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

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Local map design for local navigation planning 局部地图设计，用于局部导航规划
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620221
A. Lambert, N. Le Fort-Piat
{"title":"Local map design for local navigation planning","authors":"A. Lambert, N. Le Fort-Piat","doi":"10.1109/ICAR.1997.620221","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620221","url":null,"abstract":"This paper deals with the definition of robust tasks for displacement missions of a mobile robot in an indoor environment. For that, the concept of local map is introduced as a set of best landmarks used for planning and executing safe motions. The goal is to plan actions (path following) as well as observations (local maps), leading the robot to configurations where pertinent features can be sensed and thus allowing a best localization of the robot relative to its environment. At execution time, local navigation instead of global navigation is performed using local maps for the robot localization. For each mission, the definition of the local maps and their corresponding robot-tasks is realized automatically during the planning process. The local map design is based on a clustering method developed by Fisher (1958).","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"58 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":"124190957","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
PRIPES: a multiprocessor based system for programming and controlling manipulators in robotic applications PRIPES:一个基于多处理器的系统，用于在机器人应用中编程和控制机械手
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620235
Christoph Pelich, H. Mosemann, F. Wahl
{"title":"PRIPES: a multiprocessor based system for programming and controlling manipulators in robotic applications","authors":"Christoph Pelich, H. Mosemann, F. Wahl","doi":"10.1109/ICAR.1997.620235","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620235","url":null,"abstract":"Powerful robot controlling systems especially designed for demanding robotic applications like assembly planning strongly depend on its hard- and software resources. In this paper we present a powerful parallel robot independent programming and controlling environment with simulation capabilities (PRIPES). Based on an open multiprocessor architecture PRIPES provides an easy programming interface for robotic applications. Due to its full support of dynamic processing and its real-time capable communication subsystem, it provides the basic requirements for high sophisticated processes, e.g. for monitoring purposes in compliant motion applications. Consequently, PRIPES supports the implementation of parallel algorithms, which can be used to significantly reduce calculation times consumed by numerical complex algorithms. Subsequently, we give first results in implementing a parallelized algorithm for calculating stable orientations of assemblies in order to prove the capabilities of PRIPES.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"29 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":"125654020","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
Dexterity-enhanced telerobotic microsurgery 灵活性增强的远程机器人显微外科手术
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620154
Steve Charles, Hari Das, T. Ohm, Curtis BOSWCJ1, Guillermo Rodriguwz, Robert Steele, Dan Istrate
{"title":"Dexterity-enhanced telerobotic microsurgery","authors":"Steve Charles, Hari Das, T. Ohm, Curtis BOSWCJ1, Guillermo Rodriguwz, Robert Steele, Dan Istrate","doi":"10.1109/ICAR.1997.620154","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620154","url":null,"abstract":"A telerobotic platform developed in a collaboration between NASA-JPL and MicroDexterity Systems, Inc (MDS) is described in this paper. The lightweight, compact 6 dof master-slave system is precise to better than 10 microns and can cover a workspace greater than 400 cubic centimeters. Current capabilities of the system include manual position control with augmented shared control modes and automatic modes of control of the robot. Simulated force feedback on the master device has been implemented and plans are to integrate force reflection from the slave end effector and evaluate the performance improvements enabled by the telerobot in simulated microsurgical tasks. The telerobot was used in a recent demonstration of a simulated eye microsurgical procedure.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"14 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":"130351919","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: 112
Redundant tracking of a robotic arm 机械臂的冗余跟踪
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620248
B. Kravitz, B. C. Madden, C. Sayers, R. Paul
{"title":"Redundant tracking of a robotic arm","authors":"B. Kravitz, B. C. Madden, C. Sayers, R. Paul","doi":"10.1109/ICAR.1997.620248","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620248","url":null,"abstract":"This paper describes the development of a practical stereo vision system which is intended for use in visual tracking of man-made targets from a hovering subsea vehicle. Blob tracking, centroid computation, camera calibration, and stereo vision algorithms are combined to form a robust real-time implementation requiring minimal human intervention. The cameras are calibrated using images of a manipulator-mounted target. Using a less-than-state-of-the-art workstation (Sun IPX) without any special-purpose hardware, targets within a 400/spl times/150/spl times/400 millimeter viewing volume are tracked at rates exceeding 1 Hz (including the acquisition of 3 512/spl times/512 images) with a worst-case accuracy of better than 3 mm for both two- and three-camera configurations.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"144 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":"124607672","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 novel method to create intelligent sensors with learning capabilities 一种创造具有学习能力的智能传感器的新方法
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620246
A. Mahajan, F. Figueroa
{"title":"A novel method to create intelligent sensors with learning capabilities","authors":"A. Mahajan, F. Figueroa","doi":"10.1109/ICAR.1997.620246","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620246","url":null,"abstract":"A formal theory for the development of a generic model of an autonomous sensor is proposed and implemented. An autonomous sensor not only interprets the acquired data in accordance with an embedded expert system knowledge base, but is also capable of using this data to modify and enhance this knowledge base. Hence, the system is capable of learning and thereby improving its performance over time. The main objective of the model is to combine the capabilities of the physical sensor and an expert operator monitoring the sensor in real-time. The system has been successfully tested using various simulated data sets and a real thermistor that has been developed as an autonomous sensor.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"35 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":"133912878","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
