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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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State information panel for inter-processor communication in an autonomous mobile robot controller-a proposal of the system architecture for autonomous mobile robot 自主移动机器人控制器中处理器间通信的状态信息面板——自主移动机器人系统架构的一种方案
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262535
S. Yuta, J. Iijima
{"title":"State information panel for inter-processor communication in an autonomous mobile robot controller-a proposal of the system architecture for autonomous mobile robot","authors":"S. Yuta, J. Iijima","doi":"10.1109/IROS.1990.262535","DOIUrl":"https://doi.org/10.1109/IROS.1990.262535","url":null,"abstract":"The controller architecture for an autonomous mobile robot is considered. First, the controller is divided into a behavior level and a functional level. The interface of these levels are discussed and the conceptual architecture for the autonomous robot are proposed. The special feature of this architecture are 'functional distribution' and 'centralized decision-making'. The multi-processor architecture for realization is also proposed.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"204 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":"133028163","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: 12
Force controlled robot for grinding 力控磨削机器人
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262527
Kunio Kashiwagi, Kozo Ono, Eiki Izumi, Tohru Kurenuma, Kazuyoshi Yamada
{"title":"Force controlled robot for grinding","authors":"Kunio Kashiwagi, Kozo Ono, Eiki Izumi, Tohru Kurenuma, Kazuyoshi Yamada","doi":"10.1109/IROS.1990.262527","DOIUrl":"https://doi.org/10.1109/IROS.1990.262527","url":null,"abstract":"Two algorithms for use in force controlled robot applications have been developed for grinding. The 'gradient prediction method' is presented as an improvement to contour following in the force control mode. In this method, the gradient of the workpiece is predicted, and the force errors caused thereby are corrected. The 'progressive stiffness method' is also presented for grinding using a compliance control mode. In this method, the spring constant is automatically increased according to the grinding remaining, to keep the contact force nearly constant and to obtain an accurate profile. Both algorithms are experimentally tested.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"76 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":"133452302","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: 29
Integration of a task knowledge base and a cooperative maneuvering system for the telerobot 'MEISTER' MEISTER远程机器人任务知识库与协同机动系统的集成
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262410
S. Hirai, Tomornasa Sato, T. Matsui, M. Kakikura
{"title":"Integration of a task knowledge base and a cooperative maneuvering system for the telerobot 'MEISTER'","authors":"S. Hirai, Tomornasa Sato, T. Matsui, M. Kakikura","doi":"10.1109/IROS.1990.262410","DOIUrl":"https://doi.org/10.1109/IROS.1990.262410","url":null,"abstract":"This paper describes the MEISTER (Model Enhanced Intelligent and Skilful TEleRobot) system, which integrates task oriented object models, and cooperative maneuvering system to realize cooperation between man and robot at both the intelligent and motion levels. The object models contain knowledge for executing tasks in unstructured environments with flexibility and robustness through the man/robot cooperation at the intelligent level. The cooperative maneuvering system can superpose autonomous motion of the robot on the maneuvering input from the operator. It realizes adaptability of programmed execution of the robot to the environment uncertainties. The task demonstration of a chemical experiment shows how the cooperative functions of MEISTER work for flexible and robust task execution by a telerobot.<<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":"114221414","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
An algorithm for the steering control of mobile robots 移动机器人的转向控制算法
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262496
C. Resendes, R. Cabral, M. Ribeiro
{"title":"An algorithm for the steering control of mobile robots","authors":"C. Resendes, R. Cabral, M. Ribeiro","doi":"10.1109/IROS.1990.262496","DOIUrl":"https://doi.org/10.1109/IROS.1990.262496","url":null,"abstract":"Presents a method that combines the path planning and the steering control of autonomous mobile robots (AMR) in uncertain environments. The two problems are solved independently, using off-line and on-line procedures respectively, the link between them being established by a set of critical points defined along the trajectory. The path planner evaluates these points by modeling the free space using a quadtree. The steering control algorithm derives the local feedback control to guide the AMR through a collision-free trajectory. The approach taken considers a modification of the generalized potential field technique leading to improvements in the motion smoothness and in the trajectory local optimization. Simulation results are 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":"123207744","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
Graphs with variable edge costs: a model for scheduling a vehicle subject to speed and timing restraints 具有可变边缘成本的图:一个受速度和时间限制的车辆调度模型
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262371
G. Wilfong
{"title":"Graphs with variable edge costs: a model for scheduling a vehicle subject to speed and timing restraints","authors":"G. Wilfong","doi":"10.1109/IROS.1990.262371","DOIUrl":"https://doi.org/10.1109/IROS.1990.262371","url":null,"abstract":"Consider a graph with a range of costs associated with each vertex and each edge of the graph. The author studies paths in such graphs where the cost of each edge of the path must be chosen within the range of costs for that edge and the sum of the chosen costs of the edges from the start of the path to any vertex in the path must belong to the range of allowable costs for that vertex. He shows that for a fixed sequence of vertices, a linear time algorithm solves the problem of choosing the edge costs to satisfy the vertex cost constraints along the path. The problem of deciding if such a path exists from a given vertex to another specified vertex (without specifying the intermediate vertices on the path) is NP-complete. The problem of finding a tour of the vertices satisfying the cost constraints is also shown to be NP-complete. The study of these graphs is motivated by problems concerned with the routing of a robot vehicle with upper and lower speed limits and timing constraints for reaching each workcell.<<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":"123708581","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
