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Progress on the deictically controlled wheelchair

Lecture Notes in Computer Science

作者： Crisman, Jill D. Cleary, Michael E. Robotics and Vision Systems Laboratory Dept. of Electrical and Computer Engineering Northeastern University Boston MA 02115 United States College of Computer Science Northeastern University Boston MA 02115 United States

ISBN: (纸本)9783540647904

We aim to develop a robot which can be commanded simply and accurately, especially by users with reduced mobility. Our shared control approach divides task responsibilities between the user (high level) and the robot (low level). A video interface shared between the user and robot enables the use of a deictic interface. The paper describes our progress toward this goal in several areas. A complete command set has been developed which uses minimal environmental features. Our video tracking algorithms have proven robust on the types of targets used by the commands. Specialized hardware and new tactile and acoustic sensors have been developed. These and other advances are discussed, as well as planned work. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Robots

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An Efficient PC-Based Environment for Power System Studies - Application to the Restoration Problem

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IFAC Proceedings Volumes 1998年第20期31卷 659-664页

作者： N.A. Fountas N.D. Hatziargyriou K.P. Valavanis Electric Energy Systems Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Greece Robotics and Automation Laboratory The Center for ACS The University of Southwestern Louisiana Lafayette

Advanced powerful tools are sought for in order to conduct power system studies, especially for large scale systems. In this paper, an efficient PC-based environment for power system studies is presented. It is based on both analytical and artificial intelligence techniques. To demonstrate its effectiveness, this environment has been used for restoration studies following a recent blackout in the Hellenic power system, with very promising results.

关键词： Computer environment analytic approximations Timed Petri-nets Power system

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Simple adaptive control by fuzzy boxes methodology

Simple adaptive control by fuzzy boxes methodology

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Mediterranean Electrotechnical Conference (MELECON)

作者： D. Stipanicev Z. Torba LaRIS-Laboratory for Robotics and Intelligent Systems Faculty of Electrical Engineering Machine Engineering and Naval Architecture University of Split Split Croatia

"Simplicity is an advantage", particularly in solving real-life problems. Control engineering is not the exception. Simple control algorithms capable of controlling complex systems are dreams of all control engineers. 30 years ago Michie and Chambers (1968) had introduced the control methodology with such properties. They called it the boxes methodology. On the other hand, these days we are witnessing the commercial success of another simple and effective control procedure: fuzzy control. This paper shows the common points of both control procedures and looks at the boxes methodology as a special case of the fuzzy control principle. Theoretical, simulation and experimental results are given as well.

关键词： Adaptive control Fuzzy control Control systems Mathematical model Quantization Intelligent systems Error correction Input variables Intelligent robots Control system synthesis

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Fuzzy-neural tuned genetic algorithm applied to large-space constraint satisfaction

Fuzzy-neural tuned genetic algorithm applied to large-space ...

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IEEE International Conference on systems, Man and Cybernetics

作者： Tiehua Zhang W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

The paper treats a fuzzy-neural tuned genetic algorithm for solving a constraint satisfaction problem for an industrial application. It describes the design of a reflecting lamp composed of five consecutive straight mirror segments that satisfy both illumination efficiency and uniformity properties. An analytically established neural network dynamically controls the genetic algorithm mutation rate and the convergence criteria. The neural network implements a six-rule fuzzy system that gains its knowledge from a human operator and works in a similar way to monitor the convergence process. Using numerical experiments the lamp configurations are determined. The proposed method can also be applied to other optimization design tasks.

关键词： Genetic algorithms Lamps Neural networks Convergence Electrical equipment industry Mirrors Lighting Algorithm design and analysis Genetic mutations Fuzzy systems

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Fault-tolerant control of redundant robots by dual-optimization

Fault-tolerant control of redundant robots by dual-optimizat...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Luya Li W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

There is a need for robots that are more flexible and reliable than the fixed configuration models currently available. Redundant robots provide an alternative to satisfy this requirement because redundancy can be used to improve the kinematic performance and compensate for joint failures. Due to the uncertainty of potential failures and large accumulated path errors, the instantaneous joint torques may increase and exceed actuator limits during the system recovery process. We propose to alleviate this difficulty by the use of optimal redundancy control, an approach that simultaneously takes into account both kinematics and dynamics. To realize dual-optimization control, a dynamically redundant mechanism with local degrees of freedom is introduced, and its use for redundancy control is investigated. Simulation results demonstrate the proposed method.

关键词： Fault tolerance Robot control Orbital robotics Fault tolerant systems Robot kinematics Redundancy Intelligent robots Optimal control Service robots Actuators

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Towards Constructing and Using Selforganizing Visual Environment Representations for Mobile Robots

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IFAC Proceedings Volumes 1998年第3期31卷 387-392页

作者： Georg von Wichert Henning Tolle Control Systems Theory & Robotics Laboratory Institute of Control Engineering Darmstadt University of Technology Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany

Due to the upcoming applications in the field of service robotics mobile robots are currently receiving increasing attention in industry and the scientific community. Applications in the area of service robotics demand a high degree of system autonomy, which robots without learning capabilities will not be able to meet. Learning is required in the context of action models and appropriate perception procedures. Both are extremely difficult to acquire especially with high bandwidth sensors (e.g. video cameras) which are needed in the envisioned unstructured worlds. Selflocalization is a basic requirement for mobile robots. This paper therefore proposes a new methodology for image based selflocalization using a selforganized visual representation of the environment. It allows for the seamless integration of active and passive localization.

