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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

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Robust dual-arm manipulation of rigid objects via palm grasping-theory and experiments

Robust dual-arm manipulation of rigid objects via palm grasp...

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IEEE International Conference on robotics and Automation (ICRA)

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

An internal force-based impedance control scheme for two coordinating robots manipulating a rigid object via palm grasping is introduced. The minimal internal force required to maintain the grasp on the object is computed from the frictional constraints and sensed forces. A closed-form solution to the minimization problem is developed which makes the algorithm suitable for real-time control. The controller uses sensed moments at the palm interface to maintain proper orientation of the palms to achieve maximum surface contact. 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. Rigorous experimental investigations are are performed and the results presented which validate the proposed concepts.

关键词： Robustness Robot sensing systems Robot kinematics Impedance Force control Closed-form solution Minimization methods Manipulator dynamics Nonlinear dynamical systems Robust control

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A design techique for the control of discrete-time systems subject to state and control constraints

A design techique for the control of discrete-time systems s...

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IEEE Conference on Decision and control

作者： G. Bitsoris E. Gravalou Control. Systems Laboratory Electrical and Computer Engineering Department University of Patras Patras Greece

The regulation problem of linear discrete-time systems under state and control constraints is investigated. In the first part of the paper necessary and sufficient conditions for the existence of a solution to the constrained control problem are established. The constructive form of the proof of this result provides also a method for the derivation of a control law transferring to the origin any state belonging to a given set of initial states while respecting the state and control constraints. Then a design technique for the determination of a solution to the constrained control problem is developed. The proposed technique is based on the reduction of the constrained control problem to simple linear programming problems.

关键词： control systems Sufficient conditions Laboratories Ear Strain control Linear programming Vectors Constraint theory

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Modular robotics: design and examples

Modular robotics: design and examples

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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Phase correction for coherent noise reduction in short-range radar measurements

Phase correction for coherent noise reduction in short-range...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： S.G. Beaven S.P. Gogineni P. Kanagaratnam Development Test & Evaluation Division Naval Command Control and Ocean Surveillance Center San Diego CA USA Radar Systems and Remote Sensing Laboratory Department of Electrical and Computer Engineering University of Kansas Lawrence KS USA

Short-range scatterometer systems are used to obtain radar backscatter signatures for understanding the interaction between electromagnetic energy and geophysical media in a number of remote sensing applications. Unlike long-range and intermediate-range radar systems, the sensitivity of short-range radars is not limited by thermal noise, but rather by reflections and leakage signals from the antenna and RF section. These leakage signals and their sidelobes are the primary sources of unwanted signals (coherent noise) in short-range FM radar systems. The authors have employed coherent noise reduction techniques to reduce the effects of these unwanted signal sources. Reduction of these coherent noise sources is critical to obtaining accurate backscatter measurements from geophysical targets. Recent advances include the use of phase correction to overcome limitations due to drift of local oscillators and effects of temperature changes on the system. The authors present results from the standard and phase-corrected coherent noise reduction techniques. These techniques increased the dynamic range of field and laboratory measurements of radar backscatter from sea ice and allows the authors to use data from past experiments that had previously been discarded due to low signal-to-noise ratio.

关键词： Noise reduction Radar antennas Radar remote sensing Backscatter Radar measurements Geophysical measurements Sea measurements Radar applications Radar scattering Electromagnetic scattering

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Measuring the distance and orientation of a planar surface using nonstructured lighting

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systems AND computerS IN JAPAN 1996年第8期27卷 83-92页

作者： Tsukiyama, T Member Electrotechnical Laboratory Tsukuba Japan 305 Tosbifumi Tsukiyama:graduated in 1972 from the Biological Engineering Department Osaka University where he also received his Dr. of Eng. degree. He joined Electrotechnical Laboratory Ministry of Tread and Industry (Japan) in 1972. At present he is Senior Researcher at Computer Vision Section Intelligent Systems Division ETL. He was a Visiting Researcher at University of Illinois during 1984–1985. He has been interested in vision system for mobile robots and image processing architectures. He is a member of the Society of Instrumental and Control Engineers Japan Robotics Society of Japan and Information Processing Society of Japan.

This paper proposes a method of 3-dimensional measurement of a planar surface by using two fixed light sources and a TV camera. A set of two images is recorded by the camera switching on each light alternately. The peak of the luminance distribution in each image is detected, and the orientation and distance of the planar surface are calculated. The position of the peak of a luminance distribution can be estimated accurately by using an image processing. The light sources can be conventional apparatus with no particular structure. The method is simple and suitable for a vision system on an indoor mobile robot.

