Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407423
A. Bejczy, P. Fiorini, W. Kim, P. Schenker
This paper briefly describes an advanced teleoperator (ATOP) system and its control station where a variety of computer-based operator interface devices and techniques are integrated into a functional setting, accommodating a primary operator and secondary operators. Computer graphics is a key operator interface component in the control station where new types of manual interface devices also are employed. The results of some generic and application task experiments are summarized, including the performance of a simulated remote satellite servicing task, carried out under four to eight seconds communication time delay, using satellite TV and Internet computer communication links. In conclusion, the paper highlights the lessons learned so far.<>
{"title":"Toward integrated operator interface for advanced teleoperation under time-delay","authors":"A. Bejczy, P. Fiorini, W. Kim, P. Schenker","doi":"10.1109/IROS.1994.407423","DOIUrl":"https://doi.org/10.1109/IROS.1994.407423","url":null,"abstract":"This paper briefly describes an advanced teleoperator (ATOP) system and its control station where a variety of computer-based operator interface devices and techniques are integrated into a functional setting, accommodating a primary operator and secondary operators. Computer graphics is a key operator interface component in the control station where new types of manual interface devices also are employed. The results of some generic and application task experiments are summarized, including the performance of a simulated remote satellite servicing task, carried out under four to eight seconds communication time delay, using satellite TV and Internet computer communication links. In conclusion, the paper highlights the lessons learned so far.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131197695","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}
Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407595
G. Colombina, F. Didot, G. Magnani, A. Rusconi
This paper presents the Automation and Technology testbed for External Servicing (ARTES) developed by Tecnospazio on behalf of European Space Agency Technology Center (ESTEC). ARTES was conceived as a ground testbed to perform technology assessment of
{"title":"Automation and robotics technology testbed for external servicing","authors":"G. Colombina, F. Didot, G. Magnani, A. Rusconi","doi":"10.1109/IROS.1994.407595","DOIUrl":"https://doi.org/10.1109/IROS.1994.407595","url":null,"abstract":"This paper presents the Automation and Technology testbed for External Servicing (ARTES) developed by Tecnospazio on behalf of European Space Agency Technology Center (ESTEC). ARTES was conceived as a ground testbed to perform technology assessment of","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131384054","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}
Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407391
A. Martinengo, M. Campani, V. Torre
This paper describes some experiments on control strategies of a mobile robot. The robot has a simple vision system and moves in a simplified world, but the controlling architecture performs tasks of increasing complexity, such as the exploration of a maze, the recovery of its structure and the planning of some nearly optimal trajectories through the maze. There are three layers of control of robot motion: the lowest layer analyses images, controls the speed of robot wheels and is essentially an optomotor reflex; the second layer has a short term memory and operates when the visual information is not complete or when the robot has lost its way; the third layer has a long term memory and reasoning capabilities, monitors the achievement of robot tasks and schedules the timing of completion of the different tasks. The vision and motor systems and other supervising units are assumed to be finite state automata and the control architecture is based on transitions between states of these automata. The control system is flexible and new capabilities are easily acquired by simply introducing new states. The intelligent behaviour of this artificial system is primarily caused by the memory and the capability to create simple and useful representations of the world.<>
{"title":"Artificial systems and complex behaviours","authors":"A. Martinengo, M. Campani, V. Torre","doi":"10.1109/IROS.1994.407391","DOIUrl":"https://doi.org/10.1109/IROS.1994.407391","url":null,"abstract":"This paper describes some experiments on control strategies of a mobile robot. The robot has a simple vision system and moves in a simplified world, but the controlling architecture performs tasks of increasing complexity, such as the exploration of a maze, the recovery of its structure and the planning of some nearly optimal trajectories through the maze. There are three layers of control of robot motion: the lowest layer analyses images, controls the speed of robot wheels and is essentially an optomotor reflex; the second layer has a short term memory and operates when the visual information is not complete or when the robot has lost its way; the third layer has a long term memory and reasoning capabilities, monitors the achievement of robot tasks and schedules the timing of completion of the different tasks. The vision and motor systems and other supervising units are assumed to be finite state automata and the control architecture is based on transitions between states of these automata. The control system is flexible and new capabilities are easily acquired by simply introducing new states. The intelligent behaviour of this artificial system is primarily caused by the memory and the capability to create simple and useful representations of the world.