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1990 IEEE International Workshop on Intelligent Robots and systems, IROS 1990

作者： Luo, Ren C. Scherp, Ralph S. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

The objective of this paper is to present a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented and described. In this paper we use a triangulation type laser range finder in which a CCD based imaging device is utilized to view a plane of laser light bounced from a sweeping mirror. The sensor characteristics are described and modeled. A set of criteria for use in constraining the. possible sensor site location for future scans is presented. These constraint conditions are essential to drive the actual sensor placement algorithm for 3D object recognition. © 1990 Institute of electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Laser mirrors

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T-buffer: Fast visualization of relativistic effects in spacetime 90

T-buffer: Fast visualization of relativistic effects in spac...

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1990 Symposium on Interactive 3D Graphics, I3D 1990

作者： Hsiung, Ping-Kang Thibadeau, Robert H. Wu, Michael Carnegie Mellon University PittsburghPA15213 United States Department of Electrical and Computer Engineering Carnegie Mellon University United States Imaging Systems Laboratory Robotics Institute Carnegie Mellon University United States

ISBN: (纸本)0897913515

Wc have developed an innovative ray-tracing simulation algorithm to describe Welativistic Effects in SpaceTime ("REST"). Our algorithm, called REST-frame, models light rays that have assumed infinite speed in conventional ray-tracing to have a finite speed in spacetime, and uses the non-Newtonian Lorentz Transformation to relate measurements of a single event in different inertial coordinate systems {inertial frames). Our earlier work [5][6][7] explored the power of REST-frame as an experimentation tool to study the rich visual properties in natural world modeled by Special Relativity. Non-intuitive images of the anisotropic deformation ("warping") of space, the intensity concentration/spreading of light sources in spacetime, and the relativistic Doppler shift were visualized from our simulations. REST-frame simulations arc computationally expensive. Several hours of CPU time may be needed to generate one intricate image on a relatively powerful DECStation 3100. This high simulation cost of REST-frame precludes its application in interactive, real-time graphics environments. In this paper, we report a scanline based REST-frame rendering method that provides a faster alternative to the original ray-tracing based REST-frame implementation. This new method operates in the spirit of the classical Z-buffer in computer graphics[2] and the inter-inortial frames point-mapping method investigated in physics in the early 1960's[14][12], and determines the visibility of points in spacetime by their spatial and temporal visibility. Specifically, all spacetime event points that arc potentially visible from the viewpoint at the imaging time are geometrically projected in three dimensional (3D) space to the image plane pixel buffer. Multiple points with a same pixel affiliation arc sorted by their time distance © 1990 ACM.

关键词： Ray tracing

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Survey of the Robust control of Robots

Survey of the Robust Control of Robots

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American control Conference (ACC)

作者： C. Abdallah P. Dorato M. Jamshidi CAD Laboratory for Systems and Robotics Electrical and Computer Engineering Department University of New Mexico Albuquerque NM USA

In this survey, we discuss current approaches to the robust control of the motion of robots and summarize the available literature on the subject. The three major designs discussed are the "Linear-Multivariable" Approach, the "Passivity" approach and the "Variable-Structure" approach. The survey is limited to rigid robots and nonadaptive controllers.

关键词： Robust control Robot kinematics control systems Tellurium Equations Robot control Adaptive control Symmetric matrices Gravity Lagrangian functions

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A tutorial on multisensor integration and fusion

A tutorial on multisensor integration and fusion

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Annual Conference of Industrial Electronics Society

作者： R.C. Luo M.G. Kay Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligent systems is defined in terms of the unique type of information multiple sensors can provide. Multisensor integration is discussed in terms of basic integration functions and multisensor fusion in terms of the different levels at which fusion can take place. Numerical examples are given to illustrate a variety of different fusion methods. Speculations concerning possible research future directions and a guide to survey and review papers in the area of multisensor integration and fusion are presented.< >

关键词： Tutorial Sensor systems Intelligent sensors Intelligent robots Intelligent systems Sensor fusion Machine intelligence control systems Aircraft navigation Laboratories

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Intelligent Motion control System for Autonomous Vehicles Operating in a Factory Floor

Intelligent Motion Control System for Autonomous Vehicles Op...