A task-oriented teleoperation system for assembly in the microworld 面向任务的微世界装配遥操作系统
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620188
A. Codourey, M. Rodriguez, I. Pappas
{"title":"A task-oriented teleoperation system for assembly in the microworld","authors":"A. Codourey, M. Rodriguez, I. Pappas","doi":"10.1109/ICAR.1997.620188","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620188","url":null,"abstract":"Operating a robot in the micro/nano-world presents challenges not found in the macro-world. Due to the small dimensions, the operator has no direct access to the objects and must assemble them by teleoperation. To allow a good manipulability, we propose a mixed teleoperation system which is composed of both direct and task-oriented teleoperation modes. The operator is provided with a set of visualization and manipulation tools on a workstation. This paper presents the micro-robot system, discusses some important issues in micro-teleoperation and finally presents some micro-manipulation tasks performed with the system.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"35 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":"133242729","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
Planning for wire obstacle avoidance using ultrasonic sensors 利用超声波传感器进行导线避障规划
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620240
K. Higashijima, H. Onda, T. Ogasawara
{"title":"Planning for wire obstacle avoidance using ultrasonic sensors","authors":"K. Higashijima, H. Onda, T. Ogasawara","doi":"10.1109/ICAR.1997.620240","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620240","url":null,"abstract":"We studied the planning for wire obstacle avoidance by manipulators. It is difficult to know the position and direction of an obstacle with an ultrasonic sensor, since distance is the only information provided by the sensor. We propose here a method for estimating the position and direction by using multiple items of information on distance. We also propose a method for retrieving the route with reduced manipulator freedom by using projection on a plane and restrictions that make use of the specific aspects of wire obstacles. We report the results of simulations using the two proposed methods.","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":"130067337","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
A modular and distributed supervisory system for a semi-autonomous personal robot for household applications 一种用于半自主家用个人机器人的模块化分布式监控系统
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620160
E. Guglielmelli, C. Laschi, G. Teti, R. Fontanelli, P. Dario
{"title":"A modular and distributed supervisory system for a semi-autonomous personal robot for household applications","authors":"E. Guglielmelli, C. Laschi, G. Teti, R. Fontanelli, P. Dario","doi":"10.1109/ICAR.1997.620160","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620160","url":null,"abstract":"The development of personal robots dedicated to service tasks, such as the assistance to the disabled and the elderly at home and/or in residential institutions, is certainly one of the most attractive challenges currently being faced by the robotics community world-wide. This paper aims at providing a specific contribution to one of the most interesting technical problems related to the development of such systems, i.e. high-level control and supervision during task execution, and describes an innovative approach for a semi-autonomous personal robot for household applications, based on the concepts of 'levels of autonomy' and 'system distribution'. It also describes the implementation of such an approach for the supervisor of the MOVAID robotic system, for residential care of disabled and elderly people. In the paper, the proposed approach is presented. Its current implementation for the MOVAID prototype, based on an object-oriented behavioural scheme, is also illustrated with preliminary indications on the experimental results and possible future developments.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"11 2 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":"116044835","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: 13
GOBS: an intelligent system architecture for planetary robotic sampling 行星机器人采样智能系统架构
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620231
S. Lee, B. Hoffman, E. Baumgartner, P. Schenker
{"title":"GOBS: an intelligent system architecture for planetary robotic sampling","authors":"S. Lee, B. Hoffman, E. Baumgartner, P. Schenker","doi":"10.1109/ICAR.1997.620231","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620231","url":null,"abstract":"An architecture of intelligent robotic systems, referred to here as GOBS: goal-oriented behavioral synthesis, is presented. Connecting sensing and action in real-time, PAN automatically synthesizes goal oriented behaviors under uncertainties, errors, and faults, through task monitoring and replanning. GOBS is significant for autonomous robotic tasks in unstructured environments, including planetary robotic sampling, which require robust and fault tolerant behaviors under uncertainties and errors in sensing and actuation as well as in environmental constraints. The application of GOBS to planetary robotic science is shown.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"83 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":"132203102","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
Teleoperation and augmented reality 远程操作和增强现实
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620269
D. Ernadotte, P. Fuchs, C. Laurgeau
{"title":"Teleoperation and augmented reality","authors":"D. Ernadotte, P. Fuchs, C. Laurgeau","doi":"10.1109/ICAR.1997.620269","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620269","url":null,"abstract":"We have developed a depth map transform algorithm that converts the depth data according to a video image. The algorithm consists of four steps: a depth map analysis, a video image analysis, a depth map and video image relation creation and finally a depth surface transformation depending on the relation established previously. We show how these four steps are performed assuming that the two maps have nearly equal features. This technic is used with nearly compatible depth map and video image in order to create a quite compatible set allowing virtual objects integration in real images. This is an important aspect of augmented reality since it enables the hidden faces calculation of virtual objects in coherence with the video image even when work conditions hinder accurate camera calibration or model of the real scene is not perfectly known.","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":"128592933","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
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