关键词： Mobile robots Navigation Vision Scene analysis Selforganizing systems

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Dynamic fuzzy control and system stability for the Acrobot

Dynamic fuzzy control and system stability for the Acrobot

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： M.H. Smith T. Zhang W.A. Gruver Department of Electrical Engineering and Computer Science University of California Berkeley CA USA Intelligent Robotics and Manufacturing Systems Laboratory Manufacturing Systems Laboratory Simon Fraser University Burnaby Canada

This paper discusses the swing-up control of a two link robot mechanism known as the Acrobot. Previously, a technique using meta-rules was proposed to compensate for external disturbances when using a dynamic fuzzy controller. In this paper, stability of the meta-rule system is analyzed from a global asymptotic stability viewpoint based on fuzzy characteristic matrices. These matrices are generated from the first phase of a three phase learning process involving the combination of genetic algorithms, dynamic switching fuzzy systems, and meta-rule techniques with the purpose of developing a better performing fuzzy controller.

关键词： Fuzzy control Stability Fuzzy systems Automatic control Fuzzy reasoning Robot kinematics Control systems Leg PD control Genetic algorithms

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Algorithmic navigation to train deictic mobile robot operators

Algorithmic navigation to train deictic mobile robot operato...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.E. Cleary J.D. Crisman College of Computer Science Robotics and Vision Systems Laboratory Boston MA USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA

Presents an algorithm for a simulator to train mobile robot operators in the use of deictic commands. It shows that robots can be deictically controlled in any reasonable environment. Deictic control is a technique which directs the robot by visually servoing on targets pointed out to the robot by its operator. This provides a direct, intuitive control method which any sighted operator can use. Previous work has formally defined canonical targets required for deictic control, and has described a training system for prospective users. This paper extends that work by providing a specific algorithm for the construction of deictically controlled paths. The algorithm is described in detail and results are presented. This algorithm shows that deictic commands and their targets can be simply determined by an agent able to sense the surrounding environment.

关键词： Navigation Mobile robots Robot control Automatic control Control systems Robot vision systems Machine vision Object recognition Humans robotics and automation

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Volumetric description of dip solder joints from range data

Volumetric description of dip solder joints from range data

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IEEE Workshop on Applications of Computer Vision (WACV)

作者： Y. Takagi G. Medioni Production Engineering Research Laboratory Hitachi and Limited Yokohama Japan Institute for Robotics and Intellgent Systems University of Southern California Los Angeles CA USA

Dip solder joints exhibit a variety of complex shapes, making inspection by traditional representation methods difficult. Traditional approaches use various features of 2D images to represent joint shape; however, correct 3-D representation is essential when analyzing joint shape for visual inspection. We present a method of using generalized cylinders (GCs) to obtain a 3-D representation of a solder joint from the joint's range image. This method is based on symmetry detection. B-spline contour representation allows analytical detection of a symmetry axis that is used as a basis for the GC axis. In addition, we present a B-spline fitting method that uses an initial line fitting procedure. The contour of the cross section is expressed as an ellipse using an ellipse-specified conic fitting method. Correct representations for over 53 test sample range images were obtained.

关键词： Electronics packaging Soldering Lead Shape Inspection Surface fitting Spline Flowcharts Production engineering Image analysis

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Interval model based control of gas metal arc welding

Interval model based control of gas metal arc welding

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American Control Conference (ACC)

作者： Y.M. Zhang E. Liguo B.L. Walcott Center for Robotics and Manufacturing Systems Welding Research and Development Laboratory University of Kentucky Lexington KY US Department of Electrical Engineering University of Kentucky Lexington KY USA

A control system is developed to control pulsed gas metal arc welding process. To guarantee the desired metal transfer mode, i.e., one drop per pulse, the welding current is switched from the peak level to the background level so that an oscillation of the droplet is excited up. When the droplet moves downwards, the welding current is switched back to the peak level. The combination of the downward momentum of the oscillating droplet and the increased electromagnetic force guarantees that the droplet be detached. Instead of the duration of the background current, the waveform of the welding current is adjusted to control the melting rate of the electrode wire so that the metal transfer frequency can keep constant during welding. To simplify the control system, the ranges of the welding operational parameters are used to quantify the uncertainty in the dynamic model of the welding process. Based on the uncertainty range of the dynamic model, a single control algorithm has been developed to handle different operational parameters. Experiments confirmed effectiveness of the developed system.

关键词： Welding Electrodes Control systems Wire Feeds Electromagnetic forces Frequency Uncertainty Heat transfer Process control

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