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Proceedings of International Conference on Robotics and Automation最新文献

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Multimodal interface for a virtual reality based computer aided design system 基于虚拟现实的计算机辅助设计系统的多模态界面
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614321
C. Chu, T. H. Dani, R. Gadh
{"title":"Multimodal interface for a virtual reality based computer aided design system","authors":"C. Chu, T. H. Dani, R. Gadh","doi":"10.1109/ROBOT.1997.614321","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614321","url":null,"abstract":"Generation of geometric shapes called \"geometric concept designs\" via the multimodal user interface of a virtual reality (VR) based system motivates the current research. In the VR system, geometric designs can be more effectively input into the computer in a physically intuitive way (using voice, hand motions, and gestures-just as a person would communicate ideas to another person). Although the dimensions inputted may be imprecise, this approach is useful for concept shape generation since at this stage dimensions need not be exact. The paper focuses on determining the requirements for the multimodal user interface and assessing the applications of different input and output mechanisms in the virtual environment (VE). Based on the results of these investigations, a VR-based computer-aided design (CAD) system for the conceptual shape design will be implemented in the current research. Once designers use the system that we are developing, the interface requirements determined in the current paper may be verified or refined. The objectives of the research are to expand the frontiers of product design and establish a new paradigm for the VR-based conceptual shape design system.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123286519","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: 27
Parcel manipulation and dynamics with a distributed actuator array: the virtual vehicle 包裹操纵和动态与分布式驱动器阵列:虚拟车辆
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614359
J. Luntz, W. Messner, H. Choset
{"title":"Parcel manipulation and dynamics with a distributed actuator array: the virtual vehicle","authors":"J. Luntz, W. Messner, H. Choset","doi":"10.1109/ROBOT.1997.614359","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614359","url":null,"abstract":"We are developing a materials handling system where many small simple actuators cooperate to transport and to manipulate large objects in the plane. A discrete set of cells, each comprising two actuators, are fixed in a planar array. By coordinating the actuators in the cells on which an object rests, an object can be transported and manipulated. In essence, this system is an improvement over traditional conveyor systems in that objects can be re-oriented, as well as conveyed. Such an array provides flexible materials handling in which many objects independently can be manipulated and transported at the same time. The array is coordinated in a distributed manner where each cell has its own controller and each controller communicates with its neighbors. Towards the goal of motion planning, in this paper we consider the dynamics of parcel transport and manipulation. The parcel dynamics are based on an exact discrete representation of the system, unlike other methods where a continuity assumption is made. Two types of contact models are considered.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126202756","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: 54
Development of a dextrous gripper for nuclear applications 核用灵巧夹持器的研制
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614358
A. Dutta, G. R. Muzumdar, V. Shirwalkar, K. Jayarajan, D. Venkatesh, M. S. Ramakumar
{"title":"Development of a dextrous gripper for nuclear applications","authors":"A. Dutta, G. R. Muzumdar, V. Shirwalkar, K. Jayarajan, D. Venkatesh, M. S. Ramakumar","doi":"10.1109/ROBOT.1997.614358","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614358","url":null,"abstract":"The need for dextrous manipulation arises when the physical dimensions and mechanical properties of the materials to be handled may not be known precisely. For such applications the gripper should be able to control the position of its finger or the force which it exerts on the object, and also be able to detect slip and take corrective action. This paper describes certain aspects of design involved and experiments carried out using a dextrous gripper which is being developed for nuclear applications.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126233020","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: 6
Active self-calibration of hand-mounted laser range finders 手持式激光测距仪的主动自校准
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606709
G. Wei, G. Hirzinger
{"title":"Active self-calibration of hand-mounted laser range finders","authors":"G. Wei, G. Hirzinger","doi":"10.1109/ROBOT.1997.606709","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606709","url":null,"abstract":"In this paper, we propose a method for self-calibration of robotic hand-mounted laser range finders by means of active motion of the robot. Through range-measuring a plane of unknown position and orientation, the mounting parameters of the range finders and the coordinates of the world planes are estimated. Systematic measurement errors can also be calibrated at the same time. The approach is fully autonomous, in that no initial guesses of the unknown parameters are to be provided from the outside by humans for the solution of a set of nonlinear equations. In fact, the initial values are all found in closed forms by the algorithm itself. Sufficient conditions for a unique solution are derived in terms of controlled motion sequences. Experimental results in both a simulated and a real environments are reported.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121301898","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
Development of the micro pump using ICPF actuator 采用ICPF作动器的微型泵的研制
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620049
Shuxiang Guo, Tatsuya Nakamura, T. Fukuda, K. Oguro
{"title":"Development of the micro pump using ICPF actuator","authors":"Shuxiang Guo, Tatsuya Nakamura, T. Fukuda, K. Oguro","doi":"10.1109/ROBOT.1997.620049","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620049","url":null,"abstract":"In this paper, we propose a new prototype model of a micro pump using an ICPF (ionic conducting polymer film) actuator as the servo actuator. This micro pump consists of two one-way valves that make use of the same ICPF actuator. The overall size of this micro pump prototype is 12 mm in diameter and 20 mm in length. The actuating mechanism is as follows. (1) The ICPF actuator as the diaphragm is bent into the anode side by application of electricity. Then the volume of the pump chamber increases, resulting in the inflow of liquid from the inlet to the chamber. (2) By changing the current direction, the volume of the pump chamber decreases, resulting in liquid flow from the chamber to the outlet. (3) The ICPF actuator is put on a sine voltage, the micro pump provides liquid flow from the inlet to the outlet. The characteristics of the micro pump are measured. The experimental results indicate that the micro pump has satisfactory responses.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121307198","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: 26
