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Active control of flexible robot arms using the concept of intelligent structures 基于智能结构概念的柔性机械臂主动控制
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262517
B. Samanta
{"title":"Active control of flexible robot arms using the concept of intelligent structures","authors":"B. Samanta","doi":"10.1109/IROS.1990.262517","DOIUrl":"https://doi.org/10.1109/IROS.1990.262517","url":null,"abstract":"A two-level control scheme is presented for lightweight, flexible robot arms; the first based on rigid body motion and the other for suppressing structural vibrations. The gross motion is controlled through a combined feedforward and feedback action. The compensator for elastic vibrations is designed using the concept of intelligent structures. The algorithm is based on independent modal space control (IMSC) leading to the design of decoupled modal controllers from which actual compensating inputs are synthesized. The procedure is illustrated by a two-link flexible manipulator. Simulation results show the effectiveness of the proposed approach and its scope for an interactive evaluation of system performance.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131577432","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
Planning strategies-paradigms old and new 规划策略——新旧模式
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262532
V. Lumelsky
{"title":"Planning strategies-paradigms old and new","authors":"V. Lumelsky","doi":"10.1109/IROS.1990.262532","DOIUrl":"https://doi.org/10.1109/IROS.1990.262532","url":null,"abstract":"Compares two planning strategies, act-after-thinking, and act-while-thinking. The act-after-thinking paradigm is exemplified by the piano mover model, according to which robot motion planning is done based on preprocessed complete information about the robot and its environment. Resulting systems are rigid and require retraining when conditions change. The act-while-thinking paradigm can be exemplified by a robot motion planning model called the South Pole search model. The straight line preferred motion is not feasible, the actual path is an intricate combination of wiggles and loops and dead-end retreats. Actual decisions about the next move are dictated by local information. The result of this strategy is flexibility, economy, and robustness. This second strategy could be the way of introducing economic flexibility into factory robot systems.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125517196","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
Automatic planning of light source placement for an active photometric stereo system 主动光度立体系统光源位置的自动规划
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262440
S. Sakane, Tomornasa Sato, M. Kakikura
{"title":"Automatic planning of light source placement for an active photometric stereo system","authors":"S. Sakane, Tomornasa Sato, M. Kakikura","doi":"10.1109/IROS.1990.262440","DOIUrl":"https://doi.org/10.1109/IROS.1990.262440","url":null,"abstract":"Presents an automatic planning method of light source placement for an active photometric stereo system. Since photometric stereo systems normally use multiple light sources fixed to the environment, they cannot avoid shadows caused by surrounding objects. One remedy for this situation is to use a movable light source and to adapt its placement actively to the task environment. Candidate positions for light source placement to avoid shadows are obtained based on a 3D model of the environment and image processing of a virtual sphere around the target objects. Then possible combinations evaluated using the combined criteria of reliability and detectability of the measurement. Experimental results, using a light source affixed to a 6DOF manipulator, demonstrate the usefulness of the setup planning method.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130396005","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: 18
Automated devices to grow and transplant seedlings
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262393
H. Brewer
{"title":"Automated devices to grow and transplant seedlings","authors":"H. Brewer","doi":"10.1109/IROS.1990.262393","DOIUrl":"https://doi.org/10.1109/IROS.1990.262393","url":null,"abstract":"Transplanting seedlings is important in agriculture. Automating activities involved in transforming seeds or plant materials into transplanted seedlings can help reduce costs. Research activities related to automating procedures are discussed: containers to grow and ship seedlings, which facilitate automation; short, sturdy seedlings for machine handling; and experimental machines including a seedling detector, a seedling sorter and a field transplanter. Future developments may include more computers and electronics on transplanters, self-monitoring transplanters and specialized autonomous vehicles comprising the field transplanting system.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"127 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129881186","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
The ICE assembly sequence planner ICE装配顺序计划器
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262364
Y. Sekine, J. Mills
{"title":"The ICE assembly sequence planner","authors":"Y. Sekine, J. Mills","doi":"10.1109/IROS.1990.262364","DOIUrl":"https://doi.org/10.1109/IROS.1990.262364","url":null,"abstract":"An integrated concurrent engineering (ICE) system is under development which will allow a designer access to assembly, production, and other manufacturing information while a design is being developed, thus ensuring a better product. In addition, the ICE system will automatically generate assembly and robotic task plans and the robot code needed to assemble the product when the design is completed. An automated assembly sequence planner (ASP), a part of the ICE automated assembly design and planning component, has been developed. The ASP takes as input the relationship structure of a product. generates all the physically feasible assembly sequences using a context-free grammar, meta rules, and heuristics, and selects an optimum assembly sequence plan based on user-defined criteria. Compared with human engineers, the ASP can explore alternative assembly sequences more thoroughly, determine the optimum plan more quickly, and produce plans more consistently.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129449951","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 nonconvex cost optimization approach to tracking multiple targets 多目标跟踪的非凸成本优化方法
