This paper presents an advanced telerobotic control system for a mobile robot with multisensor feedback. A telecontrol concept for various degrees of cooperation between a human operator and a mobile robot is describe...
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This paper presents an advanced telerobotic control system for a mobile robot with multisensor feedback. A telecontrol concept for various degrees of cooperation between a human operator and a mobile robot is described. With multisensor on-board the robot at the remote site can adjust its path while continuously accepting commands from the human operator. Interactive modelling that allows the modelling of an unknown environment and makes landmarks known to the robot is introduced. A graphical user interface and a 3-D animation system are important elements in the teleoperation, they are integrated in this system to help the operator by task analysis, off-line teaching and on-line monitoring. Experiments performed with the mobile robot PRIAMOS are discussed.
Usually, a mouse is used for input activities only, whereas output from the computer is sent via the monitor and one or true loudspeakers. But why not use the mouse for output, tool For instance, if it would be possib...
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Usually, a mouse is used for input activities only, whereas output from the computer is sent via the monitor and one or true loudspeakers. But why not use the mouse for output, tool For instance, if it would be possible to predict the next interaction object the user wants to click on, a mouse with a mechanical brake could stop the cursor movement at the desired position. This kind of aid is especially attractive for small targets like resize. handles of windows or small buttons. In this paper, we present an approach for the integration of haptic feedback in everyday graphical user interfaces. We use a specialized mouse which is able to apply simple haptic information to the user's hand and index finger. A multi-agent system has been designed which 'observes' the user is. order to predict the next interaction object and launch haptic feedback, thus supporting positioning actions with the mouse. Although primarily designed in order to provide 'intelligent' haptic feedback, the system can be combined with other output modalities as well, due to its modular and flexible architecture.
An intelligent control architecture for autonomous robot systems must be modular, scaleable, extendible, and adaptable to the available capacity of computer control systems. To support these properties, the concept of...
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An intelligent control architecture for autonomous robot systems must be modular, scaleable, extendible, and adaptable to the available capacity of computer control systems. To support these properties, the concept of an adaptive control structure, ACS, is presented in this paper. Experiments with a small autonomous assembly robot show the successful use of ACS.
A strategy for the fusion of information from a stereo image pair for model-based object recognition is discussed. Our scheme combines a new method for feature grouping with a region-based stereo matching and a hypoth...
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Programming by Demonstration (PbD) is a programming method that allows to add new functionalities to a system by simply showing the desired task or skill in form of few examples. In the domain of robotics this paradig...
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The distributed real-time community is mainly divided into two camps: hard real-time and soft real-time;hybrid systems have been considered but not to any great extent. In this paper we propose a hybrid communication ...
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Load balancing is one of the central problems that have to be solved in parallel computation. Here, the problem of distributed, dynamic load balancing for massive parallelism is addressed.A new local method, which rea...
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Load balancing is one of the central problems that have to be solved in parallel computation. Here, the problem of distributed, dynamic load balancing for massive parallelism is addressed.A new local method, which realizes a physical analogy to equilibrating liquids in multi-dimensional tori or hypercubes, is presented. It is especially suited for communication mechanisms with low set-up to transfer ratio occurring in tightly-coupled or SIMD systems. By successive shifting single load elements to the direct neighbors, the load is automatically transferred to lightly loaded *** to former methods, the proposed Liquid model has two main advantages. First, the task of load sharing is combined with the task of load balancing, where the former has priority. This property is valuable in many applications and important for highly dynamic load distribution. Second, the Liquid model has high efficiency, Asymptotically, it needsO(D K Ldiff) load transfers to reach the balanced state in aD-dimensional torus withKprocessors per dimension and a maximum initial load difference ofLdiff. The Liquid model clearly outperforms an earlier load balancing approach, the *** a survey of related research, analytical results within a formal framework are derived. These results are validated by worst-case simulations in one- and two-dimeasional tori with up to two thousand processors.
This paper presents a general approach to the acquisition of sensor-based robot skills from human demonstrations. Since human-generated examples cannot be assumed to be optimal with respect to the robot, adaptation of...
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This paper presents a general approach to the acquisition of sensor-based robot skills from human demonstrations. Since human-generated examples cannot be assumed to be optimal with respect to the robot, adaptation of the initially acquired skill is explicitly considered. Results for acquiring and refining manipulation skills for a Puma 260 manipulator are given.
One of the many features needed to support the activities of autonomous systems is the ability of motion planning. It enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, ...
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One of the many features needed to support the activities of autonomous systems is the ability of motion planning. It enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, the control loop comprising sensing, planning, and acting has not yet been closed for robots in dynamic environments. One reason involves the long execution times of the motion planning component. A solution for this problem is offered by the use of highly computational parallelism. Thus, an important task is the parallelization of existing motion planning algorithms for robots so that they are suitable for highly computational parallelism. In several cases, completely new algorithms have to be designed, so that a parallelization is feasible. We review approaches to motion planning using parallel computation.
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