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Survey of Robust Control for Rigid Robots

IEEE Control systems 1991年第2期11卷 24-30页

作者： Abdallah, C. Dorato, P. Jamshidi, M. Dawson, D. CAD Laboratory for Systems and Robotics Electrical and Computer Engineering Department University of New Mexico Albuquerque NM 87131 United States Department of Electrical and Computer Engineering Clemson University Clemson SC 29634-0915 United States

This survey discusses current approaches to the robust control of the motion of rigid robots and summarizes the available literature on the subject. The five major designs discussed are the “Linear-Multivariable” approach, the “Passivity” approach, the “Variable-Structure” approach, the “Saturation” approach and the “Robust-Adaptive” approach. © 1991 IEEE

关键词： Robust control Robot kinematics Adaptive control Programmable control Control systems Robot control Equations Robustness Uncertainty Lagrangian functions

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Design and implementation of a multidegree of freedom intelligent robot hand

Design and implementation of a multidegree of freedom intell...

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Proceedings IROS '91:IEEE/RSJ International Workshop on intelligent Robots and systems '91

作者： R.C. Luo Min-Hsiung Lin C.K. Shih Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A parallel-jaw type multiple-d.o.f. robot hand is designed and implemented to manipulate workpieces within the hand by rotation and translation. An efficient manipulator control algorithm and part mating application is developed. A simulation result is also presented to show the changes of force during part insertion to verify the models developed.< >

关键词： intelligent robots Fingers Force control Force sensors Grippers DC motors Manipulators Fasteners Timing Parallel robots

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Improving hierarchical architecture performance with dynamic segmentation

Improving hierarchical architecture performance with dynamic...

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IEEE International Conference on systems, Man and Cybernetics

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

Dynamic segmentation is a method for improving the performance of cooperating tasks executed on loosely coupled multiprocessors. Four different data transfer techniques that can be used for intersegment data transfers in dynamically segmented buses are analyzed. Preemptive data transfers are considered for uniform message latencies and results are provided for message latency comparisons using various locality factors. These results indicate dynamic segmentation improves performance considerably, at a fraction of the cost of more complex interconnection networks such as multiple buses.< >

关键词： Mobile robots intelligent robots computer architecture Control systems Communication system control Communication channels Communication networks Bandwidth Robot control Delay

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Knowledge-based natural scene description

Knowledge-based natural scene description

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International Conference on Industrial Electronics, Control and Instrumentation

作者： H.-H. Loh R.C. Luo Center for Robotics and Intelligent Systems Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

The authors present a knowledge-based image description system that uses fractal features. A knowledge-based recognition process is incorporated in this natural scene description system to enhance the capability of natural scene understanding. The scene description system is based on a fractal model. The fractal model provides useful information. A set of fractal features was developed from the fractal model which can effectively be used in image segmentation. After an image is divided into many regions based on fractal features, the scene information is derived with a knowledge-based scene recognition process. The structure of this system and its interaction strategy for the extraction of scene description are presented. The experimental results are also discussed.< >

关键词： Layout Fractals Image segmentation Shape Geometry intelligent robots Image recognition computer vision Image analysis intelligent systems

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Developing Conductive Elastomers for Applications in Robotic Tactile Sensing

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Advanced robotics 1991年第2期6卷 255-271页

作者： Uldry, Jean-Pierre Andrew Russell, R. Intelligent Robotics Group Department of Electrical and Computer Systems Engineering Monash University Melbourne Australia

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On dynamic motion planning problems

On dynamic motion planning problems

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.C. Luo T.-J. Pan Robotics and Intelligent Systems Laboratory Department of Elecnical and Computer Engineering North Carolina State University Raleigh NC USA