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262365
K. Rose, E. Gurewitz, Geoffrey Fox
{"title":"A nonconvex cost optimization approach to tracking multiple targets","authors":"K. Rose, E. Gurewitz, Geoffrey Fox","doi":"10.1109/IROS.1990.262365","DOIUrl":"https://doi.org/10.1109/IROS.1990.262365","url":null,"abstract":"The problem of tracking multiple targets in the presence of displacement noise and clutter is formulated as a nonconvex optimisation problem. The form of the suggested cost function is shown to be suitable for the graduated nonconvexity algorithm, which can be viewed as deterministic annealing. The method is first derived for the two-dimensional (spatial/temporal) case, and then generalized to the multidimensional case. The complexity grows linearly with the number of targets. Computer simulations show the performance with crossing trajectories.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130061355","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
A 3-D scene interpreter for indoor navigation 用于室内导航的三维场景解释器
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262485
J. Röning, Tapio Taipale, M. Pietikäinen
{"title":"A 3-D scene interpreter for indoor navigation","authors":"J. Röning, Tapio Taipale, M. Pietikäinen","doi":"10.1109/IROS.1990.262485","DOIUrl":"https://doi.org/10.1109/IROS.1990.262485","url":null,"abstract":"A 3D scene interpreter for visual navigation of a mobile robot is presented. The interpreter provides a partial understanding of scene contents. With the help of a priori knowledge and world constraints, it can be used for route planning and obstacle avoidance. The interpreter consists of data-driven low and intermediate-level stages and a model-driven high-level analysis stage. The high-level analysis interprets the scene contents by matching the description of the scene provided by the lower-level stages to semantic models stored in the database. Experimental results are presented to verify the performance of the interpreter.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114513799","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
Intelligent adaptive identification for control systems: case studies 控制系统的智能自适应识别:案例研究
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262513
H. Y. Xu, C. R. Baird
{"title":"Intelligent adaptive identification for control systems: case studies","authors":"H. Y. Xu, C. R. Baird","doi":"10.1109/IROS.1990.262513","DOIUrl":"https://doi.org/10.1109/IROS.1990.262513","url":null,"abstract":"An intelligent adaptive identification (IAI) approach is presented that primarily integrates expert systems technology with identification methodology for control systems. The concept of characteristic recognition is proposed in terms of qualitative and quantitative identifications. The IAI system is currently implemented in a Lisp based expert system shell for designs and analyses of control systems. In preliminary case studies, several proposals and suggestions are investigated in real-time intelligent control and the large-scale integrated intelligent control.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116024730","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
Electronic systems to automatically detect insect pests that respond to species-specific chemical sex pheromone baits 自动检测对特定种类的化学性信息素诱饵有反应的害虫的电子系统
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262399
D. E. Hendricks
{"title":"Electronic systems to automatically detect insect pests that respond to species-specific chemical sex pheromone baits","authors":"D. E. Hendricks","doi":"10.1109/IROS.1990.262399","DOIUrl":"https://doi.org/10.1109/IROS.1990.262399","url":null,"abstract":"Sex attractant chemicals, isolated from one gender of a particular insect species, were formulated and used as bait to lure insects to the electronic detector devices installed at sites in field conditions. The electronic detector and control circuits were designed to regulate digital counters or to trigger a radio telemetry signal when a target insect was lured to a detector by the chemical attractant. The telemetry signals were received at a base radio receiver station and collated by a computer on a continual real-time basis. These detection and reporting systems can increase the efficiency of monitoring insect population densities in field conditions, and could substantially reduce costs of labor and transportation during season-long insect surveys.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132112154","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
Object pose estimation based on one-degree-of-freedom sensor 基于一自由度传感器的目标姿态估计
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262512
T. Heikkila
{"title":"Object pose estimation based on one-degree-of-freedom sensor","authors":"T. Heikkila","doi":"10.1109/IROS.1990.262512","DOIUrl":"https://doi.org/10.1109/IROS.1990.262512","url":null,"abstract":"A method for determining the six degrees-of-freedom geometric relation between two objects is described. It is based on utilizing a combination of a simple fibre-optic proximity sensor and robot motions. The basic principle is to estimate the six translational and orientational parameters describing the geometric relation between two objects with Newton's method. Experimental tests show that the method is well applicable for correcting robot motions from gripping errors.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128315258","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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