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Proceedings of Tenth International Symposium on Intelligent Control最新文献

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A feature-based CAD representation enabling case-based planning across multiple manufacturing applications 基于特征的CAD表示，支持跨多个制造应用程序的基于案例的规划
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525081
K. Barber
{"title":"A feature-based CAD representation enabling case-based planning across multiple manufacturing applications","authors":"K. Barber","doi":"10.1109/ISIC.1995.525081","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525081","url":null,"abstract":"Human programmers integrate knowledge about the designed part when programming a robot or a vision system. A human is required to reason about the relationship between the designed part geometry and the particular application requirements. The OOPAC representation provides the ability to plan different applications using the same part design. The representation provides an extendibility not found in current feature-based planning system where macros incorporate the definition of feature geometry and application-specific information. The OOPAC representation enables the automated OOPAC planning system to reason about relationships between multiple constraints imposed by process parameters, workspace environment, part design, and available tools, sensors, and machines (robots). This paper primarily focused on the relationship between application plans and part design. The OOPAC KB representation facilitates the capability of the OOPAC planning system to reason about constraints imposed on the application specification by various levels of abstraction in the feature geometry (part, feature, feature face, edge, vertex).","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128165627","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
On the design and implementation of a mobile robotic system 一种移动机器人系统的设计与实现
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525123
J. Borges Sousa, F. Lobo Pereira, E. Pereira da Silva, A. Martins, A. Matos, J. Almeida, N. Cruz, R. Tunes, S. Cunha
{"title":"On the design and implementation of a mobile robotic system","authors":"J. Borges Sousa, F. Lobo Pereira, E. Pereira da Silva, A. Martins, A. Matos, J. Almeida, N. Cruz, R. Tunes, S. Cunha","doi":"10.1109/ISIC.1995.525123","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525123","url":null,"abstract":"Describes the effort being carried out in the analysis, design and implementation of the control architecture for a mobile platform for autonomous transportation, surveillance and inspection in structured and semi-structured industrial environments. The control architecture is based in a hierarchical structure organized linguistically permitting the real-time parallel execution of tasks. This architecture is composed of three levels, organization, coordination and functional, structured according to the increasing precision with decreasing intelligence principle.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127156242","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
Motion planning using fuzzy logic control with minimum sensors 基于模糊逻辑控制的最小传感器运动规划
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525114
Ho Yim, A. Butler
{"title":"Motion planning using fuzzy logic control with minimum sensors","authors":"Ho Yim, A. Butler","doi":"10.1109/ISIC.1995.525114","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525114","url":null,"abstract":"A new exploratory motion planning technique for a mobile robot is described and demonstrated using a fuzzy logic control (FLC) approach with two distance sensors. The fuzzy logic controller determines steering direction for a four wheel mobile robot based on distance from each sensor to the nearest obstacle ahead of the robot. Changes in steering direction are developed using Mamdani's Minimum Operation Rule and Center of Area (COA) defuzzification. The overall motion planning strategy is described and results from testing are discussed. It is believed that the FLC approach may offer advantages over other exploratory methods.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127216958","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: 10
State representation and transfer function of a class of variable speed continuous Petri nets 一类变速连续Petri网的状态表示与传递函数
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525119
A. Amrah, N. Zerhouni, A. El Moudni, M. Ferney
{"title":"State representation and transfer function of a class of variable speed continuous Petri nets","authors":"A. Amrah, N. Zerhouni, A. El Moudni, M. Ferney","doi":"10.1109/ISIC.1995.525119","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525119","url":null,"abstract":"Introduces the state representation as well as the transfer function associated to a class of variable speed continuous Petri nets which model discrete events systems such as: manufacturing systems, transportation systems, protocols of communication, computer systems. The authors' purpose is to synthesise a control for these systems, using relationships that characterise this type of Petri nets.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"58 14","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113957518","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
A learning approach to high precision speed control of servo motors 伺服电机高精度速度控制的学习方法
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525063
Seok-Hee Han, Young-Hoon Kim, I. Ha, Sun-Tae Lee, Jong-Jin Park
{"title":"A learning approach to high precision speed control of servo motors","authors":"Seok-Hee Han, Young-Hoon Kim, I. Ha, Sun-Tae Lee, Jong-Jin Park","doi":"10.1109/ISIC.1995.525063","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525063","url":null,"abstract":"Presents a computationally simple learning control method which is ideally tailored to high precision speed control of servo motors in the presence of the mechanical disturbance which is unknown, unstructured, and state-dependent. The authors' learning control algorithm can drive the steady state speed error to zero and, furthermore, can be used to identify the mechanical disturbance in look-up table form. In order to demonstrate the generality and practical use of their work, the authors present the convergence analysis of their learning control algorithm and some experimental results using a single degree-of-freedom manipulator.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124001389","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 auto-tuning fuzzy rule-based visual servoing algorithm for a slave arm 一种基于模糊自整定规则的从臂视觉伺服算法
