帶式輸送機傳動滾筒的防滑處理(doc畢業設計論文)-資料下載頁

　　

【正文】 瑞特，若克，電機工程師協會航空宇宙會議提出“用應用吉納膠力度變化對多機械手隨機化了系統的一個動態的優先權系統的計劃”,2002年。3 狄森納亞克，紐曼，可拉克，杜瑞特—懷特，可索伯,“一種對同時性的局限和地圖建筑物( 砰然聲 ) 問題的解決辦法” 納亞克，紐曼， 可拉克, 杜瑞特—懷特,可索伯,電機工程師協會關于對機械手工程和自動化上的交易, 2001年6月。 4 弗瑞，洛克,“軌道世代為單眼的以視覺為基礎的不變速度的追蹤對準,”在電機工程師協會機械手工程和自動化上的國際會議上被呈現,2003年。5 赫蘇，肯狄, 拉托姆布,洛克,“隨機化了 Kino dynamic 提議由于移動障礙計劃,機械手工程的算法基礎上的工作室,2000年。6 吉恩斯，洛克，“以對話為基礎的人 機械手交互作用因為空間建筑隊,”電機工程師協會航空宇宙會議,2002年。 7 克納荻，卡琳斯，里普森，布恩，威克森，“在合作的多感應器錄像帶監視的優越性 ,”DARPA Imag(IUW)工作室,115122, 1998年11月。8 洛戈若爾逖斯，伊薩克森和伊凡斯,“對在相對位置蹤跡最理想的歸屬性操作優化的比較”，美國控制協會進程的會議記錄。1998年6月。附錄2An Integrated System for Command andControl of Cooperative Robotic SystemsChristopher M. Clark, Eric W. Frew, Henry L. Jones, amp。 Stephen M. Rock Aerospace Robotics Lab Department of Aeronautics amp。 Astronautics Stanford University {chrisc, ewf, hlj, rock}@l Abstract:Presented is an experimental investigation into three issues that enable increased autonomous functionality when using mobile robots. These issues are (1) interfacing a single user with multiple robots, (2) motion planning for multiple robots, and (3) robot trajectory generation for target tracking. For this research, the Micro Autonomous RoverS (MARS) test platform was developed that provides a means for implementing this technology on laboratory robots to carry out tasks including collisionfree which a single user is able to mand a group of robots. Experimental results are presented in motion and target tracking.l Key word: multirobots rover MARS test platform target tracking trajectory monitorl Main text:1. IntroductionCurrently, remote robotic systems require many humans to operate a single robot. The goal for future systems is to require only one operator for many robots. For example, future space structure construction would benefit from the availability of a large group of robots that can be operated by a Figure 1: Rovers from the MARS test platform. Small groups of humans. While there has been a significant amount of research towards the operation of single remote robots, more work is still required towards the operation of groups of robots. In particular, an increased degree of autonomy must be given to the robots. To realize this autonomy, a variety of fundamental capabilities must be enabled that include: (1) Providing an interface from which adequate information for decisionmaking is available to the human, and mands to one or several of the robots can be executed.(2) Providing autonomous, realtime construction of collisionfree trajectories for all robots in the group.(3) Providing robot trajectory generation that enables tracking of moving objects.In previous work, we addressed each of these issues: Jones [6] developed an interface that allows a single human to operate many robots。 Clark [2] designed a multirobot motion planner。 and Frew [4] designed a trajectory generator that provides nearoptimal solutions for object motion estimation.Figure 1 :Rovers from the MARS test plantformIn this paper, we present an integrated system demonstration of these technologies.The paper is organized as follows. Section 2provides a brief description of each of the three research projects. In Section 3, the Micro Autonomous RoverS (MARS) test platform and its application to this research is described. Section 4 details a final demonstration that summarizes the previous research as an integrated system. Conclusions are presented in Section 5.2. Technological Issues. Human InterfaceFor a single human to operate a multirobot system, the human must have access to all relevant information about the remote environment so that appropriate mands can be executed. Also, the human must be provided with a means of executing these mands to one or several of the robots. In [6], Jones developed an interface based on dialogues between the human and the robots as an effective method for operating multiple robots. In particular, Jones addressed the following issues: Establishing the structure and scope of the dialogue Creating a robot infrastructure capable of conducting an effective dialogue Determining methods for dealing with the social conventions of dialogues Developing an interface that allows the operator to carry out the dialogue with the robotic system.His result is an implementation of a dialogue interaction patterned after the taskoriented Dialogues mon in human teams. The hypothesis is that similar dialogues can play a useful role within humanrobot teams.The interface was implemented using OpenGL to provide a threedimensional view of the robot environment. An example screenshot is shown in Figure 2. Dialogue through the interface takes place electronically rather than through voice. The dialogue begins when objects are selected by clicking on them on the screen. The interface then resolves the identity of the object and the robot that sensed the object. The interface waits until a response from the correct robot has been returned in the form of a list of tasks that the robot can acplish on that object. This list is then displayed in a dialog that pops up next to the object. The user can select from this list of tasks, and the plete mand of robot/task/object is sent to the robot for execution.Figure 2: Screen shot of the humanrobot interface.The screenshot in Figure 2 provides an example of the interface in use. Two robots (denoted by white cylinders) and 3 objects are located on the test bed workspace. The operator has queried the robot agents to determine what tasks can be performed on the object at the left side of the screen. A popup menu has appeared with a list of the query results.Jones showed that it is possible to build a dialoguebased interaction that enables the control of multiple robots. This interaction, as implemented in a virtual threedimensional world, provided an intuitive pointandclick method for determining the capabilities of the robot in the appropriate context, and enabled the operator to participate in the