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1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97最新文献

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Aspects of heading determination via fusion of inclinometer and magnetometer data 通过融合倾角计和磁力计数据确定航向的各个方面
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620264
R. Smith, A. Frost, P. Probert
{"title":"Aspects of heading determination via fusion of inclinometer and magnetometer data","authors":"R. Smith, A. Frost, P. Probert","doi":"10.1109/ICAR.1997.620264","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620264","url":null,"abstract":"The development of a system for heading determination of a small underwater vehicle is described. The system uses a Kalman filter to fuse information from a pair of inclinometers and a tri-axial magnetometer. The magnetometer can be corrupted by variations in the Earth's field caused by: external objects and internal magnetic fields. The internal field is assumed to consist of static and thruster dependent parts. We show how to use inclinometer data to adjust for a limited set of external field variation. We also show how to calibrate the magnetometer to compensate for static and thruster dependent internal fields.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116006271","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: 11
Humanoid machine vision systems for space research and robotics 用于空间研究和机器人的类人机器视觉系统
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620278
P. Greguss
{"title":"Humanoid machine vision systems for space research and robotics","authors":"P. Greguss","doi":"10.1109/ICAR.1997.620278","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620278","url":null,"abstract":"Centric minded imaging (CMI)-in contrary to everyday practice where see-through-window (STW) imaging is used-is applied to develop machine vision systems which have-similarly to human vision-peripheral and foveal field of vision simultaneously. A survey is given on how this type of machine vision can be applied to improve the performance of attitude determination systems used in space research, or the orientation capability of space rovers, how it could extend the usefulness of radial profilometry and to study crystal growth in microgravity.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"40 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120972676","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
Recursive learning for deformable object manipulation 可变形对象操作的递归学习
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620294
A. M. Howard, G. Bekey
{"title":"Recursive learning for deformable object manipulation","authors":"A. M. Howard, G. Bekey","doi":"10.1109/ICAR.1997.620294","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620294","url":null,"abstract":"This paper presents a generalized approach to handling of 3D deformable objects. Our task is to learn robotic grasping characteristics for a non-rigid object represented by a physically-based model. The model is derived from discretizing the object into a network of interconnected particles and springs. Using Newtonian equations, we model the particle motion of a deformable object and thus calculate the deformation characteristics of the object. These deformation characteristics allow us to learn the required minimum forces necessary to successfully grasp the object and by linking these parameters into a learning table, we can subsequently retrieve the forces necessary to grasp an object presented to the system during run time. This new method of learning is presented and the results of a virtual simulation are shown.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"256 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121235687","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: 38
Set point stabilizing control for a mobile robot with trailer 带挂车移动机器人的定点稳定控制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620209
H. Michalska, F. Rehman
{"title":"Set point stabilizing control for a mobile robot with trailer","authors":"H. Michalska, F. Rehman","doi":"10.1109/ICAR.1997.620209","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620209","url":null,"abstract":"A novel method for the construction of state-dependent set point stabilizing control for a class of nonholonomic systems is applied to a model of a car-like robot with trailer-a typical representative of this class. This method does not necessitate conversion of the system model into a \"chained form\", and thus does not rely on any special transformation techniques. The feedback control are piecewise constant and the method is based on the introduction of a novel concept of guiding functions. The guiding functions are not Lyapunov functions, however, a comparison of their values allows one to determine a desired direction of system motion and to construct a sequence of controls such that the sum of the guiding functions decreases in an average sense.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"600 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116297951","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
3D position sensing using the difference in the time-of-flights from a wave source to various receivers 利用从波源到各种接收器的飞行时间的差异进行三维位置传感
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620245
M. Walworth, Ajay Mahajan
{"title":"3D position sensing using the difference in the time-of-flights from a wave source to various receivers","authors":"M. Walworth, Ajay Mahajan","doi":"10.1109/ICAR.1997.620245","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620245","url":null,"abstract":"3D positioning systems typically use actual time-of-flights for triangulation to determine the position of a wave source. Problems, such as inherent time delays and synchronization of the receiver/transmitter pairs are prevalent in these systems. This paper presents a novel formulation for the estimation of the coordinates of an ultrasonic wave source based on the differences in the time-of-flights (TOFs) to various receivers fixed in an inertial frame of reference. A thorough analysis of the formulation and a 1D prototype are presented. Typical applications benefiting from this technology are position sensing systems that may be used in robotics, AGV guidance and navigation, virtual reality, and vibrations.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116350013","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: 45