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"130 13","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131746083","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}
Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407433
B. Novakovic
A new possibility of application of a new structure of neural networks in robot control is presented, where the following concepts are employed : 1) combination of input and output activation functions, 2) input time-varying signal distribution, 3) time-discrete domain synthesis, and 4) one-step learning iteration approach. The proposed NN synthesis procedures are useful for applications to identification and control of dynamical systems. In this sense a feedforward neural network for an adaptive nonlinear robot control is proposed. This neural network is trained to imitate an adaptive nonlinear robot control algorithm, based on the dynamics of the full robot model of RRTR-structure. Thus, this neural network can compute both the nominal and feedback robot control by parallel processing.<>
{"title":"Feedforward neural networks for adaptive nonlinear robot control","authors":"B. Novakovic","doi":"10.1109/IROS.1994.407433","DOIUrl":"https://doi.org/10.1109/IROS.1994.407433","url":null,"abstract":"A new possibility of application of a new structure of neural networks in robot control is presented, where the following concepts are employed : 1) combination of input and output activation functions, 2) input time-varying signal distribution, 3) time-discrete domain synthesis, and 4) one-step learning iteration approach. The proposed NN synthesis procedures are useful for applications to identification and control of dynamical systems. In this sense a feedforward neural network for an adaptive nonlinear robot control is proposed. This neural network is trained to imitate an adaptive nonlinear robot control algorithm, based on the dynamics of the full robot model of RRTR-structure. Thus, this neural network can compute both the nominal and feedback robot control by parallel processing.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132659586","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}
Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407393
T. Yagi, N. Asano, S. Makita, Y. Uchikawa
Based on their previous theoretical studies on the retinal neural network, in this paper, the authors modify the model, and propose a method for a location task to be implemented into an active vision system. In the proposed method, a camera-taken image is processed with high resolution near the optical axis of the camera, and with low resolution in the periphery. Using such an inhomogeneously blurred image, in the experiment, the authors have shown that the system is able to emulate fixation with simple calculations, and its localization ability is precise enough to fixate each object without knowledge-based processes.<>
{"title":"An anthropomorphic active vision system for a location task","authors":"T. Yagi, N. Asano, S. Makita, Y. Uchikawa","doi":"10.1109/IROS.1994.407393","DOIUrl":"https://doi.org/10.1109/IROS.1994.407393","url":null,"abstract":"Based on their previous theoretical studies on the retinal neural network, in this paper, the authors modify the model, and propose a method for a location task to be implemented into an active vision system. In the proposed method, a camera-taken image is processed with high resolution near the optical axis of the camera, and with low resolution in the periphery. Using such an inhomogeneously blurred image, in the experiment, the authors have shown that the system is able to emulate fixation with simple calculations, and its localization ability is precise enough to fixate each object without knowledge-based processes.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"225 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132839036","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}
Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407535
Jian-Ping Liu, Han-Gen He, Yu-Fei Liu, Ai-Min Huan, Zeng Gao, Xiao Lin Liu
In this paper, we present a study on the visual navigation for a mobile robot. We perform the boundary detecting and color cluster techniques respectively to segment the road and nonroad. We propose a conception about useful information to decrease the computation, and compose the information with a special color coordinate base and the geometrical feature into a hybrid feature space to improve the color clustering.<>
