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RESEARCH AND EDUCATION IN robotics AND MANUFACTURING systems

robotics AND COMPUTER-INTEGRATED MANUFACTURING 1992年第1期9卷 1-1页

作者： JAMSHIDI, M Guest Editor AT&T Professor & Director CAD Laboratory for Systems|Robotics Department of Electrical & Computer Engineering University of New Mexico Albuquerque NM 87131 U.S.A.

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Kinematic calibration of an active camera system

Kinematic calibration of an active camera system

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： G.-S. Young T.-H. Hong M. Herman J.C.S. Yang Robotics Laboratory Department of Mechanical Engineering University of Maryland College Park MD USA National Institute for Standards and Technology Gaithersburg MD USA Department of Computer Science and Information Systems American University DC USA

A technique for the calibration of an active camera system is presented. The calibration of manipulator, camera-to-manipulator, camera, and base-to-world is treated in a unified and elegant way. In this approach, the camera frames and manipulator link frames are all related to the world frame, therefore the camera-to-manipulator and base-to-world calibration is very straightforward. The approach is simple, since it uses the form of one equation solving one parameter. Two experiments that verify the accuracy of the technique are reported.< >

关键词： Kinematics Calibration Cameras Robot vision systems Helium Manipulators Equations NIST Laboratories Mechanical engineering

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Optical tracking System for automatic guided vehicles using cellular neural networks 2

Optical tracking System for automatic guided vehicles using ...

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2nd International Workshop on Cellular Neural Networks and their Applications, CNNA 1992

作者： Eröss, Gy. Boros, T. Kiss, Á. Radványi, A. Roska, T. Bitó, J. Vass, J. Tungsram TH Co. Ltd Centre of Robotics and Automation Václ ut 77 BudapestH-1340 Hungary Dual and Neural Computing Systems Laboratory Computer and Automation Institute of the Hungarian Academy of Sciences P.O.B.63 BudapestH-1502 Hungary Dep. of Information Technology Faculty of Engineering University Veszprém Egyetem u. 10 VeszprémH-8201 Hungary

ISBN: (纸本)0780308751

Computer Integrated Manufacturing (CIM) systems having determining role in the modern industry. These systems contain essentially two different equipments for transporting materials between workstations: - conveyors can be used if the path of transportation is fixed and known in advance, or - if the path of the transportation may change or there are various tasks to be solved along the path, the use of Automatic Guided Vehicles (AGV) is strongly recommended. The path control of an AGV in CIM systems is generally solved either by following an inductive wire or by determining its position and orientation from signals provided by transmitters mounted at some characteristic points of the workshop. Both of these basic methods have their advantages and drawbacks. © 1992 IEEE.

关键词： Automatic guided vehicles

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Lateral control of an autonomous road vehicle in a simulated highway environment using adaptive resonance neural networks

Lateral control of an autonomous road vehicle in a simulated...

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IEEE Symposium on Intelligent Vehicle

作者： J.M. Lubin S. Gilbert E.C. Huber A.L. Kornhauser Human Information Processing Group and Robotics and Expert Systems Laboratory Department of Civil Engineering and Operations Research Princeton University Princeton NJ USA Dept. of Civil Eng. & Operations Res. Princeton Univ. NJ USA

Lateral control of a simulated vehicle in a simulated highway driving environment is explored. Three modules are used: a driving simulator, a visual preprocessor, and a neural network. Once trained, the networks control the trajectory of the vehicle by accessing a steering decision for implementation at each timestep in response to a visual encoding of an image generated at the previous timestep. The paper presents the development of the three system modules, the creation of training sets, and computational results. Neural network performances are gauged by a number of procedures. Excellent results are achieved for straight roads and curved roads under a variety of initial conditions on the vehicle.< >

关键词： Road vehicles Road transportation Programmable control Adaptive control Neural networks Humans Remotely operated vehicles Analytical models Control systems Mobile robots

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Obstacle detection for a vehicle using optical flow

Obstacle detection for a vehicle using optical flow

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IEEE Symposium on Intelligent Vehicle

作者： G.-S. Young T.-H. Hong M. Herman J.C.S. Yang Robotics Laboratory Department of Mechanical Engineering University of Maryland College park MD USA National Institute for Standards and Technology Gaithersburg MD USA Department of Computer Science and Information Systems American University Washington D.C. DC USA

A novel approach to obstacle detection using optical flow without recovering range information has been developed. This method can be used for ground vehicles to navigate through man-made roadways or natural outdoor terrain or for air vehicles to land on known or unknown terrain. A linear relationship, plotted as a line and called a reference flow line, has been found. This reference flow line can be used to detect discrete obstacles above or below the reference terrain. Slopes of surface regions are also computed. The approach is simple, fast, and robust because: (1) the only required information is one component of the optical flow, (2) each image line can be processed in parallel, and (3) the error sources involved are reduced to a minimum. An initial experiment using noisy synthetic data is also included to demonstrate the applicability and robustness of the method.< >

关键词： Vehicle detection Image motion analysis Optical sensors Biomedical optical imaging Navigation Land vehicles Cameras Road vehicles Robustness Remotely operated vehicles

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Optical tracking system for automatic guided vehicles using cellular neural networks

Optical tracking system for automatic guided vehicles using ...

