检索结果-内蒙古大学图书馆

Data fusion: Color edge detection and surface reconstruction through regularization

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1996年第3期43卷 355-363页

作者： Salinas, RA Richardson, C Abidi, MA Gonzalez, RC Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering University of Tennessee Knoxville TN USA Imaging Robotics and Intelligent Systems LaboratoryDepartment of Electrical Engineering University of Tennessee Knoxville TN USA

Data fusion provides tools for solving problems which are characterized by distributed and diverse information sources. In this paper rye focus on the problem of extracting features such as image discontinuities from both synthetic and real images. Since edge detection and surface reconstruction are ill-posed problems in the sense of Hadamard, Tikhonov's regularization paradigm is proposed as the basic tool for solving this inversion problem and restoring well-posedness. The proposed framework includes 1) a systematic view of one- and two-dimensional regularization, 2) extension of the standard Tikhonov regularization method by allowing space-variant regularization parameters, and 3) further extension of the regularization paradigm by adding multiple data sources to allow for data fusion. The theoretical approach is complemented by developing a series of algorithms, then solving the early vision problems of color edge detection and surface reconstruction, An evaluation of these methods reveals that this new analytical data fusion technique output is consistently better than each of the individual RGB edge maps, and noisy corrupted images are reconstructed into smooth noiseless surfaces.

关键词： Image edge detection Surface reconstruction Image reconstruction Intelligent robots Data mining Data analysis Intelligent sensors Intelligent systems Entropy Brightness

来源：评论

学校读者我要写书评

暂无评论

Internal force-based impedance control for cooperating manipulators

引用

IEEE TRANSACTIONS ON robotics AND AUTOMATION 1996年第1期12卷 78-89页

作者： Bonitz, RG Hsia, TC Systems Controland Robotics LaboratoryDepartment of Electrical and Computer Engineering University of California Davis CA USA

An internal force-based impedance control scheme for cooperating manipulators is introduced which controls the motion of the objects being manipulated and the internal force on the objects. The controller enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects. Each manipulator is directly given the properties of an impedance by the controller;thus, eliminating the gain limitation inherent in the structure of previously proposed schemes. The controller uses the forces sensed at the robot end effecters to compensate for the effects of the objects' dynamics and to compute the internal force using only kinematic relationships. Thus, knowledge of the objects' dynamics is not required. Stability of the system is proven using Lyapunov theory and simulation results are presented validating the proposed concepts. The effect of computational delays in digital control implementations is analyzed vis-a-vis stability and a lower bound derived on the size of the desired manipulator inertia relative to the actual manipulator endpoint inertia. The bound is independent of the sample time.

关键词： Impedance Force control Motion control Manipulator dynamics Velocity control Robot sensing systems End effectors Kinematics Stability Computational modeling

来源：评论

学校读者我要写书评

暂无评论

Fuzzy behavior integration and action fusion for robotic excavation

引用

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1996年第3期43卷 395-402页

作者： Shi, XB Lever, PJA Wang, FY Advanced Mining Systems Laboratory and the Robotics and Automation Laboratory University of Arizona Tucson Tucson AZ USA Department of Mining and Geological Engineering University of Arizona Tucson Tucson AZ USA Robotics and Automation Laboratory and the Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA

This paper discusses control behavior integration and bucket action fusion for excavation control of a robotic front-end-loader type machine, To utilize the experience and expertise from skilled human operators, a fuzzy-logic based control approach is developed, A hierarchical excavation control architecture decomposes excavation goals to tasks, then tasks to behaviors, and finally behaviors to actions, The excavation actions are primitive and can be executed directly by an excavation machine, Finite state machines are used to specify the coordination and integration of behaviors for task execution and actions for behavior implementation, A simple strategy for action fusion is proposed based on fuzzy logic reasoning and the COA defuzzification method. Finally, laboratory experiments are conducted using a PUMA 560 robot arm and a Zebra force/torque sensor in a simulated rock excavation environment. Experimental results indicate that the proposed approach in this paper has led to more efficient task execution than our previous approach.

