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Proceedings of 1995 IEEE International Conference on Robotics and Automation最新文献

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Camera system to detect the orientation of a corner cube in real time 摄像头系统可以实时检测墙角立方体的方向
Proceedings of 1995 IEEE International Conference on Robotics and Automation Pub Date : 1995-05-21 DOI: 10.1109/ROBOT.1995.525520
K. Filz, M. Vincze, J. Prenninger
{"title":"Camera system to detect the orientation of a corner cube in real time","authors":"K. Filz, M. Vincze, J. Prenninger","doi":"10.1109/ROBOT.1995.525520","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525520","url":null,"abstract":"The measurement of the position and orientation of a robot end effector is the most critical issue in calibrating robots. Systems to measure the position are well known but systems to measure the orientation at the same time and with a useful accuracy are not available. A method to do this was developed at the Institute of Flexible Automation (INFA). The new system (LuxWess) bases on a tracking system, a laser beam and image processing techniques. This paper describes the real time image processing system required to record the profile of the laser beam with a sample rate of more than 10000 frames per second and to find the geometry of the corner cube. The detection of the information needed to calculate the orientation of the corner cube with an accuracy of 10 arc seconds is explained. A method to increase the accuracy up to 2 arc seconds is introduced.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131926845","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
Very fast visual tracking algorithm using scanlines 非常快速的视觉跟踪算法使用扫描线
Proceedings of 1995 IEEE International Conference on Robotics and Automation Pub Date : 1995-05-21 DOI: 10.1109/ROBOT.1995.525657
S. W. Park, C. S. Lee
{"title":"Very fast visual tracking algorithm using scanlines","authors":"S. W. Park, C. S. Lee","doi":"10.1109/ROBOT.1995.525657","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525657","url":null,"abstract":"Scanlines, which are specifically processed rows or columns of a digital camera image, are used to develop a very fast visual tracking algorithm. The bottleneck of any visual robot tracking system is the large amount of data processed by the vision system in order to determine the pose (position and orientation) of an object moving in space. Scanlines provide a means of using minimal (if not the minimum) amount of information necessary for pose determination; thereby, increasing the sensor response time and the tracking speed. The scanline-based algorithm is developed to track the 6-dimensional pose of regular polygonal objects such as squares, triangles, and circles. Experimental verifications are provided for a single-camera and a dual-camera system.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"188 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133787760","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
A neural network model for the job-shop scheduling problem with the consideration of lot sizes 考虑批量的作业车间调度问题的神经网络模型
Proceedings of 1995 IEEE International Conference on Robotics and Automation Pub Date : 1995-05-21 DOI: 10.1109/ROBOT.1995.525286
Chuan-Yu Chang, M. Jeng
{"title":"A neural network model for the job-shop scheduling problem with the consideration of lot sizes","authors":"Chuan-Yu Chang, M. Jeng","doi":"10.1109/ROBOT.1995.525286","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525286","url":null,"abstract":"This paper presents an application of neural networks for solving the job-shop scheduling problem with the consideration of lot sizes (i.e. job batch sizes), which are important since jobs are often processed in batches. The energy-based neural network that have been proposed to solve this problem usually take a long time to converge to solutions. The authors previously (1994) proposed a new neural model which needs no special convergence procedure and can find optimal or near-optimal solutions of the problem at a much faster speed. However, in this model as well as other energy-based models, the number of neurons are proportional to the lot sizes of the jobs. This may complicate the implementation. In this paper, we extend our model to solve this problem. In this extended model, the number of neurons are fixed for different lot sizes. These results are quite good in terms of quality and speed. Furthermore, in this new model, mn(n+7) number of neurons are needed to solve an n-job m-machine problem with an arbitrary lot size for each job.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"199 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134095016","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
Placing objects with multiple mobile robots-mutual help using intention inference 用多个移动机器人放置物体——基于意图推理的互助
Proceedings of 1995 IEEE International Conference on Robotics and Automation Pub Date : 1995-05-21 DOI: 10.1109/ROBOT.1995.525583
H. Sugie, Y. Inagaki, Shuchir Ono, H. Aisu, T. Unemi