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Proceedings of the IEEE International Workshop on Intelligent Motion control

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

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3D object recognition using a mobile laser range finder

3D object recognition using a mobile laser range finder

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EEE International Workshop on Intelligent Robots and systems, Towards a New Frontier of Applications

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

Presents a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented and described. The authors use a triangulation type laser of range finder in which a CCD based imaging device is utilized to view a plane of laser light bounced from a sweeping mirror. The sensor characteristics are described and modeled. A set of criteria for use in constraining the possible sensor site location for future scans is presented. These constraint conditions are essential to drive the actual sensor placement algorithm for 3D object recognition.< >

关键词： Object recognition Intelligent sensors Sensor phenomena and characterization Robot sensing systems Intelligent robots Robot vision systems Cameras Mobile robots Laser modes Data mining

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An explicit model-matching approach to lateral-axis autopilot design

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IEEE control systems Magazine 1990年第4期10卷 22-28页

作者： K.D. Minto J.H. Chow J.W. Beseler GECorporate Research and Development Center Schenectady Control Systems Laboratory NY USA Electrical Systems and Computer Engineering Department Rensselaer Polytechnic Institute Troy NY USA

The application of a linear multivariable control law design methodology to an autopilot design for large transport aircraft is described. The design method is an explicit model-matching approach, whereby compensator parameters are tuned via a least-squares optimization approach to minimize the error between the desired and the actual closed-loop frequency responses. This method incorporates some recent theoretical advances, including controller parameterization and plant factorization, and has been implemented within the ISICLE software package, a MATLAB-based control design toolbox. A desirable feature of the ISICLE design software is the capability to constrain the compensator dynamic order and structure, issues motivated by the necessity for low complexity implementations in order to simplify gain scheduling and limit protection.< >

关键词： Mathematical model Design methodology Aircraft Aerospace control Design optimization Frequency Software packages computer languages control design Software design

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The Linear Constrained Regulation Problem for Discrete-Time systems

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IFAC Proceedings Volumes 1990年第8期23卷 321-326页

作者： G. Bitsoris M. Vassilaki Control Systems Laboratory Electrical Engineering Department. University of Patras 26500 Patras Greece AMBER S.A. Computer Systems P.D. Box 3500 Athens Greece

In this paper the Linear Constrained Regulation Problem for discrete-time systems is studied. The first part of the paper deals with the problem of existence of linear state-feedback control laws that transfer asymptotically to the origin all initial states belonging to a polyhedral subset of state space while linear state and control constraints are respected. Then an eigenstructure assignment technique is developed for derivation of a solution to this problem. The results presented in the paper are based on the properties of systems possessing polyedral positively invariant sets.

关键词： Constraint theory discrete time systems eigenvalue assignment, invariance linear systems stability

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Synthesis of Nonlinear controllers with Rate Feedback via Sinusoidal-Input Describing Function Methods

Synthesis of Nonlinear Controllers with Rate Feedback via Si...

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American control Conference (ACC)

作者： James H. Taylor James R. O'Donnell Control Systems Laboratory General Electric Corporate Research and Development Schenectady NY USA Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

In this paper, we report on recent advances in the design of fully nonlinear controllers for amplitude-sensitive nonlinear plants using sinusoidal-input describing function methods. This work includes the development of a new nonlinear controller synthesis approach that includes derivative action in an inner-loop feedback path (nonlinear rate feedback), and its application to a motor + load model with torque saturation and stiction. This approach is capable of treaing nonlinear systems of a very general nature, with no restrictions as to system order, number of nonlinearities, configuration, or nonlinearity type; additionally, the techniques can be generalized for the design of nonlinear controllers of different structures. The end result is a closed-loop nonlinear control system that is relatively insensitive to reference-input amplitude.

关键词： Feedback control system synthesis Nonlinear control systems Signal synthesis Three-term control Load modeling Nonlinear systems control systems Laboratories Research and development

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Trends in shop floor control: modularity, hierarchy, and decentralization

Trends in shop floor control: modularity, hierarchy, and dec...

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IEEE International Symposium on Intelligent control (ISIC)

作者： T.L. Johnson A.D. Baker Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA Department Electrical & Computer Engineering Rensselaer Polytechnic Institute Troy NY USA

Computational architectures for shop floor control in automated job shops and midvolume manufacturing facilities are evolving into three identifiable forms, which are contrasted here. The first architecture, termed the modular approach, is based on earlier monolithic MRP/order-release systems and is typified by recent CIM (computer-integrated manufacturing) product offerings such as GEs CIMPLICITY. The second architecture is a hierarchical architecture, such as NIST's AMRF (National Institute of Standards and Technology's Automated Manufacturing Research Facility) system. The third architecture is a contract net architecture which is fully decentralized and may be a candidate for future CIM systems. These architectural forms may be distinguished on the basis of the partitioning principles which predominate in their design.< >

关键词： computer integrated manufacturing Hardware Power capacitors Local area networks Subcontracting Debugging Workstations Programmable control Cost function Software packages

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