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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications最新文献

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Autonomous robots and emergent behavior: a set of primitive behaviors for mobile robot control 自主机器人与突发行为:一组用于移动机器人控制的原始行为
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262489
Tracy L. Anderson, M. Donath
{"title":"Autonomous robots and emergent behavior: a set of primitive behaviors for mobile robot control","authors":"Tracy L. Anderson, M. Donath","doi":"10.1109/IROS.1990.262489","DOIUrl":"https://doi.org/10.1109/IROS.1990.262489","url":null,"abstract":"In order for a robot to act autonomously over a wide range of tasks and environments, it must be capable of exhibiting a variety of different behaviors. In this paper, the authors examine different types of behavioral patterns that can exist for a mobile robot when one is limited to constructing such behavior from computational devices which contain no internal state. They construct a set of primitive reflexive behaviors, each of which causes the robot to exhibit a specific behavioral pattern in response to external and/or internal stimuli. Each primitive behavior models a simple form of reflex behavior. In addition, they discuss how each primitive reflexive behavior results in motion of the robot, illustrate different types of primitive reflexive behaviors, and provide graphic representations of the resulting behavioral patterns.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"31 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":"134372702","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: 25
An intelligent multi-response off-line quality control for semiconductor manufacturing 半导体制造智能多响应离线质量控制
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262461
P.-R. Chang, Chin-Hui Hong, Share-Young Lee
{"title":"An intelligent multi-response off-line quality control for semiconductor manufacturing","authors":"P.-R. Chang, Chin-Hui Hong, Share-Young Lee","doi":"10.1109/IROS.1990.262461","DOIUrl":"https://doi.org/10.1109/IROS.1990.262461","url":null,"abstract":"A Taguchi-based off-line quality control method is a cost-effective quality-improvement technique that uses experimental-design methods for efficient characterization of a product or process, combined with a statistical analysis of its variability, with the ultimate purpose of its minimization, so that more stable and higher quality products can be obtained. The paper presents a generalized performance statistic which is a summation of the expected quality losses of all responses. Since the units and orders of these responses may be quite different and not reasonable for process design, a normalization procedure called the performance characteristic transformation method (PCTM) is proposed to overcome these difficulties. In addition, a corresponded generalized signal-to-noise (S/N) ratio may be constructed based on the above concepts and would consider the importance of each response simultaneously. Therefore, the optimal multi-response process can be obtained by the traditional Taguchi procedure with respect to the new proposed S/N ratio. An experiment of the plasma-etching process is conducted to verify the performance of the new multiresponse process optimization technique.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"11 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":"129351087","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
An architecture for the supervision of fuzzy controllers 一种模糊控制器监督体系结构
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262514
Paulo J. Oliveira, P. Lima, J. Sentieiro, R. S. Bravo, R. Galan, A. Jimenez
{"title":"An architecture for the supervision of fuzzy controllers","authors":"Paulo J. Oliveira, P. Lima, J. Sentieiro, R. S. Bravo, R. Galan, A. Jimenez","doi":"10.1109/IROS.1990.262514","DOIUrl":"https://doi.org/10.1109/IROS.1990.262514","url":null,"abstract":"A new approach to the supervision of fuzzy controllers is presented. The supervision loop is designed to overcome some of the problems that remain unsolved, such as time-varying plants, high nonlinear plants or fine tuning of the linguistic terms given by the expert in a fuzzy controller. The supervision concept is based on the continuous adjustment of the mathematical functions used for the definition of the linguistic terms which describe the actions of the rules. The amount of adjustment is the result of a weighted combination of the results using two features observed in the control system output-the rise time and the overshoot.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"75 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":"129700048","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
Parallel algorithms for one or two-vehicle navigation 一车或两车导航的并行算法
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262368
E. Gurewitz, G. Fox, Y. Wong
{"title":"Parallel algorithms for one or two-vehicle navigation","authors":"E. Gurewitz, G. Fox, Y. Wong","doi":"10.1109/IROS.1990.262368","DOIUrl":"https://doi.org/10.1109/IROS.1990.262368","url":null,"abstract":"A two vehicle navigator on a discrete space is analyzed. The concept of linking time maps as source to optimal path planning is discussed. The rules for constructing these maps are given in a cellular automata mode. The implementation of these rules on a parallel computer is presented.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"1 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":"129871897","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: 7
The evolutionary design of MCPL, the MSS command and programming language MCPL的进化设计，MSS命令和编程语言
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262419
V. Hayward, L. Daneshmend, A. Foisy, M. Boyer, Louis-Philippe Demers, R. Ravindran, T. Ng
{"title":"The evolutionary design of MCPL, the MSS command and programming language","authors":"V. Hayward, L. Daneshmend, A. Foisy, M. Boyer, Louis-Philippe Demers, R. Ravindran, T. Ng","doi":"10.1109/IROS.1990.262419","DOIUrl":"https://doi.org/10.1109/IROS.1990.262419","url":null,"abstract":"The remote manipulator system designated by the acronym MSS, which Canada is contributing to the International Space Station, is briefly described. The underlying structure of MSS is analyzed in terms of a collection of hierarchies. Control language design issues are then analyzed and an object-oriented methodology is proposed with a view to define a run-time structure in relation with task planning requirements.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"1 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":"117173985","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