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IEEE International Workshop on Cellular Nanoscale Networks and their Applications, (CNNA)

作者： G. Eross T. Boros A. Kiss A. Radvanyi T. Roska J. Bito J. Vass Centre of Robotics and Automation Tungsram TH Company Limited Budapest Hungary Dual and Neural Computing Systems Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary Department of information Technology Faculty of Engineering University of Veszprém Veszprem Hungary

A method for the path-control of automated guided vehicles (AGVs) in computer integrated manufacturing (CIM) systems that combines the flexibility and easy installation of optical methods with the simplicity and robustness of the inductive method is proposed. Using a new computing paradigm, the cellular neural network (CNN), and a related device, the VLSI CNN chip, a very high speed solution that is less expensive than the conventional methods can be achieved. This AGV control complies with the requirements of CIM systems. Further advantages of the proposed system are as follows: fault tolerance and the ability to give instructions along the path, and the use of a simple local control.< >

关键词： Vehicles Computer integrated manufacturing Cellular neural networks High speed optical techniques Control systems Integrated optics Optical computing Robustness Computer networks Very large scale integration

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A KNOWLEDGE-BASED APPROACH TO MODELING OF ROBOTIC ASSEMBLY CELLS

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ROBOTICA 1991年第1期9卷 31-42页

作者： KIM, DW LEE, BH KO, MS Robotics and Intelligent Systems Laboratory Department of Control and Instrumentation Engineering Seoul National University Seoul 151–742 (Korea)

In this paper, an approach to modelling of a robotic assembly cell is proposed and a method for managing the cell operation is described using a knowledge base. Since the modelling structure is based on the concept of the state variable, the relationships between states are described by the state transition map (STM). The knowledge-bases for state transition and assembly job information are obtained from the STM and the assembly job tree (AJT), respectively. Using the knowledge-base, the system structure is discussed in relation to both managing the cell operation and evaluating the performances. Finally, a simulation algorithm is presented with the simulation results to show the significance of the proposed modelling approach.

关键词： MODELING ASSEMBLY CELLS robotics KNOWLEDGE-BASE STATE TRANSITION

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Survey of Robust Control for Rigid Robots

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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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Specification and Verification for Integration of a CIM System

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IFAC Proceedings Volumes 1991年第5期24卷 79-84页

作者： Fei-Yue Wang S. Jagdale Hongyu Xie Robotics and Flexible Manufacturing Laboratory Department of Systems and Industrial Engineering University of Arizona Tucson AZ 85721 USA

Specification and verification of system integration are the central issues in the design, implementation, and operation of Computer-Integrated Manufacturing systems. This paper shows that both specification and verification can be addressed conveniently and effectively by using Petri nets. The primary goals here are to develop a Petri net model for the integration specification of a CIM system for part processing, to conduct process analysis for the system based on its Petri net model for the purpose of verification, and finally, to determine some supervisory control procedures, such as deadlock prevention and avoidance, for the system according to the result of analysis and the other specified requirements.

关键词： Computer-Integrated Manufacturing (CIM) systems Deadlock Prevention Invariant Analysis Integration Petri Nets Specification Verification

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Motion planning using binary space partitioning

Motion planning using binary space partitioning

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

作者： A.O. Tokuta Robotics and Visual Systems Laboratory Department of Computer Science and Engineering University of South Florida Tampa FL USA

This work explores a method for path planning for a robot in an environment that consists of stationary and moving obstacles. The technique uses binary partitioning of the environment by the obstacles to establish and analyze the spatial relationship between robot and obstacles. Hyperplanes are used to obtain recursively a disjoint set of D-dimensional cells, with each cell designated as belonging to either the interior or the exterior of the set. An overt idea of binary space partitioning as a representation of polytopes is given. Thus, the space-time configuration of free space is viewed as disjoint polytopes; each point in space-time is considered a map into a unique polytope. A traversal of the tree is used to obtain a linear order which gives the collision probability with the environment. Adjacent polytopes between the start and goal polytopes are then utilized to obtain a trajectory. Current implementation for a 2D static environment is discussed.< >

关键词： Path planning Orbital robotics Motion planning Robot motion robotics and automation Shape Visual system Computer science Computational efficiency Tree graphs

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