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Author : Stephen Patrick Strenn
Publisher :
ISBN 13 :
Total Pages : 176 pages
Book Rating : 4.:/5 (53 download)
Download or read book Model-based Collision Avoidance for Tele-robotic Applications written by Stephen Patrick Strenn and published by . This book was released on 1993 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Daman F. Bareiss
Publisher :
ISBN 13 :
Total Pages : 84 pages
Book Rating : 4.:/5 (13 download)
Download or read book Model-based Collision Avoidance for Dynamic Single- and Multi-robot Systems written by Daman F. Bareiss and published by . This book was released on 2016 with total page 84 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Kyu Min Park
Publisher : Springer Nature
ISBN 13 : 3031301951
Total Pages : 133 pages
Book Rating : 4.0/5 (313 download)
Download or read book Collision Detection for Robot Manipulators: Methods and Algorithms written by Kyu Min Park and published by Springer Nature. This book was released on 2023-05-19 with total page 133 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a concise survey and description of recent collision detection methods for robot manipulators. Beginning with a review of robot kinodynamic models and preliminaries on basic statistical learning methods, the book covers fundamental aspects of the collision detection problem, from collision types and collision detection performance criteria to model-free versus model-based methods, and the more recent data-driven learning-based approaches to collision detection. Special effort has been given to describing and evaluating existing methods with a unified set of notation, systematically categorizing these methods according to a basic set of criteria, and summarizing the advantages and disadvantages of each method. This book is the first to comprehensively organize the growing body of learning-based collision detection methods, ranging from basic supervised learning methods to more advanced approaches based on unsupervised learning and transfer learning techniques. Step-by-step implementation details and pseudocode descriptions are provided for key algorithms. Collision detection performance is measured with respect to both conventional criteria such as detection delay and the number of false alarms, as well as criteria that measure generalization capability for learning-based methods. Whether it be for research or commercial applications, in settings ranging from industrial factories to physical human–robot interaction experiments, this book can help the reader choose and successfully implement the most appropriate detection method that suits their robot system and application.
Author : Wade H. Shafer
Publisher : Springer Science & Business Media
ISBN 13 : 1461519691
Total Pages : 426 pages
Book Rating : 4.4/5 (615 download)
Download or read book Masters Theses in the Pure and Applied Sciences written by Wade H. Shafer and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 426 pages. Available in PDF, EPUB and Kindle. Book excerpt: Masters Theses in the Pure and Applied Sciences was first conceived, published, and disseminated by the Center for Information and Numerical Data Analysis and Synthesis (CINDAS)* at Purdue University in 1957, starting its coverage of theses with the academic year 1955. Beginning with Volume 13, the printing and dis semination phases of the activity were transferred to University Microfilms/Xerox of Ann Arbor, Michigan, with the thought that such an arrangement would be more beneficial to the academic and general scientific and technical community. After five years of this joint undertaking we had concluded that it was in the interest of all concerned if the printing and distribution of the volumes were handled by an international publishing house to assure improved service and broader dissemination. Hence, starting with Volume 18, Masters Theses in the Pure and Applied Sciences has been disseminated on a worldwide basis by Plenum Publishing Corporation of New York, and in the same year the coverage was broadened to include Canadian universities. All back issues can also be ordered from Plenum. We have reported in Volume 38 (thesis year 1993) a total of 13,787 thesis titles from 22 Canadian and 164 United States universities. We are sure that this broader base for these titles reported will greatly enhance the value of this impor tant annual reference work. While Volume 38 reports theses submitted in 1993, on occasion, certain uni versities do report theses submitted in previous years but not reported at the time.
Author :
Publisher :
ISBN 13 :
Total Pages : 8 pages
Book Rating : 4.:/5 (727 download)
Download or read book Collision Avoidance During Teleoperation Using Whole Arm Proximity Sensors Coupled to a Virtual Environment written by and published by . This book was released on 1993 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt: Much of the current robotics effort at the US DOE is directed toward remote handling of hazardous waste. Telerobotic systems are being developed to remotely inspect, characterize, and process waste. This paper describes a collision avoidance system using Whole Arm Proximity (WHAP) sensors on an articulated robot arm. The capacitance-based sensors generate electric fields which completely encompass the robot arm and detect obstacles as they approach from any direction. The robot is moved through the workspace using a velocity command generated either by an operator through a force-sensing input device or a preprogrammed sequence of motions. The directional obstacle information gathered by the WHAP sensors is then used in a matrix column maximization algorithm that automatically selects the sensor closest to an obstacle during each robot controller cycle. The distance from this sensor to the obstacle is used to reduce the component of the command input velocity along the normal axis of the sensor, allowing graceful perturbation of the velocity command to prevent a collision. By scaling only the component of the velocity vector in the direction of the nearest obstacle, the control system restricts motion in the direction of an obstacle while permitting unconstrained motion in other directions. The actual robot joint positions and the WHAP sensor readings are communicated to an operator interface consisting of a graphical model of the Puma robot and its environment. Circles are placed on the graphical robot surface at positions corresponding to the locations of the WHAP sensor. As the individual sensors detect obstacles, the associated circles change color, providing the operator with visual feedback as to the location and relative size of the obstacle. At the same time, the graphical robot position is updated to reflect the actual state of the robot. This information permits the operator to plan alternative paths around unmodeled, but sensed, obstacles.