Nuclear telerobotics and dextrous controllers 核遥控机器人和灵巧控制器
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262412
E. Abel, K. Siva
{"title":"Nuclear telerobotics and dextrous controllers","authors":"E. Abel, K. Siva","doi":"10.1109/IROS.1990.262412","DOIUrl":"https://doi.org/10.1109/IROS.1990.262412","url":null,"abstract":"Two new fields of development at AEA Technology's Harwell Laboratory are described, covering telerobotics and hand controllers for the nuclear industry. The first development describes the production of a nuclear engineered advanced telerobot (NEATER) for applications in decommissioning and waste handling. It is a re-engineered industrial robot based on the Staubli-Unimation PUMA 762 clean room manipulator. The second development described concerns dextrous hand controllers which can be used to control the motion of a telerobotic manipulator end effector as it moves in space and contacts surfaces and workpieces. Several input devices have been investigated for characteristics such as user-friendliness, compactness and cost effectiveness. Servo control of bilateral systems has been examined to optimize end point bilateral control.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"12 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":"121238704","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
3D Data fusion for a mobile robot 移动机器人的三维数据融合
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262529
P. Mowforth, J. Shapiro
{"title":"3D Data fusion for a mobile robot","authors":"P. Mowforth, J. Shapiro","doi":"10.1109/IROS.1990.262529","DOIUrl":"https://doi.org/10.1109/IROS.1990.262529","url":null,"abstract":"Sensory signals typically suffer from noise, ambiguity, spurious signals and omissions. For a robot to successfully model the environment in which it operates, it must use signals captured from different locations in time and space in an effort to select those signals that appear to be accurate. Data fusion, the process of combining signals into a single representation, is an essential component of a mobile robotics system. The authors describe a new method for solving data fusion for a typical mobile robot domain, one in which precise robot location information is not known and where the robot mounted sensors employed are not calibrated.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"19 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":"121333748","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
Consideration on the cooperation of multiple autonomous mobile robots 多自主移动机器人协作的思考
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262369
S. Premvuti, S. Yuta
{"title":"Consideration on the cooperation of multiple autonomous mobile robots","authors":"S. Premvuti, S. Yuta","doi":"10.1109/IROS.1990.262369","DOIUrl":"https://doi.org/10.1109/IROS.1990.262369","url":null,"abstract":"The paper proposes basic concepts of cooperation of multiple autonomous mobile robots, The authors suggest to divide the cooperation into two types, active and nonactive according to the setting goal of the system. And in nonactive cooperation there must be 'modest cooperation' to prevent any collision of resource access by the robots. The way to design multiple robots system is also discussed.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"18 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":"115457042","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: 110
Highly-reliable semi-autonomous vehicle control on lattice lane 网格车道上高可靠的半自动车辆控制
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262490
T. Tsukagoshi, H. Wakaumi
{"title":"Highly-reliable semi-autonomous vehicle control on lattice lane","authors":"T. Tsukagoshi, H. Wakaumi","doi":"10.1109/IROS.1990.262490","DOIUrl":"https://doi.org/10.1109/IROS.1990.262490","url":null,"abstract":"The vehicle curve movement reliability has been improved by a variable curve movement radius control technique involving a curve angle monitoring method and a nonlinear fuzzy control technique. In consequence, the successful rate achieved for an obstacle avoidance movement has risen from 96% in conventional curve movement technique up to 98%.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"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":"128347496","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
Foot trajectory for a quadruped walking machine 四足行走机器的足部轨迹
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262407
Yoshihiro Sakakibara, K. Kan, Y. Hosoda, M. Hattori, M. Fujie
{"title":"Foot trajectory for a quadruped walking machine","authors":"Yoshihiro Sakakibara, K. Kan, Y. Hosoda, M. Hattori, M. Fujie","doi":"10.1109/IROS.1990.262407","DOIUrl":"https://doi.org/10.1109/IROS.1990.262407","url":null,"abstract":"Deals with the foot trajectory design for a quadruped walking machine. A quadruped walking machine requires both uneven terrain walking and high-speed flat surface walking capability. The static walking method was used for uneven terrain walking and the dynamic walking method for flat plane walking. In the dynamic walking case, the relative speed between the foot and the ground causes loss of body balance. A foot trajectory is designed based on two points, the kinematics of foot motion and the relationship between joint motion and joint driving torque. The paper also discusses a method for reducing impact force upon initial contact with a floor by a periodic foot trajectory based on the wave motion of a cam. In this method, vertical and horizontal motion of a foot trajectory were independently generated using cyclodic motion. This trajectory was designated the composite cycloid foot trajectory.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"35 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113973452","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: 61
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