{"title":"Placing objects with multiple mobile robots-mutual help using intention inference","authors":"H. Sugie, Y. Inagaki, Shuchir Ono, H. Aisu, T. Unemi","doi":"10.1109/ROBOT.1995.525583","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525583","url":null,"abstract":"This paper presents a behavior-decision method using intention inference to facilitate cooperation among multiple mobile robots. The robots infer the intentions of other robots by observing their behaviors to settle conflicts and to cooperate in accomplishing tasks. If the inference rules used by the robots are made similar to the rules human use, this approach can be applied to cooperation between humans and robots. The intention inference method is tested with an objects placement problem. In this test, the robots share tasks, push objects cooperatively, and avoid collision with others. They can cope with dynamic and uncertain environments because this method allows for flexible decision-making. Simulated and experimental results indicate the method's feasibility.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124897454","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: 52
Vision-equipped apelike robot based on the remote-brained approach 基于远脑方法的具有视觉的类人猿机器人
Proceedings of 1995 IEEE International Conference on Robotics and Automation Pub Date : 1995-05-21 DOI: 10.1109/ROBOT.1995.525585
M. Inaba, F. Kanehiro, S. Kagami, H. Inoue
{"title":"Vision-equipped apelike robot based on the remote-brained approach","authors":"M. Inaba, F. Kanehiro, S. Kagami, H. Inoue","doi":"10.1109/ROBOT.1995.525585","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525585","url":null,"abstract":"Presents a new type of robot which has two arms and two legs like an ape and is aimed at studying a variety of vision-based behaviors. The robot does not bring its own brain within the body. It leaves the brain in the mother environment and talks with it by radio links. The brain is raised in the mother environment inherited over generations. The key idea of the remote-brained approach is that of interfacing intelligent software systems with real robot bodies through wireless technology. In this framework the robot system can have a powerful vision system in the brain environment. The authors have applied this approach to formation of vision-based dynamic and intelligent behaviors of a multi-limbed mobile robot. In this paper the authors present an apelike robot with the remote-brained environment and describe vision-based experiments carried out with the apelike robot.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"195 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134284805","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: 22
System design and interfaces for intelligent manufacturing workcell 智能制造工作单元的系统设计与接口
Proceedings of 1995 IEEE International Conference on Robotics and Automation Pub Date : 1995-05-21 DOI: 10.1109/ROBOT.1995.525429
G. Pardo-Castellote, Stanley A. Schneider, R. Cannon
{"title":"System design and interfaces for intelligent manufacturing workcell","authors":"G. Pardo-Castellote, Stanley A. Schneider, R. Cannon","doi":"10.1109/ROBOT.1995.525429","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525429","url":null,"abstract":"This paper introduces a design technique for complex robotic systems called interfaces-first design. Interfaces-first design develops information interfaces based on the characteristics of information flow in the system, and then builds subsystem interfaces from combinations of these information interfaces. This technique is applied to a dual-arm workcell combining a graphical user interface, an on-line motion planner, real-time vision, and an on-line simulator. The system is capable of performing object acquisition from a moving conveyor belt and carrying out simple assemblies, without the benefit of pre-planned schedules nor mechanical fixturing. The information characteristics of this system are analyzed, and divided into three interfaces: world state, task command, and motion commands. Detailed descriptions of the resulting interfaces are provided. The paper concludes with experimental results from the workcell. Both single-arm and dual-arm actions are discussed.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132027651","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
Genetic reinforcement learning approach to the machine scheduling problem 机器调度问题的遗传强化学习方法
Proceedings of 1995 IEEE International Conference on Robotics and Automation Pub Date : 1995-05-21 DOI: 10.1109/ROBOT.1995.525285
Gyoung-Hahn Kim, C. S. Lee
{"title":"Genetic reinforcement learning approach to the machine scheduling problem","authors":"Gyoung-Hahn Kim, C. S. Lee","doi":"10.1109/ROBOT.1995.525285","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525285","url":null,"abstract":"This paper focuses on the development of a learning-based heuristic for the machine scheduling problem, which automatically captures the search control knowledge or the common features of good schedules while generating a number of schedules. Defining states and actions of the machine shop, the machine scheduling problem is transformed into a problem of reinforcement learning (RL) in which a learner or a scheduler will learn to select the right action at each state of the machine shop, using the reward from a schedule evaluator for executing the action. Implementing the proposed reinforcement learning with a genetic algorithm