{"title":"BOA II and PipeTaz: robotic pipe-asbestos insulation abatement systems","authors":"H. Schempf, E. Mutschler, B. Chemel, S. Boehmke","doi":"10.1109/ROBOT.1997.620015","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620015","url":null,"abstract":"Three generations of past, current and future robotic and automated asbestos pipe-insulation abatement robot systems are described in this paper, including experimental results and their current disposition within the government and commercial market sectors. An on-pipe automated abatement system, dubbed BOA, for the medium and large pipe-bore sizes, has gone through 2 generations. The current system is designed to operate autonomously on pipe-networks with 4-inch diameter pipes, and will see field trials at K-25 in Oak Ridge and Fernald by the spring of 1997. A follow-on system, dubbed PipeTaz, has been proposed to abate small-bore pipe after the piping is cut out of the network. In this paper we detail the first two robot generations, and outline the proposed follow-on PipeTaz system.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"6 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":"115656861","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}
{"title":"Kinematic calibration using a plane constraint","authors":"M. Ikits, J. Hollerbach","doi":"10.1109/ROBOT.1997.606774","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606774","url":null,"abstract":"This work deals with closed-loop calibration methods where the robot endpoint is constrained to lie on a plane. Previously published calibration approaches are shown to have certain weaknesses. A new solution is given using DH and Hayati notations and standard nonlinear least squares optimization. The procedure is extended via the implicit loop method, which takes input noise into account. Pose selection is guided by the noise amplification index. Simulation and experimental results are presented for a PUMA 560 industrial manipulator and are compared to those obtained from an open-loop calibration procedure.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"35 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":"115717825","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}
{"title":"Dynamic multi-rigid-body systems with concurrent distributed contacts","authors":"J. Trinkle, J. Pang","doi":"10.1109/ROBOT.1997.619301","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619301","url":null,"abstract":"Consider a system of bodies with multiple concurrent contacts. The multi-rigid-body contact problem is to predict the accelerations of the bodies and the normal and friction loads acting at the contacts. This paper presents theoretical results for the multi-rigid-body contact problem under the assumptions that one or more contacts occur over locally planar finite regions and friction forces are consistent with the maximum work inequality. We present an existence and uniqueness result for this problem under some mild assumptions on the system inputs. The application of our results to two examples is discussed.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"202 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":"114619987","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}
Kyung-Hoon Kim, K. Ko, Joo-Gon Kim, Su-Ho Lee, H. Cho
{"title":"The development of a micro robot system for robot soccer game","authors":"Kyung-Hoon Kim, K. Ko, Joo-Gon Kim, Su-Ho Lee, H. Cho","doi":"10.1109/ROBOT.1997.620109","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620109","url":null,"abstract":"In this paper, we present the design and the structure of our multiple micro-robot system, CENDORI, designed for playing a robot soccer game, MIROSOT. A robot soccer game is a very complex robot application that incorporates real-time vision, robot control wireless communication and management of multiple robots. To build a robot system with high performance and reliability, we designed the system architecture with a centralized concept. The robot control relies largely upon the vision system and the host computer generating low level motion control words. The experimental results and the performance of the robot are discussed.","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":"114827278","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}
{"title":"Real-time pose estimation of 3D objects from camera images using neural networks","authors":"P. Wunsch, S. Winkler, G. Hirzinger","doi":"10.1109/ROBOT.1997.606781","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606781","url":null,"abstract":"This paper deals with the problem of obtaining a rough estimate of three dimensional object position and orientation from a single two dimensional camera image. Such an estimate is required by most 3-D to 2-D registration and tracking methods that can efficiently refine an initial value by numerical optimization to precisely recover 3-D pose. However the analytic computation of an initial pose guess requires the solution of an extremely complex correspondence problem that is due to the large number of topologically distinct aspects that arise when a three dimensional opaque object is imaged by a camera. Hence general analytic methods fail to achieve real-time performance and most tracking and registration systems are initialized interactively or by ad hoc heuristics. To overcome these limitations we present a novel method for approximate object pose estimation that is based on a neural net and that can easily be implemented in real-time. A modification of Kohonen's self-organizing feature map is systematically trained with computer generated object views such that it responds to a preprocessed image with one or more sets of object orientation parameters. The key idea proposed here is to choose network topology in accordance with the representation of 3-D orientation. Experimental results from both simulated and real images demonstrate that a pose estimate within the accuracy requirements can be found in more than 81% of all cases. The current implementation operates at 10 Hz on real world images.","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":"114517698","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}