{"title":"The road segmentation for ALV navigation","authors":"Jian-Ping Liu, Han-Gen He, Yu-Fei Liu, Ai-Min Huan, Zeng Gao, Xiao Lin Liu","doi":"10.1109/IROS.1994.407535","DOIUrl":"https://doi.org/10.1109/IROS.1994.407535","url":null,"abstract":"In this paper, we present a study on the visual navigation for a mobile robot. We perform the boundary detecting and color cluster techniques respectively to segment the road and nonroad. We propose a conception about useful information to decrease the computation, and compose the information with a special color coordinate base and the geometrical feature into a hybrid feature space to improve the color clustering.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134007359","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}
Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407566
A. Sabatini, Enrico Spinielli
Ultrasonic pulse-echo ranging systems based on threshold detection methods are popular devices in the robotic field, as a means for determining the proximity of objects in a cost-effective manner. Despite their widespread use, serious concerns are often raised regarding the accuracy of the sensed data, particularly when the return signals are received at low signal-to-noise ratios. In principle, correlation-based detection methods provide better performance for their outstanding capability of detecting and recovering weak signals buried in noise, so as to permit ranging at longer distances, or, the distance being the same, at higher frequencies, with resulting improvements in spatial resolution in spite of the increased attenuation. In this paper the authors describe a simple pulse-echo ranging system whose receiver signal processing is completely digital: the use of appropriate sampling techniques and signal processing algorithms allows one to benefit from the advantages of correlation-based detection methods for accurate ranging of multiple objects, without compromising the most prominent features of pulse-echo sonar systems, namely their relatively low cost and simplicity of operation. The experimental results presented concern the use of relatively high-frequency ultrasonic transducers.<>
{"title":"Correlation techniques for digital time-of-flight measurement by airborne ultrasonic rangefinders","authors":"A. Sabatini, Enrico Spinielli","doi":"10.1109/IROS.1994.407566","DOIUrl":"https://doi.org/10.1109/IROS.1994.407566","url":null,"abstract":"Ultrasonic pulse-echo ranging systems based on threshold detection methods are popular devices in the robotic field, as a means for determining the proximity of objects in a cost-effective manner. Despite their widespread use, serious concerns are often raised regarding the accuracy of the sensed data, particularly when the return signals are received at low signal-to-noise ratios. In principle, correlation-based detection methods provide better performance for their outstanding capability of detecting and recovering weak signals buried in noise, so as to permit ranging at longer distances, or, the distance being the same, at higher frequencies, with resulting improvements in spatial resolution in spite of the increased attenuation. In this paper the authors describe a simple pulse-echo ranging system whose receiver signal processing is completely digital: the use of appropriate sampling techniques and signal processing algorithms allows one to benefit from the advantages of correlation-based detection methods for accurate ranging of multiple objects, without compromising the most prominent features of pulse-echo sonar systems, namely their relatively low cost and simplicity of operation. The experimental results presented concern the use of relatively high-frequency ultrasonic transducers.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114674538","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}
Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407564
Motoji Yamamoto, Y. Isshiki, A. Mohri
A method for a time optimal collision free trajectory planning problem is proposed. In this paper, the dynamics of manipulator and obstacles are considered. This type of optimal trajectory planning problem is very difficult and complicated one because of the nonlinearity of manipulator dynamics and existence of obstacles. Generally, it results in a multimodal optimization problem. The proposed method is basically an iteratively improving one based on a gradient method. Firstly, two global methods (a genetic algorithm or an exact cell decomposition method) are used to search multiple initial feasible spatial paths for the gradient method. Next, the gradient method searches the time optimal solution locally with the multiple initial feasible solutions. Simulation results show that this is an effective approach to the time optimal collision free trajectory planning problem.<>