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525056
Joo Gon Kim, D. Cha, Kyung Suck Cho, Seung Ho Kim
{"title":"An auto-tuning fuzzy rule-based visual servoing algorithm for a slave arm","authors":"Joo Gon Kim, D. Cha, Kyung Suck Cho, Seung Ho Kim","doi":"10.1109/ISIC.1995.525056","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525056","url":null,"abstract":"In telerobot systems, visual servoing of a task object for a slave arm with an eye-in-hand camera has drawn an interesting attention. As such a task is generally conducted in an unstructured environment, it is very difficult to define the inverse feature Jacobian matrix. To overcome this difficulty, this paper proposes an auto-tuning fuzzy rule-based visual servo algorithm. In this algorithm, a visual servo controller composed of fuzzy rules, receives feature errors as inputs and generates the change of slave position as outputs. The fuzzy rules are tuned by using steepest gradient method of the cost function, which is defined as a quadratic function of feature errors. Since the fuzzy rules are tuned automatically, this method can be applied to the visual servoing of a slave arm in real time. The effectiveness of the proposed algorithm is verified through a series of simulations and experiments.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123346211","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
High-performance multi-target multi-sensor tracking for a geographically distributed system 地理分布式系统的高性能多目标多传感器跟踪
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525103
Carine Schleiffer, R. Reynaud, G. Sella
{"title":"High-performance multi-target multi-sensor tracking for a geographically distributed system","authors":"Carine Schleiffer, R. Reynaud, G. Sella","doi":"10.1109/ISIC.1995.525103","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525103","url":null,"abstract":"This paper deals with two parts of the methodology of multisensor data fusion: conceptual and applied parts. In the conceptual part, we present a high-performance algorithm for tracking maneuvring targets using different sensors distributed on two geographical points. Each site is connected to the fusion center and transmits its observations. The results of computational examples using synthetic data and close models sensors are presented and discussed in the applied part.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125842188","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
Backpropagation through links: a new approach to kinematic control of serial manipulators 链接反向传播:串联机械臂运动控制的新方法
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525044
R. Gazit, B. Widrow
{"title":"Backpropagation through links: a new approach to kinematic control of serial manipulators","authors":"R. Gazit, B. Widrow","doi":"10.1109/ISIC.1995.525044","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525044","url":null,"abstract":"We present a new approach to neural control of serial manipulators, based on the sequential nature of the forward kinematics equations. A neural network is trained to compute the angle between two adjacent links, using the location error of the connecting joint as an input. This angle is then used to derive the location of the next joint, according to a single link kinematic equation. The procedure is repeated until all the links angles are computed. When embedded in a closed loop controller, this algorithm provides smooth operation of a serial manipulator with any number of links. The neural network is trained by backpropagating the end-effector location error through the links equations, in a similar way to backpropagation through time. The training procedure does not involve known solutions of the inverse kinematics problem. Moreover, no retraining of the network is required when adding or removing links. Several examples demonstrate the manipulator performance for three, four and six link robot arms.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"394 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122097228","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: 5
Formal specification and verification of communication protocols for degraded modes of operation of IVHS IVHS降级操作模式通信协议的正式规范和验证
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525107
E. Singh, P. Varaiya
{"title":"Formal specification and verification of communication protocols for degraded modes of operation of IVHS","authors":"E. Singh, P. Varaiya","doi":"10.1109/ISIC.1995.525107","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525107","url":null,"abstract":"The formal specification and verification of intervehicle communication protocols for degraded modes of operation on the automated highway system (AHS) is presented. The protocols are designed to stop a \"faulty\" automated vehicle or to take it out of the highway. Logical correctness of the protocols is checked using automatic verification tools.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131471651","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
Experimental evaluation of an Encoder Trailer for dead-reckoning in tracked mobile robots 履带式移动机器人航位推算编码器拖车的实验评价
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525116
Z. Fan, J. Borenstein, D. Wehe, Y. Koren
{"title":"Experimental evaluation of an Encoder Trailer for dead-reckoning in tracked mobile robots","authors":"Z. Fan, J. Borenstein, D. Wehe, Y. Koren","doi":"10.1109/ISIC.1995.525116","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525116","url":null,"abstract":"This paper describes a device developed for improved position and orientation estimation of tracked mobile robots. This device, called Encoder Trailer, consists of two incremental encoders, one absolute encoder, two \"knife-edge\" wheels, and a slip ring. It is a unique design in the sense that it can minimize the systematic errors and eliminate the most important nonsystematic errors such as uneven floors and unexpected obstacles. Both theoretical analyses and experimental results demonstrated that this Encoder Trailer improves platform dead reckoning when traveling over uneven floors and unexpected obstacles.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"286 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113998662","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: 24
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