{"title":"Modeling and identification of an electrohydraulic articulated forestry machine","authors":"E. Papadopoulos, Bingguo Mu, R. Frenette","doi":"10.1109/ROBOT.1997.620016","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620016","url":null,"abstract":"This paper focuses on modeling and parameter estimation for the electrohydraulic actuation system of an articulated forestry machine. The linear graph method is implemented in deriving mathematical models of the swing, boom and stick subsystems. Actuation dynamics are subsequently integrated with manipulator dynamics to result in a complete machine model. Identification procedures employed in estimating physical parameters are discussed. Model validation studies show good agreement between model predictions and experiments. The derived models will be used for designing a controller for coordinated endpoint motion, for prediction, and for a real-time graphical training simulator.","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":"116791506","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}
{"title":"A new line tracking method for nonholonomic vehicles","authors":"Y. Kanayama, F. Fahroo","doi":"10.1109/ROBOT.1997.606728","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606728","url":null,"abstract":"We investigate the problem of finding an algorithm for the movement of a vehicle under the nonholonomic constraint to track a given directed straight line without allowing any spinning motion. We propose a new principle of computing the derivative of path curvature as a linear combination of the current vehicle path curvature, vehicle orientation error, and positional error. We call this function the steering function. By linearization we find an optimal selection of parameters for critically damped motions and obtain a single parameter, /spl sigma/, for tracking, which we call smoothness. The uniform asymptotic stability of the feedback rule is proved through a Lyapunov function. Numerous simulation results as well as experimental results obtained on the autonomous robot Yamabico at the Naval Postgraduate School are included to show the effectiveness of this method.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"1 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":"117325563","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}
{"title":"Design of a minimum surface-effect tendon-based microactuator for micromanipulation","authors":"M. Goldfarb, J. Lipsey","doi":"10.1109/ROBOT.1997.614344","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614344","url":null,"abstract":"A piezoelectric (PZT) stack-based actuator was developed to provide a means of actuation with dynamic characteristics appropriate for small-scale manipulation. In particular, the design incorporates a highly nonlinear, large-ratio transmission that provides approximately two orders of magnitude motion amplification from the PZT stack. In addition to motion amplification, the nonlinear transmission was designed via optimization methods to distort the highly non-uniform properties of a piezoelectric actuator so that the achievable actuation force is nearly constant throughout the actuator workspace. The package also includes sensors that independently measure actuator output force and displacement, so that a manipulator structure need not incorporate sensors nor the associated wires. Specifically, the actuator was designed to output a maximum force of at least one Newton through a stroke of at least one millimeter. For purposes of small-scale precision position and/or force control, the actuator/sensor package was designed to eliminate stick-slip friction and backlash. The overall dimensions of the actuator/sensor package are approximately 40/spl times/65/spl times/25 mm.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"11 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":"121891173","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}
{"title":"Evolving an intelligent vehicle for tactical reasoning in traffic","authors":"R. Sukthankar, S. Baluja, J. Hancock","doi":"10.1109/ROBOT.1997.620089","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620089","url":null,"abstract":"Recent research in automated highway systems has ranged from low-level vision-based controllers to high-level route-guidance software. However there is currently no system for tactical-level reasoning. Such a system should address tasks such as passing cars, making exits on time, and merging into a traffic stream. Our approach to this intermediate-level planning combines a distributed reasoning system (PolySAPIENT) with a novel evolutionary optimization strategy (PBIL). PBIL automatically tunes PolySAPIENT module parameters in simulation by evaluating candidate modules on various traffic scenarios. Since the control interface to the simulated vehicles is identical to that on the Carnegie Mellon Navlab vehicles, modules developed using this process can be directly ported to existing hardware. This method is currently being applied to the automated highway system domain; it also generalizes to many complex robotics tasks where multiple interacting modules must simultaneously be configured without individual module feedback.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"39 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":"117093998","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}
{"title":"Fast optical hazard detection for planetary rovers using multiple spot laser triangulation","authors":"L. Matthies, T. Balch, B. Wilcox","doi":"10.1109/ROBOT.1997.620142","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620142","url":null,"abstract":"A new laser-based optical sensor system that provides hazard detection for planetary rovers is presented. The sensor can support safe travel at speeds up to 12 cm/second for large (1 m) rovers in full sunlight on Earth or Mars. This is at least a 5 times improvement over the sensor aboard NASA's Mars Pathfinder rover. The system overcomes limitations in the older design that require image differencing to detect a laser stripe in full sun. The new system ensures the projected laser light is detectable in a single image, eliminating the requirement for additional difference images. The improvement is significant since any reduction in image gathering or processing time provides for faster rover motion. The savings are even more important in the case of a Mars rover since power and radiation-hardening requirements lead to severely constrained computational resources. The paper includes a thorough discussion of design details and tradeoffs for optical hazard sensing that will benefit future efforts in this area.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"42 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":"124002193","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}