Shape memory micro-mechanisms for medical applications 医用形状记忆微机制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620176
J. Peirs, D. Reynaerts, H. Van Brussel
{"title":"Shape memory micro-mechanisms for medical applications","authors":"J. Peirs, D. Reynaerts, H. Van Brussel","doi":"10.1109/ICAR.1997.620176","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620176","url":null,"abstract":"This paper describes the design of micro-mechanisms actuated by shape memory alloys to be used for different medical applications. They are all illustrations of a very simple micro-actuation technology conceived around a wire-like shape memory element. At the same time they show how a hybrid microsystem can be conceived and what are the specific problems when applying shape memory micro-actuation. Four different systems are described. The first one is a very simple microvalve to be used in drug delivery systems. The three other examples are situated in the minimal invasive surgery area: a mirror actuation system, a zooming system, and a bending actuator for colonoscopy.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127624957","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
A distance function and its gradient for manipulator online obstacle detection and avoidance 一种用于机械臂在线障碍物检测与避障的距离函数及其梯度
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620217
M. Schlemmer, G. Gruebel
{"title":"A distance function and its gradient for manipulator online obstacle detection and avoidance","authors":"M. Schlemmer, G. Gruebel","doi":"10.1109/ICAR.1997.620217","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620217","url":null,"abstract":"A novel concept of a smooth distance function for online collision detection and avoidance is presented. The concept is well suited for real-time obstacle avoidance path planning. Computation efficiency is achieved by three properties: 1) the 'collision' surfaces of obstacles need to be approximated by local grid point sets only; 2) a manipulator is approximated by a finite set of ellipsoids (or balls); and 3) its gradient exists and can be calculated efficiently due to the smoothness of the distance function. The concept exploits the recursive forward kinematic structure and is not based on a configuration space representation. Hence it is also applicable for kinematically redundant (multi-) manipulator systems.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114902732","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: 4
On the design of a four-legged walking machine 关于四足行走机的设计
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620163
S. Cordes, K. Berns, M. Eberl, W. Ilg, P. Buhrle
{"title":"On the design of a four-legged walking machine","authors":"S. Cordes, K. Berns, M. Eberl, W. Ilg, P. Buhrle","doi":"10.1109/ICAR.1997.620163","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620163","url":null,"abstract":"This paper presents the design of a four-legged walking machine with a versatile leg construction. It offers the possibility to investigate reptile- and mammal-like walking with only one mechanical realization. A flexible spine will support walking with better stability. For the control of the machine, a hierarchical organized control hardware will be used, which has been very successful on our other walking machines.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128418703","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: 15
An adaptable user interface and controller for a rehabilitation robotic arm 一种用于康复机械臂的适应性用户界面和控制器
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620291
B. Parsons, P. Warner, A. White, R. Gill
{"title":"An adaptable user interface and controller for a rehabilitation robotic arm","authors":"B. Parsons, P. Warner, A. White, R. Gill","doi":"10.1109/ICAR.1997.620291","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620291","url":null,"abstract":"Previous evaluations of rehabilitation robotic systems have highlighted the need for the development of adaptable user interfaces and controller software, to cater for the varied functional ability and requirements of the potential user population. This paper outlines an approach to the development of an adaptable control system and user interface for a wheelchair-mounted robotic manipulator. A software architecture has been developed that allows a rehabilitation professional to configure a system, the interface and complexity of which matches the requirements of the user. An initial evaluation by an individual with spinal cord injury has provided encouraging results regarding the system's usability and adaptability.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"280 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134239979","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
A visual sensing system with multi-views for flexible parts assembly 柔性零件装配的多视图视觉传感系统
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620300
J.Y. Kim, H.S. Cho, S. Kim
{"title":"A visual sensing system with multi-views for flexible parts assembly","authors":"J.Y. Kim, H.S. Cho, S. Kim","doi":"10.1109/ICAR.1997.620300","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620300","url":null,"abstract":"Flexible parts can be deformed by the contact forces during assembly on the contrary to rigid parts and thus their successful assembly requires information about their deformation as well as a misalignment between mating parts. However, because of the nonlinear and complex relationship between parts deformation and the reaction forces during assembly, it is difficult to acquire all required information from only the reaction forces. In this paper, we propose a visual sensing system for measuring parts deformation in any direction and a misalignment for flexible parts assembly. It is composed of a camera and a series of mirrors, and it can overcome the self-occlusion when a hole is occluded by mating parts. The simulation results show that the system can be effectively used for measuring parts deformation and a misalignment, thereby drastically increasing the success rate of assembly operation.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134414843","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: 4
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