关键词： Robot kinematics Humans Laboratories robotics and automation Automatic control Robot sensing systems Geology Control system synthesis Fuzzy control Robot control

来源：评论

学校读者我要写书评

暂无评论

Dynamic analysis and identification of gas tungsten arc welding process for weld penetration control

引用

Journal of Manufacturing Science and engineering, Transactions of the ASME 1996年第1期118卷 123-136页

作者： Zhang, Y.M. Kovacevic, R. Wu, L. Center for Robotics and Manufacturing Systems Department of Mechanical Engineering University of Kentucky Lexington KY United States National Key Laboratory for Advanced Welding Production Harbin Institute of Technology Harbin China

In this study, gas tungsten arc welding is analyzed and modeled as a 2-input (welding current and arc length) 2-output (weld depression and width) multivariable process. Experiments under a number of typical welding conditions are performed to excite and identify the process characteristics and variations. It is observed that the model parameters vary in a large range with the experimental conditions. A real-time model frame with only a few parameters to be identified on-line is proposed. Based on the obtained models, the process characteristics in terms of inertia, delay, nonminimum phase, and coupling are given. These characteristics suggest an adaptive predictive decoupling control algorithm. By designing and implementing the suggested control algorithm with the real-time model, excellent results have been achieved for both simulation and practical control. This shows that the dynamic analysis and identification provide sufficient process information for design of the control system. © 1996 by ASME.

关键词： Delays Simulation Design Control algorithms Dynamic analysis Control systems Welding Inertia (Mechanics) Gas tungsten arc welding

来源：评论

学校读者我要写书评

暂无评论

Robotic Excavation: Experimental Results Using Fuzzy Behavior Control

引用

IFAC Proceedings Volumes 1996年第1期29卷 6293-6298页

作者： Xiaobo Shi Fei-Yue Wang Paul J.A. Lever Robotics and Automation Laboratory Systems and Industrial Engineering Department Advanced Mining Systems Laboratory Mining and Geological Engineering Department The University of Arizona Tucson Arizona 85721 USA

This paper presents experimental results for robotic excavation based on fuzzy behaviors. An excavation goal is achieved through excavation tasks, each erf which is completed via sequences of behaviors that are carried out by primitive actions. Both tasks and behaviors are specified by finite state machines. Behavior selection is achieved through situation assessment and behavior arbitration. A method of terminating a behavior execution is proposed. Excavation actions are specified using fuzzy logic rules acquired from human experience and heuristics. Experimental results indicate that the proposed formulation has led to a more efficient execution of excavation tasks than in a previous formulation.

关键词： fuzzy-logic fuzzy behavior control rock excavation artificial intelligence

来源：评论

学校读者我要写书评

暂无评论

An improved fuzzy modeling algorithm. II. System identification

An improved fuzzy modeling algorithm. II. System identificat...

引用

Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： M.R. Emami I.B. Turksen A.A. Goldenberg Robotics and Automation Laboratory Department of MechanicaMndustrial Engineering University of Toronto Canada Intelligent Fuzzy Systems Laboratory Department of MechanicaUIndustrial Engineering University of Toronto Canada Robotics and Automation Laboratory Department of Mechanicalhdustrial Engineering University of Toronto Canada

For pt.I see ibid. In this part we focus on the fuzzy system identification stage. The Fuzzy C-Means (FCM) clustering algorithm is investigated. Two indices are introduced for assignment of number of rules and level of "fuzziness". An efficient method is also suggested for choosing the initial location of cluster centers. The classification problem is addressed in fuzzy modeling; and an efficient strategy is proposed for assignment of dominant input variables and their membership functions.

关键词： Fuzzy systems System identification Input variables Laboratories robotics and automation Clustering algorithms Intelligent systems Intelligent robots Flowcharts Parameter estimation

来源：评论

学校读者我要写书评

暂无评论

On the closed-loop design of flexible robotic links

On the closed-loop design of flexible robotic links

引用

IEEE International Conference on systems, Man and Cybernetics

作者： P.X. Zhou M.S. Williams Fei-Yue Wang Robotics and Automation Laboratory Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA

The problem of optimal design of a flexible manipulator link based on its closed-loop transfer function is formulated through the integation of actuator dynamics, control algorithm, sensor location, and mechanics of arm construction. By approximating a flexible link with N small uniform segments, we obtain analytical segmentized solutions for transfer functions for integrated arm systems. This enable us to formulate various optimization problems with explicit objective functions. Several optimization criteria are discussed in this paper.