关键词： distance to surface orientation of planar surface point light source luminance distribution ring light

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Visibility analysis on a massively data-parallel computer

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Concurrency and Computation: Practice and Experience 1996年第6期8卷

作者： Daniel Germain Denis Laurendeau Guy Vézina Computer Vision and Systems Laboratory Electrical Engineering Department Université Laval Ste-Foy Québec Canada G1K 7P4 Command and Control and Information Sytems Division Defence Research Establishment Valcartier PO Box 8800 Courcelette Québec Canada G0A 1R0

Visibility analysis algorithms use digital elevation models (DEMs), which represent terrain topography, to determine visibility at each point on the terrain from a given location in space. This analysis can be computationally very demanding, particularly when manipulating high resolution DEMs accurately at interactive response rates. Massively data-parallel computers offer high computing capabilities and are very well-suited to handling and processing large regular spatial data structures. In the paper, the authors present a new scanline-based data-parallel algorithm for visibility analysis. Results from an implementation onto a MasPar massively data-parallel SIMD computer are also presented.

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POSITIVE REALNESS PRESERVING MODEL-REDUCTION WITH H-INFINITY NORM ERROR-BOUNDS

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IEEE TRANSACTIONS ON CIRCUITS AND systems I-FUNDAMENTAL THEORY AND APPLICATIONS 1995年第1期42卷 23-29页

作者： CHEN, X WEN, JT Control Laboratory for Mechanical Structures Department of ElectricalComputerand Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Many physical systems that occur in applications are naturally passive, for example, mechanical systems with dual sensors and actuators, and electrical circuits with passive components. Taking advantage of this property, many controller schemes have been proposed with the property that the controller is strictly positive real. Due to design and implementation considerations, the plant or the controller may need to be approximated by a lower-order system. It is highly desirable for the reduced-order system to also possess the positive realness property to guarantee that the resulting closed-loop system remains stable. Motivated by this problem, this paper considers the general model-reduction problem for a positive real system under the constraint that the reduced system is also positive real. We present a solution based on the balanced stochastic truncation. When the higher-order system is strictly positive real, we derive an H(infinity) norm bound on the approximation error. We also consider alternate approaches of approximating the spectral factors with associated H(infinity) norm error bounds. An example is included to show the efficacy of this method and comparison with other approaches.

关键词： Reduced order systems Mechanical sensors Actuators Stochastic processes Binary search trees Sensor systems and applications Circuits control systems Approximation error Riccati equations

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EXPERIMENTAL RESULTS ON ADAPTIVE NONLINEAR control AND INPUT PRESHAPING FOR MULTILINK FLEXIBLE MANIPULATORS

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AUTOMATICA 1995年第1期31卷 83-97页

作者： KHORRAMI, F JAIN, S TZES, A School of Electrical Engineering and Computer Science Control/Robotics Research Laboratory (CRRL) Polytechnic University Brooklyn NY 11201 United States Department of Mechanical Engineering Control/Robotics Research Laboratory (CRRL) Polytechnic University Brooklyn NY 11201 United States

Adaptive input precompensators in conjunction with nonlinear controllers for multi-link flexible manipulators are considered in this paper. In an earlier paper, we had shown that application of a nonlinear inner-loop control reduces the variations in frequencies due to the geometrical configuration for multi-link flexible manipulators. This results in a better performance when input preshaping or any other controller based on a linear model is designed. To improve the performance of the system to parameter variations (e.g. changes in payload), an adaptive version of the advocated controller is utilized. This is achieved by estimating the time of application of the impulses for on-line preshaping and in the case of payload uncertainty, estimation of the payload and real-time adjustment of the nonlinear inner-loop based controller. Frequency domain Time-Varying Transfer Function Estimate (TTFE) and Empirical Transfer Function Estimate (ETFE) system identification algorithms are proposed for estimation of vibrational modes and unknown payload. Experimental results on a two-link flexible manipulator with adaptive nonlinear control and preshaping are provided to show the effectiveness of the advocated controllers. Overall, the present paper completely generalizes the adaptive input preshaping technique for multi-link flexible manipulators.

关键词： FLEXIBLE MANIPULATORS VIBRATION DAMPING NONLINEAR control INPUT PRESHAPING IDENTIFICATION ADAPTIVE control

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REAL-TIME FEEDBACK FOR SIDEWALL PROFILE control IN REACTIVE ION ETCHING

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JOURNAL OF VACUUM SCIENCE & TECHNOLOGY A-VACUUM SURFACES AND FILMS 1995年第3期13卷 1792-1796页

作者： RASHAP, B FREUDENBERG, J ELTA, M Electronics Manufacturing and Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor Michigan 48109&#x2010 2122|c|

Reactive ion etching is an important process in the fabrication of microelectronic devices. This article reports on work in progress towards developing a strategy for controlling sidewall profile during this process. ... 详细信息

关键词： Reactive ion etching

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