A novel method for solving the motion planning problem in the presence of moving obstacles is presented. Compared to previous approaches, the proposed method is more general in that obstacles are allowed to move with translation and rotation at nonlinear velocity. Using path/velocity decomposition, the method emphasizes the development of an efficient algorithm for collision detection between the robot and moving polygons. This algorithm is devised using transversability vector theory to determine the geometric relationships between any two convex polygons or convex components of concave polygons. The interference between the robot and the moving obstacles is detected and registered on the constraint map to represent time constraints on the robot's motion along the path. The constraint map is then used for velocity planning using a simple algorithm. The problem of a robot crossing the street is used as an example for computational analysis.< >

关键词： Motion planning Vehicle dynamics robotics and automation Orbital robotics intelligent robots Interference constraints Robot motion Mobile robots Path planning intelligent systems

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Use of monocular groupings and occlusion analysis in a hierarchical stereo system

Use of monocular groupings and occlusion analysis in a hiera...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： R.C. Chung R. Nevatia Institute for Robotics and Intelligent Systems Department of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

A hierarchical stereo system is described that uses structural descriptions up to the surface level. Surface descriptions are computed from monocular images, by using a perceptual grouping technique. Occlusion can be a major problem in stereo analysis and is often not treated explicitly. An analysis is presented of occlusion effects in stereo, and it is shown how structural descriptions can be used to deal with them. Experimental results are given for scenes with curved objects and significant occlusions.< >

关键词： Layout intelligent robots Surface treatment Stereo image processing Image reconstruction intelligent systems intelligent structures Hierarchical systems Monitoring Contracts

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Temporal slice analysis of image sequences

Temporal slice analysis of image sequences

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： S.-L. Peng Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

An early-processing algorithm to extract motion information from closely sampled image sequences is presented. This method outputs dense displacement field, based on the extraction of strips in slices taken from the image volume along the temporal dimension. The extracted strips provide estimates of the velocity component along the slice orientation. Because of the high sampling rate, the motion is assumed to be piecewisely translational. A voting scheme to estimate the position of FOE while extracting strips is proposed. The true velocity can then be calculated. Results on several real image sequences and a promising speedup from the parallel implementation on the Connection Machine are presented.< >

关键词： Image analysis Image sequence analysis Image sequences Image motion analysis Cameras Data mining Strips intelligent robots intelligent systems Image sampling

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A feasible collision-detection algorithm for mobile robot motion planning with moving obstacles

A feasible collision-detection algorithm for mobile robot mo...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： T.-J. Pan R.C. Luo Department of Information Engineering Tatung Institute of Technology Taipei Taiwan Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and are composed of a set of convex polygons. The half-plane representation uses an algebraic method to describe the object motion including translation and rotation through time. Compared with previous methods, the proposed representation is more general in that obstacles are now allowed to move at nonconstant velocities. To detect collision between polygonal objects, a traversability vector method was developed. Traversability vectors are a simple mechanism used to analyze geometric constraints imposed by polygons. Using these vectors, a simple algorithm for predicting collision is derived. computer simulations were conducted to show the feasibility of the proposed method.< >

关键词： Mobile robots Motion planning Robot motion Orbital robotics intelligent robots Technology planning Space technology Motion detection Object detection Prediction algorithms

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Nonlinear neural prediction in 1D DPCM for efficient image data coding

Nonlinear neural prediction in 1D DPCM for efficient image d...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： C.N. Manikopoulos J. Li H. Sun Intelligent Systems Laboratory Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

Neural net architectures, with a hidden layer or functional links have been utilized to generate predictions for 1D differential pulse-code modulation (DPCM) applied to still image coding. In this approach, the predictor is designed by supervised training based on a typical sequence of pixel values, i.e. the values of the coefficients of the predictor are determined by training on examples. Nonlinear and linear correlations are exploited. computer simulation experiments have been carried out to evaluate the resulting performance. At a transmission rate of 1 bit/pixel, for the images LENA and BABOON, the 1D neural network DPCM provides a 4.17 and 3.74 db improvement in peak SNR, respectively, over the standard linear DPCM system.< >

关键词： Image coding Predictive models Neural networks computer architecture Algorithm design and analysis Prediction algorithms Signal design Random variables Sun intelligent systems

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