A polynomial-complexity tool for evaluating the performance of structurally controlled FMS 结构控制FMS性能评价的多项式复杂度工具
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614309
S. Reveliotis, P. Ferreira
{"title":"A polynomial-complexity tool for evaluating the performance of structurally controlled FMS","authors":"S. Reveliotis, P. Ferreira","doi":"10.1109/ROBOT.1997.614309","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614309","url":null,"abstract":"The problem of evaluating the capacity of the structurally controlled FMS has been raised previously by us (1996). In that paper, an analytical framework for the problem, and a methodology able to provide accurate performance estimates were developed, but it was also observed that the computational complexity of the approach rendered it inapplicable to most practical situations. Here, we propose an approximating scheme for the performance evaluation of the structurally controlled FMS, which presents polynomial computational complexity, and therefore, is applicable to real-life FMSs. Initial experimentation with the approach indicates that it holds considerable promise for effective evaluation of the production capacity of these systems.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126803200","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
Vision based navigation system considering error recovery for autonomous mobile robot 考虑误差恢复的自主移动机器人视觉导航系统
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619162
Y. Abe, T. Fukuda, F. Arai, Y. Yokoyama, Yoshio Tanaka
{"title":"Vision based navigation system considering error recovery for autonomous mobile robot","authors":"Y. Abe, T. Fukuda, F. Arai, Y. Yokoyama, Yoshio Tanaka","doi":"10.1109/ROBOT.1997.619162","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619162","url":null,"abstract":"We present a vision based navigation system which has an error recovery function for an autonomous mobile robot. A misrecognition of landmark causes the robot to mislocate itself. When this happens, the robot is unable to perform its primary objective. In order to solve this kind of problem, we have proposed a hierarchical control architecture \"HALAS\" (hierarchical adaptive and learning architecture system). This consists of some modules which are arranged hierarchically and each module means a single function of this robot. When one module fails in its aim, the upper module detects the error and recovers from it using other useful information from its knowledge data base. We show experimentally that the robot gets a higher reliability in autonomous mobility because the map correspondence module finds the error which has been caused by an anemo perception module (landmark recognition module) and it corrects the error utilizing its map information.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123807083","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: 3
Nadaraya-Watson estimator for sensor fusion problems 传感器融合问题的Nadaraya-Watson估计
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619268
N. Rao
{"title":"Nadaraya-Watson estimator for sensor fusion problems","authors":"N. Rao","doi":"10.1109/ROBOT.1997.619268","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619268","url":null,"abstract":"In a system of N sensors, the sensor S/sub j/, j=1,2...,N, outputs Y/sup j/spl isin//[0, 1], according to an unknown probability density p/sub j/(Y/sup j|/X), corresponding to input X/spl isin/[0, 1]. A training n-sample (X/sub 1/,Y/sub 1/), (X/sub 2/,Y/sub 2/), ..., (X/sub n/,Y/sub n/) is given where Y/sub i/=(Y/sub i//sup 1,/Y/sub i//sup 2,/...,Y/sub i//sup N/) such that Y/sub i//sup j /is the output of S/sub j/ in response to input X/sub i/. The problem is to estimate a fusion rule f:[0,1]/sup N//spl rarr/[0,1], based on the sample, such that the expected square error, I(f), is minimized over a family of functions /spl Fscr/ with uniformly bounded modulus of smoothness. Let f* minimize I(.) over /spl Fscr/; f* cannot be computed since the underlying densities are unknown. We estimate the sample size sufficient to ensure that Nadaraya-Watson estimator f/spl circ/ satisfies P[I(f/spl circ/)-I(f*)>/spl epsiv/]</spl delta/ for /spl epsiv/>0 and /spl delta/, 0</spl delta/<1. We apply this method to the problem of detecting a door by a mobile robot equipped with arrays of ultrasonic and infrared sensors.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124926001","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: 16
Robots playing to win: evolutionary soccer strategies 机器人为赢而战:进化足球策略
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620107
A. Agah, K. Tanie
{"title":"Robots playing to win: evolutionary soccer strategies","authors":"A. Agah, K. Tanie","doi":"10.1109/ROBOT.1997.620107","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620107","url":null,"abstract":"Automatic development and learning of robot soccer strategies are presented in this paper. It is shown that using a novel control system, it is possible to allow teams of robots to acquire strategies for playing a better game of soccer through successive generations, utilizing simulated evolution. A number of soccer techniques, as developed through robot games, are discussed. The mechanism presented in the paper is suitable for other tasks requiring multiple robots to interact and cooperate in teams.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125242406","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: 26
Experimental verification of control algorithms for a one link geared robot 单连杆齿轮机器人控制算法的实验验证
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619294
K. Kozlowski
{"title":"Experimental verification of control algorithms for a one link geared robot","authors":"K. Kozlowski","doi":"10.1109/ROBOT.1997.619294","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619294","url":null,"abstract":"In this paper, a simple one degree of freedom robot, designed for both research and teaching purposes, is described. The experimental set-up consists of a DC-motor, rate generator, harmonic drive, control system and load. A system has an open architecture and allows the programmer to distribute the intelligence between the single board computer (SBC) and PC compatible computer, which are connected through an interface. The SBC collects data from different sensors. System software resides on SBC and PC compatible computer. A PD controller has been designed and successfully implemented. Different new adaptive control algorithms, which require only link position measurements, were developed and tested, both on SUN workstation and on the experimental set-up.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128039924","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
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