Cooperation between distributed agents through self-organisation 分布式代理之间通过自组织进行合作
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262534
L. Steels
{"title":"Cooperation between distributed agents through self-organisation","authors":"L. Steels","doi":"10.1109/IROS.1990.262534","DOIUrl":"https://doi.org/10.1109/IROS.1990.262534","url":null,"abstract":"The paper uses a behavior-based approach to tackle the problem of cooperation between distributed agents. It focuses on the use of self-organisation and dissipative structures to establish emergent functionality. Other principles such as randomness the subsumption architecture, and the gradient field are also used. Results of computational experiments are presented.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"59 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":"126695713","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: 303
Towards a real-time navigation strategy for a mobile robot 移动机器人的实时导航策略研究
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262491
M. Adams, P. P. Smith
{"title":"Towards a real-time navigation strategy for a mobile robot","authors":"M. Adams, P. P. Smith","doi":"10.1109/IROS.1990.262491","DOIUrl":"https://doi.org/10.1109/IROS.1990.262491","url":null,"abstract":"Describes the design of a real-time obstacle avoidance and navigation strategy for a mobile robot, using simulated time of flight infrared data. Algorithms have been developed in order to overcome the undesirable effect of potential traps within the field, and a new approach for dealing with sensing whilst moving is demonstrated. The authors show simulated results of a vehicle moving under artificial potential force equations, which is designed to achieve modification of behaviour at a speed close to the normal operational speed of a real mobile.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"95 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":"114817384","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: 10
Predictive displays and shared compliance control for time-delayed telemanipulation 延时远程操作的预测显示和共享顺应控制
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262418
A. Bejczy, W. Kim
{"title":"Predictive displays and shared compliance control for time-delayed telemanipulation","authors":"A. Bejczy, W. Kim","doi":"10.1109/IROS.1990.262418","DOIUrl":"https://doi.org/10.1109/IROS.1990.262418","url":null,"abstract":"Considers the ground station control of space robots in which a communication time delay problem arises. The round-trip time delay of the communication link between the ground station and a space robot in low earth orbit (via one or more geosynchronous satellites) is expected to be as long as 2-8 seconds. In order to enhance time delayed telemanipulation performance, the authors have recently developed two schemes at JPL: predictive display and shared compliance control. During free motion, predictive display is used. During contact or insertion, compliance control is used. Therefore the authors' strategy for time-delayed telemanipulation employs predictive display and shared compliance control alternately to enhance human task performance.<<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":"129943473","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: 88
Self organizing fuzzy linguistic control with application to arc welding 自组织模糊语言控制及其在弧焊中的应用
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262528
Gholamreza Langari, M. Tomizuka
{"title":"Self organizing fuzzy linguistic control with application to arc welding","authors":"Gholamreza Langari, M. Tomizuka","doi":"10.1109/IROS.1990.262528","DOIUrl":"https://doi.org/10.1109/IROS.1990.262528","url":null,"abstract":"Presents a self organizing fuzzy linguistic control strategy that is based on on-line modification of the control rules according to the extent of deviation of the process output from the output of a given reference model. Accordingly, the learning/adaptation algorithm, which is based on the hill climbing approach, modifies the parametrized characteristic functions of the fuzzy subsets describing the control rules, such that the meaning of each rule is iteratively changed to reflect new information regarding the behavior of the process. Simulation results show that this technique improves the overall response of the system in presence of asymmetric dynamic characteristics of the process, proving that this strategy can be a suitable alternative to ordinary fuzzy control. In order to study this self organizing scheme, the authors used a simulation model with similar characteristics as the gas metal arc welding process. This model simulates the variation of the peak surface temperature of the workpiece directly underneath the weld bead in response to changes in the arc current, or more accurately, changes in the electrode wire feedrate.<<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":"130993389","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: 33
An integrated tele-robotics system with a geometric environment model and manipulation skills 具有几何环境模型和操作技巧的集成远程机器人系统
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262400
T. Hasegawa, T. Suehiro, T. Ogasawara, T. Matsui, K. Kitagaki, K. Takase
{"title":"An integrated tele-robotics system with a geometric environment model and manipulation skills","authors":"T. Hasegawa, T. Suehiro, T. Ogasawara, T. Matsui, K. Kitagaki, K. Takase","doi":"10.1109/IROS.1990.262400","DOIUrl":"https://doi.org/10.1109/IROS.1990.262400","url":null,"abstract":"Describes an integrated tele-robotics system for remote execution of assembly and disassembly of mechanical components in hazardous environments such as nuclear power plants, undersea and space. The key concept of this system integration consists of the combination of manipulation skills with an environment model. The model provides the geometric structure and physical properties of the objects in the environment. The manipulation skills enable reliable task execution in the presence of unavoidable errors and uncertainties. Based on the model and skills, the system autonomously executes specified tasks. In addition, the system provides the operator with a 1-DOF bilateral control dial as an intervention tool for real-time remote assistance of manipulator movement for error avoidance and recovery. With these features, robustness and reliability in remote task execution has been achieved.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"8 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":"125356318","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: 23
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