Author : Won S. Kim
Publisher :
ISBN 13 :
Total Pages : 488 pages
Book Rating : 4.3/5 (91 download)
Download or read book Telemanipulator Technology and Space Telerobotics written by Won S. Kim and published by . This book was released on 1993 with total page 488 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Andrey V. Savkin
Publisher : Butterworth-Heinemann
ISBN 13 : 0128037571
Total Pages : 360 pages
Book Rating : 4.1/5 (28 download)
Download or read book Safe Robot Navigation Among Moving and Steady Obstacles written by Andrey V. Savkin and published by Butterworth-Heinemann. This book was released on 2015-09-25 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. - First book on collision free reactive robot navigation in unknown dynamic environments - Bridges the gap between mathematical model and practical algorithms - Presents implementable and computationally efficient algorithms of robot navigation - Includes mathematically rigorous proofs of their convergence - A detailed review of existing reactive navigation algorithm for obstacle avoidance - Describes fundamentals of sliding mode control
Author :
Publisher :
ISBN 13 :
Total Pages : 516 pages
Book Rating : 4.:/5 (31 download)
Download or read book Fourth Annual Workshop on Space Operations Applications and Research (SOAR '90) written by and published by . This book was released on 1991 with total page 516 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Michael Montemerlo
Publisher : Springer
ISBN 13 : 3540464026
Total Pages : 129 pages
Book Rating : 4.5/5 (44 download)
Download or read book FastSLAM written by Michael Montemerlo and published by Springer. This book was released on 2007-04-27 with total page 129 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph describes a new family of algorithms for the simultaneous localization and mapping (SLAM) problem in robotics, called FastSLAM. The FastSLAM-type algorithms have enabled robots to acquire maps of unprecedented size and accuracy, in a number of robot application domains and have been successfully applied in different dynamic environments, including a solution to the problem of people tracking.
Author :
Publisher :
ISBN 13 :
Total Pages : 760 pages
Book Rating : 4.3/5 (97 download)
Download or read book Robotica written by and published by . This book was released on 1996 with total page 760 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 892 pages
Book Rating : 4.:/5 (31 download)
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 892 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Carl F. Ruoff
Publisher : AIAA
ISBN 13 : 9781600864148
Total Pages : 528 pages
Book Rating : 4.8/5 (641 download)
Download or read book Teleoperation and Robotics in Space written by Carl F. Ruoff and published by AIAA. This book was released on 1994 with total page 528 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Andreas Hofhauser
Publisher :
ISBN 13 :
Total Pages : 96 pages
Book Rating : 4.:/5 (634 download)
Download or read book Trajectory Based Collision Avoidance for Autonomous Mobile Robot Navigation written by Andreas Hofhauser and published by . This book was released on 2005 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Mark A. C. Gill
Publisher : World Scientific
ISBN 13 : 9789810234232
Total Pages : 202 pages
Book Rating : 4.2/5 (342 download)
Download or read book Obstacle Avoidance in Multi-robot Systems written by Mark A. C. Gill and published by World Scientific. This book was released on 1998 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: Obstacle Avoidance in Multi-robot Systems: Experiments in Parallel Genetic Algorithms offers a novel framework for solving the path planning problem for robot manipulators. Simple and efficient solutions are proposed for the path planning problem based on genetic algorithms. One of the attractive features of genetic algorithms is their ability to solve formidable problems in a robust and straightforward manner. Moreover, genetic algorithms are inherently parallel in nature, which makes them ideal candidates for parallel computing implementations.By combining the robustness of genetic algorithms with the power of parallel computers, this book provides an effective and practical approach to solving path planning problems. The book gives details of implementations that allow a better understanding of the complexities involved in the development of parallel path planning algorithms. The material presented is interdisciplinary in nature ? it combines topics from robotics, genetic algorithms, and parallel processing. The book can be used by practitioners and researchers in computer science and engineering.
Author : National Research Council
Publisher : National Academies Press
ISBN 13 : 0309051355
Total Pages : 557 pages
Book Rating : 4.3/5 (9 download)
Download or read book Virtual Reality written by National Research Council and published by National Academies Press. This book was released on 1995-01-13 with total page 557 pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite widespread interest in virtual reality, research and development efforts in synthetic environments (SE)â€"the field encompassing virtual environments, teleoperation, and hybridsâ€"have remained fragmented. Virtual Reality is the first integrated treatment of the topic, presenting current knowledge along with thought-provoking vignettes about a future where SE is commonplace. This volume discusses all aspects of creating a system that will allow human operators to see, hear, smell, taste, move about, give commands, respond to conditions, and manipulate objects effectively in a real or virtual environment. The committee of computer scientists, engineers, and psychologists on the leading edge of SE development explores the potential applications of SE in the areas of manufacturing, medicine, education, training, scientific visualization, and teleoperation in hazardous environments. The committee also offers recommendations for development of improved SE technology, needed studies of human behavior and evaluation of SE systems, and government policy and infrastructure.
Author : Rickard Karlsson
Publisher :
ISBN 13 :
Total Pages : 6 pages
Book Rating : 4.:/5 (936 download)
Download or read book Model-based Statistical Tracking and Decision Making for Collision Avoidance Application written by Rickard Karlsson and published by . This book was released on 2003 with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 13 pages
Book Rating : 4.:/5 (682 download)
Download or read book Telerobotics with Whole Arm Collision Avoidance written by and published by . This book was released on 1993 with total page 13 pages. Available in PDF, EPUB and Kindle. Book excerpt: The complexity of teleorbotic operations in a cluttered environment is exacerbated by the need to present collision information to the operator in an understandable fashion. In addition to preventing movements which will cause collisions, a system providing some form of virtual force reflection (VFR) is desirable. With this goal in mind, Lawrence Livermore National Laboratory (LLNL) has installed a kinematically master/slave system and developed a whole arm collision avoidance system which interacts directly with the telerobotic controller. LLNL has also provided a structure to allow for automated upgrades of workcell models and provide collision avoidance even in a dynamically changing workcell.