{"title":"Collision free minimum time trajectory planning for manipulators using global search and gradient method","authors":"Motoji Yamamoto, Y. Isshiki, A. Mohri","doi":"10.1109/IROS.1994.407564","DOIUrl":"https://doi.org/10.1109/IROS.1994.407564","url":null,"abstract":"A method for a time optimal collision free trajectory planning problem is proposed. In this paper, the dynamics of manipulator and obstacles are considered. This type of optimal trajectory planning problem is very difficult and complicated one because of the nonlinearity of manipulator dynamics and existence of obstacles. Generally, it results in a multimodal optimization problem. The proposed method is basically an iteratively improving one based on a gradient method. Firstly, two global methods (a genetic algorithm or an exact cell decomposition method) are used to search multiple initial feasible spatial paths for the gradient method. Next, the gradient method searches the time optimal solution locally with the multiple initial feasible solutions. Simulation results show that this is an effective approach to the time optimal collision free trajectory planning problem.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114593466","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}
Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407502
D. Hristu-Varsakelis, Jon Babb, H. Singh, S. Gottschlich
In this paper we will discuss the control of a five-fingered, 18 degree of freedom, tendon driven robot hand known as the Atlas Anthrobot. Developing a traditional PID controller for this hand has proved difficult because the behavior of the tendon drive system produces is highly nonlinear. This nonlinear nature of the system however does suggest it as a candidate for fuzzy control. Along these lines we have developed a PID control system and a fuzzy control system for the hand which are both capable of simultaneously controlling the position of the fingertips and the amount of force exerted through a contact point on the fingertip. In this paper we will present a comparison between the two systems in order to generally make statements about the appropriateness of each controller for controlling complicated tendon driven devices such as our robot hand.<>
{"title":"Position and force control of a multifingered hand: a comparison of fuzzy logic to traditional PID control","authors":"D. Hristu-Varsakelis, Jon Babb, H. Singh, S. Gottschlich","doi":"10.1109/IROS.1994.407502","DOIUrl":"https://doi.org/10.1109/IROS.1994.407502","url":null,"abstract":"In this paper we will discuss the control of a five-fingered, 18 degree of freedom, tendon driven robot hand known as the Atlas Anthrobot. Developing a traditional PID controller for this hand has proved difficult because the behavior of the tendon drive system produces is highly nonlinear. This nonlinear nature of the system however does suggest it as a candidate for fuzzy control. Along these lines we have developed a PID control system and a fuzzy control system for the hand which are both capable of simultaneously controlling the position of the fingertips and the amount of force exerted through a contact point on the fingertip. In this paper we will present a comparison between the two systems in order to generally make statements about the appropriateness of each controller for controlling complicated tendon driven devices such as our robot hand.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115829607","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}
Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407597
H. Beom, K. Koh, H. Cho
This paper proposes a sensor-based navigation which utilizes multicriteria decision making method in uncertain environments. The multicriteria decision-maker using fuzzy sets is used to select one of avoidance and goal-seeking behaviors according to global mission from higher level planner and situation around the mobile robot. Two behaviors are designed to produce the prescribed responses to currently perceived sensory information using fuzzy logic and reinforcement learning. A decision function to appropriately select one of two behaviors is formulated by use of a fuzzy set. The optimal alternative of two behaviors is defined as that achieving the highest degree of membership in fuzzy decision function. The effectiveness of the proposed method is verified by a series of simulations.<>
{"title":"Behavioral control in mobile robot navigation using fuzzy decision making approach","authors":"H. Beom, K. Koh, H. Cho","doi":"10.1109/IROS.1994.407597","DOIUrl":"https://doi.org/10.1109/IROS.1994.407597","url":null,"abstract":"This paper proposes a sensor-based navigation which utilizes multicriteria decision making method in uncertain environments. The multicriteria decision-maker using fuzzy sets is used to select one of avoidance and goal-seeking behaviors according to global mission from higher level planner and situation around the mobile robot. Two behaviors are designed to produce the prescribed responses to currently perceived sensory information using fuzzy logic and reinforcement learning. A decision function to appropriately select one of two behaviors is formulated by use of a fuzzy set. The optimal alternative of two behaviors is defined as that achieving the highest degree of membership in fuzzy decision function. The effectiveness of the proposed method is verified by a series of simulations.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116244831","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}
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