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CONF ON APPLICATIONS OF ARTIFICIAL INTELLIGENCE 1993 : MACHINE VISION AND robotics ( PREPRINTS )

作者： SWIETLIK, A Institute for Real-Time Systems and Robotics University of Karlsruhe P.O.Box 6980 Karlsruhe 7500 Germany

ISBN: (纸本)0819412007

This work outlines an interactive approach to reconstruction of solid models from range images. It is to be integrated into a telerobotic system in order to dynamically create a coarse geometric world model suitable to support path planning and grasp planning tasks in a telerobotic environment. A solid is modelled by a collection of parametric surfaces known as superquadrics. Each superquadric model approximates the shape of one part of a solid object. Interactive techniques are discussed that allow to recover model parameters for multiple objects in a scene. A graph data structure called em scene graph is used for integrated storage of image data and knowledge supplied by the operator. After evaluation of the scene graph, model parameters are recovered by minimizing an error measure based on the distance between the range points and the corresponding locations on the model's surface. The Levenberg-Marquardt method is used to always ensure convergence of the solution. We implemented the minimization algorithm in parallel on a transputer network. © 1993 SPIE. All rights reserved.

关键词： Motion planning

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A probabilistic method to analyze ambiguous contact situations

A probabilistic method to analyze ambiguous contact situatio...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Spreng Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

An approach to analyzing ambiguous contact situations in an uncertain robotic environment is presented. When invoked by the occurrence of a contact, the analysis proceeds by generating a set of hypotheses on the contact, out of which the valid one is detected by testing the feasibility of certain motions, i.e., performing movability tests. Emphasis is placed on the generation of the hypotheses. All parts of the analysis are based upon the same probabilistic uncertainty model, which is given.< >

关键词： Testing Uncertainty Motion analysis real time systems Motion detection Performance evaluation Robot motion End effectors Information analysis Tactile sensors

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A fuzzy control approach for executing subgoal guided motion of a mobile robot in a partially-known environment

A fuzzy control approach for executing subgoal guided motion...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Zhang P. Bohner Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Germany

A fuzzy control approach is proposed for controlling a mobile robot by effectively using the static knowledge of a partially-known environment and the dynamic sensor data. To describe the global structure of the static environment, a tangent-graph is first constructed and a sequence of subgoals is generated for guiding the global path direction. During the execution of these subgoals, a motion executor using the concept of fuzzy control evaluates the sensor data and the robot current status, and adjusts the moving speed and direction of the robot.< >

关键词： Fuzzy control Mobile robots Robot sensing systems Path planning Control systems Humans Motion control Robot control Roads Robot motion

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Combination of fuzzy logic and neural networks for the intelligent control of micro robotic systems

Combination of fuzzy logic and neural networks for the intel...

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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS '93)

作者： G. Wohlke S. Fatikow Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

The authors present an advanced control concept for microrobotic systems, which is based on the combination of a neural network approach for the adaptation of manipulation parameters and a fuzzy logic approach for the correction of parameter values given to a conventional controller. This multilevel system architecture is suitable for the intelligent control of microrobots that can operate autonomously in changing environments. Typical tasks for these robots are exploration and fine manipulation, which demand intelligent task planning and motion/force control capabilities. The planning component deals with the successive determination of initial manipulation parameters, whereas the neural system performs during manipulation, computing suboptimal grasp forces and learning inference rules used for parameter adjustment.

关键词： Fuzzy logic Neural networks Intelligent control Intelligent robots Robot sensing systems Intelligent sensors Control systems Actuators Mobile robots real time systems

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A simulation-based grasp planning system for multifinger robot hands

A simulation-based grasp planning system for multifinger rob...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： G. Wohlke Institute for Real-Time Computer Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

The development of an advanced planning environment is described, which is especially tailored for the programming and simulating of complex assembly operations with multifinger robot hands. A new geometric-mechanic approach to the problem of planning grasp parameters for multifinger hands is presented, which considers the constraints of pick-and-place operations in manipulation and insertion tasks. The planning method is subdivided into two successive steps for (1) grasp point planning assertion object reachability and task feasibility, and (2) grasp force planning asserting object stability and grip security. The planning process is connected via a task concept and assembly specific language with the command executer of the planning system which controls both the motion emulation and force simulation.< >

关键词： Robotic assembly Process planning Robot programming Motion planning Stability Security Assembly systems Control system synthesis Force control Motion control