results in the genetic reinforcement learning (GRL) approach to the machine scheduling problem. Although the learning-based heuristic has the overhead of acquiring knowledge on the problem, it can be easily adapted for a wide variety of machine scheduling problems due to the weak dependence on the problem structures and objectives. A GRL-based scheduler, called EVIS (Evolutionary Intracell Scheduler), has been developed and applied to various classes of machine scheduling problems, such as the job-shop scheduling, the flow-shop scheduling and the open-shop scheduling problems, and even the processor scheduling problem, the performance evaluation of EVIS with a number of different problem instances has shown that the learning-based heuristic is robust and its performance is comparable with that of other problem-specific heuristics or search-oriented heuristics in the quality of solutions.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131569367","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
Design of holonomic loops for repeatability in redundant manipulators 冗余机械手可重复性完整回路设计
Proceedings of 1995 IEEE International Conference on Robotics and Automation Pub Date : 1995-05-21 DOI: 10.1109/ROBOT.1995.525677
R. Mukherjee
{"title":"Design of holonomic loops for repeatability in redundant manipulators","authors":"R. Mukherjee","doi":"10.1109/ROBOT.1995.525677","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525677","url":null,"abstract":"Redundant manipulators under pseudoinverse control are nonholonomic systems in general. The nonholonomy manifests itself when closed paths in the workspace of the manipulator fail to produce closed paths in the joint space. Previous research indicates that repeatability may be guaranteed if the initial manipulator configuration lies on a stable surface. In such cases repeatability is achieved due to the integrability of the nonholonomic constraints. Since stable surfaces are rare, we look into the design of holonomic loops that will guarantee repeatability in the absence of integrability. We present a necessary condition for the existence of holonomic loops and we design holonomic loops for redundant manipulators in three dimensions. The extension of our results to higher dimensional systems lies in the scope of our future research.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131887771","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
Manipulators trajectory tracking with reduced order velocity observers 基于降阶速度观测器的机械手轨迹跟踪
Proceedings of 1995 IEEE International Conference on Robotics and Automation Pub Date : 1995-05-21 DOI: 10.1109/ROBOT.1995.525627
M. Aicardi, A. Caiti, G. Cannata, G. Casalino, L. Gambardella
{"title":"Manipulators trajectory tracking with reduced order velocity observers","authors":"M. Aicardi, A. Caiti, G. Cannata, G. Casalino, L. Gambardella","doi":"10.1109/ROBOT.1995.525627","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525627","url":null,"abstract":"In this work we propose a Lyapunov based design of velocity observers and the controller for stable trajectory tracking by a robotic manipulator. It is shown how the proposed design is exponentially stable over a finite domain, and, in the high gain approximation, exponentially stable in the large domain. Moreover, the design proposed leads naturally to a reduced order observer structure, with considerable implementation advantages.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132140305","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
Position estimation using equidistance lines 使用等距线进行位置估计
Proceedings of 1995 IEEE International Conference on Robotics and Automation Pub Date : 1995-05-21 DOI: 10.1109/ROBOT.1995.525268
E. Prassler, E. Milios
{"title":"Position estimation using equidistance lines","authors":"E. Prassler, E. Milios","doi":"10.1109/ROBOT.1995.525268","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525268","url":null,"abstract":"An approach to perception-based position estimation is presented. The approach employs a representation of positional information which is based on a global, curvilinear coordinate system which is grounded in the real world. This coordinate system is spanned by the contours of visible objects and by so-called equidistance lines which are constructed from the object contours. Equidistance lines can be computed from arbitrarily curved contours and do not require an analytical representation of these contours. The main advantage of a spatial representation based on equidistance lines is that it does not depend on the existence of salient spatial features in the environment. Furthermore, the global curvilinear coordinate system allows a straightforward transition between the local frames of reference associated with local perceptions. To estimate the position of a robot vehicle over a sequence of local sensor images requires only a minimal number of object contours to be visible or partially visible in these images and a qualitative correspondence of these object contours to be maintained.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"322 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132336688","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
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