle optimal velocity vehicle Carina Automated highways Simulation results intelligent vehicle highway system Cars Freeway control law

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INVESTIGATION OF THE PL CEBUS PERFORMANCE WITH AND WITHOUT ACKNOWLEDGMENT

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IEEE TRANSACTIONS ON CONSUMER ELECTRONICS 1994年第4期40卷 861-868页

作者： PAN, MH MANIKOPOULOS, CN Intelligent Systems Laboratory Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

This paper presents the first performance evaluation of the PL CEBUS with acknowledgment. Three different cases, namely, 600, 300 and 100 bit packet sizes, have been considered. The evaluation has included simulation experiments measuring message and packet delays, message throughput, and channel throughput. Acknowledged network CEBus service has been confirmed to perform well in terms of delays and message throughputs when compared to unacknowledged service over the practical range of normalized offered load. However! at high loads, substantial performance differences occur. Overall, as should be expected, the acknowledged PL CEBUS provides a more reliable service, but at the expense of somewhat increased delays and reduced throughputs when compared with the unacknowledged PL CEBUS. Detailed comparisons between acknowledged and unacknowledged networks will be presented and discussed.

关键词： Delay Throughput intelligent systems Laboratories Computational modeling Home automation Consumer electronics Communication standards Power measurement Prototypes

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PLACING REGISTRATION MARKS

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1994年第1期41卷 51-59页

作者： RAO, AS GOLDBERG, KY Department of Computer Science University of Utrecht Utrecht Netherlands Departments of Computer Science and Electrical Engineering-Systems Institute of Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

In industrial assembly, a registration mark can be placed on parts to aid a computer vision system in determining the position and orientation (pose) of parts. However, when sensor noise and limits on resolution introduce errors in the measured location of the registration mark, these errors can propagate into the measurement of part pose. In this paper, we define the registration mark problem: given an n-sided rigid planar polygonal part-and a set of k poses for the part, locate a point on the surface of the part that maximizes the minimum distance between transformed points. A registration mark at this point will be maximally robust to sensor imperfections. We give an 0(n log n + k4 log k log* k) time algorithm to solve this planar problem using a result from Schwartz and Sharir [21], and demonstrate the algorithm using a commercial vision system. Our results extend to classes of curved planar parts and polyhedral parts.

关键词： computer vision computer errors Noise measurement Manufacturing automation robotics and automation computer science intelligent robots computer industry Assembly systems Robustness

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FUZZY-LOGIC BASED COLLISION-AVOIDANCE FOR A MOBILE ROBOT

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ROBOTICA 1994年第6期12卷 521-527页

作者： MARTINEZ, A TUNSTEL, E JAMSHIDI, M CAD Laboratory for Intelligent and Robotic Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 (USA)

Navigation and collision avoidance are major areas of research in mobile robotics that involve varying degrees of uncertainty. In general, the problem consists of achieving sensor based motion control of a mobile robot among obstacles in structured and/or unstructured environments with collision-free motion as the priority. A fuzzy logic based intelligent control strategy has been developed here to computationally implement the approximate reasoning necessary for handling the uncertainty inherent in the collision avoidance problem. The fuzzy controller was tested on a mobile robot system in an indoor environment and found to perform satisfactorily despite having crude sensors and minimal sensory feedback.

关键词： FUZZY LOGIC COLLISION AVOIDANCE MOBILE ROBOT NAVIGATION

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PETRI NETS AND INDUSTRIAL APPLICATIONS - A TUTORIAL

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1994年第6期41卷 567-583页

作者： ZURAWSKI, R ZHOU, MC Laboratory for Robotics & Intelligent Systems Swinburne University of Technology Melbourne VIC Australia Laboratory for Discrete Event Systems Department of Elcctrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

This is a tutorial paper on Petri nets. Petri nets, as a graphical and mathematical tool, provide a uniform environment for modelling, formal analysis, and design of discrete event systems. The main objective of this paper is to introduce the fundamental concepts of Petri nets to the researchers and practitioners, both from academia and industry, who are involved in the work in the areas of modelling and analysis of industrial types of systems, as well as those who may potentially be involved in these areas. The paper begins with an overview of applications of Petri nets, mostly industrial ones. Then, it proceeds with a description of Petri nets, properties, and analysis methods. The discussion of properties is put in the context of industrial applications. The analysis methods are illustrated using an example of a simple robotic assembly system. The performance analysis, using Petri nets, is discussed for deterministic and stochastic Petri nets. The presented techniques are illustrated by examples representing simple production systems. In addition, the paper introduces high-level Petri nets, fuzzy Petri nets, and temporal Petri nets. This is done in the context of application prospects. The paper also briefly discusses some of the reasons restricting the use of Petri nets, mostly, to academic institutions.

关键词： Tutorial Petri nets Mathematical model Discrete event systems Performance analysis Production systems Modems Communication industry Laboratories intelligent robots

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Control of robotic manipulator using fuzzy logic

Control of robotic manipulator using fuzzy logic

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： K.K. Kumbla M. Jamshidi CAD Laboratory for Intelligent and Robotics Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

This paper describes the implementation of hierarchical control on a robotic manipulator using fuzzy logic. A decentralized control approach is implemented, i.e., individual controllers control the two links of the robot. The kinematic aspect of the control is treated as the supervisory mode at a higher level and the joint control is treated as the lower level. Fuzzy logic based rules determine the inverse kinematic mapping which maps the Cartesian coordinates to the individual joint angles. This scheme is implemented using Togai Infra Logic software and the entire simulation software is implemented using C language. The results of the simulation are discussed. This experiment is a proof of principle to show that the fuzzy controller can be used to map the nonlinear mapping which can be implemented to the more complex problem of inverse kinematics of higher degree of freedom robots. A fuzzy PD controller is implemented on a Rhino robot and the performance is compared with a traditional PD controller.< >

关键词： Robot control Fuzzy logic Fuzzy control Manipulator dynamics Robot kinematics PD control intelligent robots Nonlinear equations Control systems Distributed control

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Embedded fuzzy logic-based wall-following behavior for mobile robot navigation

Embedded fuzzy logic-based wall-following behavior for mobil...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： E. Tunstel M. Jamshidi CAD Laboratory for Robotics and Intelligent Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

The synthesis of a fuzzy logic controller that provides a small mobile robot with the capability to exhibit a wall-following behavior is described. A general account of the procedure is given with emphasis placed on t... 详细信息

关键词： Fuzzy logic Mobile robots Navigation Fuzzy control intelligent robots Embedded system Robot sensing systems Control systems Assembly Fuzzy systems

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