关键词： Structural beams Service robots Control systems Orbital robotics Optimal control Heuristic algorithms Intelligent robots Manipulator dynamics robotics and automation Actuators

来源：评论

学校读者我要写书评

暂无评论

Robust internal-force based impedance control for coordinating manipulators-theory and experiments

Robust internal-force based impedance control for coordinati...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R.G. Bonitz T.C. Hsia Department of Electrical and Computer Engineering Systems Control and Robotics Laboratory University of California Davis CA USA

A robust internal force-based impedance control scheme for coordinating manipulators is introduced. Internal force-based impedance control enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects and requires no knowledge of the object dynamic model. Each manipulator's nonlinear dynamics is compensated by a robust auxiliary controller which is insensitive to robot-model uncertainty and payload variation. The controller is only weakly-dependent on each manipulator's inertia matrix. Stability of the system is analyzed. The scheme is computationally inexpensive and suitable for general-purpose microcomputer implementation. Rigorous experimental investigations are performed and the results presented which validate the proposed concepts.

关键词： Robust control Impedance Manipulator dynamics Force control Nonlinear dynamical systems Velocity control Robot kinematics Uncertainty Payloads Stability analysis

来源：评论

学校读者我要写书评

暂无评论

Dimensional synthesis of a flexible gripper with a high degree of stability

Dimensional synthesis of a flexible gripper with a high degr...

引用

IEEE International Conference on systems, Man and Cybernetics

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

Since form-closure grasps are a strong condition for stability, they are very useful for applications. Whether form closure can be obtained depends on the design of the end-effector and the geometry of the grasped object. Previously, we proposed a new type of grasping mechanism using closed kinematic chains that can provide form-closure grasps for nearly any geometry of the object. An important design issue is the determination of the link lengths of the closed chain. This paper considers the design with respect to grasp stability. A criterion for evaluating grasp stability is proposed. The link lengths corresponding to an optimal value of the criterion is utilized to obtain a solution for dimensional synthesis. Because the criterion is a nonlinear function of the link lengths, the optimization cannot be obtained by simple computation. To avoid the computational burden in finding the optimal link lengths, we develop a graphical method for determining the link lengths. The grasping of cylindrical objects demonstrates the method.

关键词： Grippers Intelligent robots Terminology Manufacturing systems Laboratories Computational geometry Kinematics Stability criteria Sufficient conditions Fingers

来源：评论

学校读者我要写书评

暂无评论

Experimental robotic excavation with fuzzy logic and neural networks

Experimental robotic excavation with fuzzy logic and neural ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Xiaobo Shi P.J.A. Lever Fei-Yue Wang Mining and Geological Engineering Department Advanced Mining Systems Laboratory Tucson AZ USA Robotics and Automation Laboratory Systems and Industrial Engineering Department University of Arizona Tucson Tucson AZ USA

This paper describes experimental results for autonomous robotic rock excavation with fuzzy logic and neural networks. An excavation goal is decomposed into several tasks, whereas a take is accomplished by executing appropriate excavation behaviors. Finally, a behavior is carried out by a sequence of primitive, machine executing excavation actions. Excavation goals, tasks, and behaviors are specified using finite state machines (FSM) based on excavation heuristics and expertise from skilled human operators. The decision making in the FSMs are implemented using neural networks which are capable of improving their performance from previous task executions. Excavation actions are given using fuzzy logic rules acquired from human experience and heuristics. Several experiments are presented that demonstrate the system's ability to complete required excavation tasks effectively.

关键词： Fuzzy logic Neural networks Humans Soil robotics and automation Laboratories Service robots Geology Immune system Control systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：