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Proceedings of the 1991 IEEE International Symposium on Intelligent Control最新文献

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Visual control signals for road following 道路跟随可视控制信号
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187397
Daniel Raviv, Martin Herman
{"title":"Visual control signals for road following","authors":"Daniel Raviv, Martin Herman","doi":"10.1109/ISIC.1991.187397","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187397","url":null,"abstract":"A new quantitative, vision-based approach to road following is presented. Road following is considered as a control, rather than a vision, problem. The approach is based on the theoretical framework of the recently developed optical flow-based visual field theory. By building on the theory, it is suggested that motion commands can be generated directly from a visual feature, or cue, consisting of the projection into the image of the tangent point on the edge of the road, along with the optical flow of this point. Using this cue, several different vision-based control approaches are possible.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127382787","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
An operation space approach to robotic excavation 机器人挖掘的操作空间方法
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187404
S. Singh
{"title":"An operation space approach to robotic excavation","authors":"S. Singh","doi":"10.1109/ISIC.1991.187404","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187404","url":null,"abstract":"A methodology for automatically generating robot actions for tasks that cannot be abstracted into a geometrical basis because of complex interaction between the robot and the world is proposed. The method considers such a task, robotic excavation, by seeking to satisfy constraints posed by the robot and the world to generate plans that optimize an arbitrary cost function. The constraints, the optimizing scheme, and preliminary simulation results are discussed.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124813874","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 14
Omega /sup infinity /: a research program for autonomous agent behavior specification and analysis Omega /sup infinity /:一个用于自主代理行为规范和分析的研究程序
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187339
T. Henderson, P. Dalton, J. Zachary
{"title":"Omega /sup infinity /: a research program for autonomous agent behavior specification and analysis","authors":"T. Henderson, P. Dalton, J. Zachary","doi":"10.1109/ISIC.1991.187339","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187339","url":null,"abstract":"A framework for the specification and analysis of autonomous agents is described. In general, such agents require several levels of behavioral specifications, including low-level reflex actions, midlevel controllers to deal with the physical aspects of the world, and high-level representations for goals and plans. The paper focuses on the midlevel control problem (e.g. obstacle avoidance, grasping, etc.). The use of real-time programming languages as behavior specification tools, the use of formal techniques to prove properties of such specifications, and the physical-based simulation and animation of such specifications are explored.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122180617","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Task sequence planning in a robot workcell using AND/OR nets 基于AND/OR网络的机器人工作单元任务序列规划
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187364
T. Cao, A. Sanderson
{"title":"Task sequence planning in a robot workcell using AND/OR nets","authors":"T. Cao, A. Sanderson","doi":"10.1109/ISIC.1991.187364","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187364","url":null,"abstract":"An approach to task sequence planning for a generalized robot manufacturing or material handling workcell is described. Given the descriptions of the objects in this system and all feasible geometric relationships among these objects, an AND/OR net which describes the relationships of all feasible geometric states and associated feasibility criteria for net transitions is generated. This AND/OR net is mapped into a Petri net which incorporates all feasible sequences of operations. The resulting Petri net is shown to be bounded and have guaranteed properties of liveness, safeness, and reversibility. Sequences are found from the reachability tree of the Petri net. Feasibility criteria for net transitions may be used to generate an extended Petri net representation of lower-level command sequences. The resulting Petri net representation may be used for online scheduling and control of the system of feasible sequences. A simulation example of the sequences is described.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114739532","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 33
Control of dynamic grasping systems using neural network approximation 基于神经网络逼近的动态抓取系统控制
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187357
G. Guo, W. Gruver, K. Jin
{"title":"Control of dynamic grasping systems using neural network approximation","authors":"G. Guo, W. Gruver, K. Jin","doi":"10.1109/ISIC.1991.187357","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187357","url":null,"abstract":"A control algorithm for dynamic grasping systems using neural network approximation (NNA) is proposed. The kinematic and dynamic equations of the grasping system are derived. Based on these equations, a method for generalized computed torque control is developed. From computations of this control scheme, four elemental operation functions that are realized by elemental NNA functions are induced. All of the control computations in the grasping system are accomplished using neural network approximation. The PD control of a two-jointed finger mechanism is studied as an example of the application of the algorithm. Results using the NNA functions are compared.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128059443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Control of mobile linked flexible system 移动互联柔性系统的控制