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A Hybrid Object Representation for Automatic Assembly Planning

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IFAC Proceedings Volumes 1993年第2期26卷 243-246页

作者： G. Werling H. Wild Faculty of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Postfach 6980 7500 Karlsruhe 1 Germany

A new product model that is particularly useful for model-based assembly planning is presented in this paper. The majority of the models used in this domain are simple approximations of the real workpiece and they are often dedicated to special algorithms. The model described here provides a more accurate and more flexible representation of workpieces. An increase in accuracy of the shape description was achieved by enhancing a polyhedral model with an analytical representation. The application of the model is demonstrated within the framework of assembly sequence planning.

关键词： Object representation assembling analytical models polyhedron boundary representation constructive solid geometry

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An object-oriented framework for designing hard real-time systems

An object-oriented framework for designing hard real-time sy...

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5th Euromicro Workshop on real-time systems, ECRTS 1993

作者： Eriksson, Christer Gustafsson, Jan Brorson, Jerk Gustafsson, Mikael Department of Real-Time Computer Systems University of Eskilstuna/Västerås Sweden Royal Institute of Technology Department of Machine Elements Sweden

ISBN: (纸本)081864110X

The increasing use of computer based control systems in complex applications requires models and methods for specification and verification of both the temporal and functional behaviour. One promising approach is to use the object-oriented paradigm. This paradigm makes it easier to handle the structural complexity of functions and data [IT4]. However, so far little work has been done in the temporal domain of object-oriented computing, i.e. how to guarantee that the temporal requirements on an application are fulfilled. This article presents an object-oriented framework and a language realtimeTalk (RTT) for specifying applications with hard real-time constraints. The framework includes basic design objects with which both the functional structure and the temporal behaviour of the application is designed. Furthermore, the framework includes an execution strategy. The article gives an example how an application can be developed by the RTT framework. © 1993 IEEE.

关键词： real time systems

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A neuro-fuzzy control approach for intelligent microrobots

A neuro-fuzzy control approach for intelligent microrobots

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IEEE International Conference on systems, Man and Cybernetics

作者： S. Fatikow G. Wohlke Institute for Real-Time Computer Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

Presents a neuro-fuzzy control approach for intelligent microrobots. Typical tasks of such industrial or medical robots are both exploration and fine manipulation, what demands task planning and motion/force control capabilities. For this kind of microsystems the authors investigate the system technical aspects of information processing. The concept for the control system architecture is based on the combination of a neural network approach for the adaptation of process parameters and a fuzzy logic approach for the correction of parameter values given to a conventional controller. A planning component deals with the determination of initial manipulation parameters. Together with a sensor fusion procedure and a supervising and reasoning subsystem this allows reliable operation of a microrobot.< >

关键词： Intelligent control Medical control systems Intelligent robots Control systems Electrical equipment industry Industrial control Medical robotics Motion planning Force control Information processing

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OASIS: An Open Analysis Environment

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IFAC Proceedings Volumes 1993年第2期26卷 709-712页

作者： P. Kneisel Institute for Real-Time Control Systems and Robotics University of Karlsruhe D-7500 Karlsruhe Germany

Due to the growing complexity and size of software systems, the development of correct and easy to maintain software has become more and more of a problem. This is especially true for distributed systems with real-time requirements. Therefore, great efforts have been made to overcome this problem. However, most approaches either do not consider every aspect of interest or are restricted to only one development phase. This paper describes OASIS, an open environment, that allows the integration of different analysis techniques in different system development phases, and presents the existing OASISI-toolset, that is already incorporated in this architecture.

关键词： Distributed control real-time computer systems software engineering programming environment process models monitoring

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The Control Architecture of the Mobile System Priamos

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IFAC Proceedings Volumes 1993年第1期26卷 391-396页

作者： R. Dillmann J. Kreuziger F. Wallner University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Control Systems & Robotics P.O. Box 6980. 7500 Karlsruhhe 1 Germany

In this paper the control architecture of the mobile robot system PRIAMOS is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environnement. A solution for the problem bow to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more details. The architecture presented allows to execute motion tasks in partially unknown or changing environment in an efficient manner. Especially the time critical reflexive level is computationally less expensive than previous approaches

关键词： Intelligent machines navigation hierarchically intelligent control architecture obstacle avoidance robots sensors

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