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187376
T. Fukuda, A. Hirotu, H. Hosokai, F. Arai
{"title":"Control of mobile linked flexible system","authors":"T. Fukuda, A. Hirotu, H. Hosokai, F. Arai","doi":"10.1109/ISIC.1991.187376","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187376","url":null,"abstract":"Mobile control and vibration control are proposed for a large, mobile, linked, flexible space structure composed of joints, flexible links, and floating pads. The control is achieved by allocating four compressed air jet nozzles on each floating pad, and a DC motor at the joint of the linkage between adjacent links. To derive the dynamics of such a linked system, the system is modeled as a lumped-parameter system. The method is applied to a flexible system that is kept afloat by air bearings at the joints so that there is no reaction force from the ground to the flexible system. Some experimental results are shown to demonstrate the effectiveness of the method.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121769362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
An intelligent control approach for machining 一种智能加工控制方法
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187381
Y. Qu
{"title":"An intelligent control approach for machining","authors":"Y. Qu","doi":"10.1109/ISIC.1991.187381","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187381","url":null,"abstract":"An approach for controlling an intelligent machining workstation is introduced. The control system is built in behavior-achieving layers, which allows a machine tool to operate at increasing levels of competence. Each layer focuses on a specific simple control task for machining processes. Qualitative reasoning is used to augment the system at the highest layer, giving the system the ability to foresee patterns of behavior that lead to failure. It is shown how qualitative models can be selected, set up, and used to adjust control parameters.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"228 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133612572","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Object extraction for color robotic vision systems 彩色机器人视觉系统的目标提取
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187399
J. Zheng, K. Valavanis, J. Gauch
{"title":"Object extraction for color robotic vision systems","authors":"J. Zheng, K. Valavanis, J. Gauch","doi":"10.1109/ISIC.1991.187399","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187399","url":null,"abstract":"A single-value total color difference (TCD) is developed for processing color images and extracting objects from natural scenes. The method is insensitive to illumination changes and is accurate and easily implemented. The calculation of the TCD is based on J. MacAdam's (1942) just noticeable difference.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115115050","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Coordination of multiple robots via supervisory control 通过监督控制来协调多个机器人
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187327
D. Garg
{"title":"Coordination of multiple robots via supervisory control","authors":"D. Garg","doi":"10.1109/ISIC.1991.187327","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187327","url":null,"abstract":"A supervisory control problem for coordination of multiple robots is addressed. The coordination control strategies developed were applied to two IBM 7540 SCARA robots. A digital computer program operable on an IBM PS/2 System 80 provided multiple concurrent programming of the two robots. An interactive control strategy and a master-slave control strategy were designed, implemented, optimized, and tested. The results showed excellent trajectory adherence and repeatability for both control schemes.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116980505","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Acquisition of human skills for robotic systems 为机器人系统获取人类技能
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187402
K. Kosuge, T. Fukuda, H. Asada
{"title":"Acquisition of human skills for robotic systems","authors":"K. Kosuge, T. Fukuda, H. Asada","doi":"10.1109/ISIC.1991.187402","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187402","url":null,"abstract":"A method for representing human skills in assembly tasks so that they can be transferred to intelligent robotic systems is proposed. Data from which control strategies of the human operator are extracted are acquired by a direct teaching method. Two levels of control strategies are extracted from the data: one is a high-level sequence of motion with regard to discrete state transitions of the contact state, and the other is compliant motion control strategies, with which the human operator manipulates parts. Based on a priori knowledge of the geometry of parts, the authors first generate a state network representing possible transitions of contact states. The human control data are interpreted with reference to this network and a motion sequence is extracted from the data. The compliant motion control strategy necessary for each state transition is then identified by processing the force and velocity profiles of the acquired data. The identified control strategies in individual steps of the operation are then compiled in order to simplify the representation of the strategies as well as to obtain smooth state transitions.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130545747","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 42
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