Intelligent Robotic Systems: Theory, Design and Applications

264 Pages·1992·7.397 MB·English

by  Kimon P. Valavanis, George N. Saridis (auth.)

INTELLIGENT ROBOTIC
SYSTEMS:
THEORY, DESIGN AND ApPLICATIONS
THE KLUWER INTERNATIONAL SERIES
IN ENGINEERING AND COMPUTER SCIENCE
ROBOTICS: VISION, MANIPULATION AND SENSORS
Consulting Editor: Takeo Kanade
ROBOT DYNAMICS ALGORITHMS, F. Featherstone
ISBN: 0-89838-230-0
KINEMATIC MODEUNG, IDENTIFICATION AND CONTROL OF ROBOT
MANIPULATORS, H.W. Stone
ISBN: 0-89838-237-8
OBJECT RECOGNITION USING VISION AND TOUCH, P. Allen
ISBN: 0-89838-245-9
INTEGRATION, COORDINATION AND CONTROL OF MULTI-SENSOR ROBOT
SYSTEMS, H.F. Durrant-Whyte
ISBN: 0-89838-247-5
MOTION UNDERSTANDING: Robot and Human Vision, W.N. Martin and J. K.
Aggrawal (editors)
ISBN: 0-89838-258-0
BAYESIAN MODEUNG OF UNCERTAINTY IN LOW-LEVEL VISION, R. Szeliski
ISBN 0-7923-9039-3
VISION AND NA VlGATION: THE CMU NA VLAB, C. Thorpe (editor)
ISBN 0-7923-9068-7
TASK-DIRECTED SENSOR FUSION AND PLANNING: A Computational Approach,
G. D. Hager
ISBN: 0-7923-9108-X
COMPUTER ANALYSIS OF VISUAL TEXTURES, F. Tomita and S. Tsuji
ISBN: 0-7923-9114-4
DATA FUSION FOR SENSORY INFORMATION PROCESSING SYSTEMS, J. Clark
and A. Yuille
ISBN: 0-7923-9120-9
PARALLEL ARCHITECTURES AND PARALLEL ALGORITHMS FOR INTEGRATED
VISION SYSTEMS, A.N. Choudhary, J. H. Patel
ISBN: 0-7923-9078-4
ROBOT MOTION PLANNING, J. Latombe
ISBN: 0-7923-9129-2
DYNAMIC ANALYSIS OF ROBOT MANIPULATORS: A Cartesian Tensor Approach,
C.A Balafoutis, R.V. Patel
ISBN: 07923-9145-4
PERTURBATION TECHNIQUES FOR FLEXIBLE MANIPULATORS: A. Fraser and
R. W.Daniel
ISBN: 0-7923-9162-4
COMPUTER AIDED MECHANICAL ASSEMBLY PLANNING: L. Homen de Mello and
S. Lee ISBN: 0-7923-9205-1
INTELUGENT ROBOTIC SYSTEMS FOR SPACE EXPLORATION: Alan A. Desrochers
ISBN: 0-7923-9197-7
MEASUREMENT OF IMAGE VELOCITY: David J. Fleet
ISBN: 0-7923-9198-5
DIRECTED SONAR SENSING FOR MOBILE ROBOT NAVIGATION: John J. Leonard,
Hugh F. Durrant-Whyte ISBN: 0-7923-9242-6
A GENERAL MODEL OF LEGGED LOCOMOTION ON NATURAL TERRAIN: David
J.Manko
ISBN: 0-7923-9247-7
INTELLIGENT ROBOTle
SYSTEMS:
THEORY, DESIGN AND ApPLICATIONS
By:
Kimon P. Valavanis
Associate Professor of Computer Engineering
Intelligent Robotic Systems Laboratory,
The Center for Advanced Computer Studies,
The University ofS outhwestern Louisiana,
Lafayette, LA 70504-4330, USA
George N. Saridis
Professor ofE lectrical, Computer and Systems Engineering
Director, NASA Center for Intelligent Robotic Systems
for Space Exploration,
Rensselaer Polytechnic Institute,
Troy, NY 12180-3590, USA
•.
~
"
Springer Science+Business Media, LLC
Library ofCoogress Catalogiog-in-Publicatioo Data
Va1avanis, K. (Kimon)
Intelligent robotle systems : theory, design, and applications I by Kimon P.
Va1avanis, George N. Saridis.
p. CIn. - (Ibe Kluwer international series in engineering and computer
science ; SECS 182)
Inc1udes bibliographica1 references and index.
ISBN 978-1-4613-6585-3 ISBN 978-1-4615-3568-3 (eBook)
DOI 10.1007/978-1-4615-3568-3
1. Robotics. 1. Saridis, George N., 1931 - . II. Title. III. Series.
TJ211.V35 1992
629.8'92--de20 92-10876
CIP
Copyright © 1992 Springer Science+Business Media New York
Originally published by KIuwer Academic Publishers in 1992
Softcover reprint ofthe hardcover Ist edition 1992
AlI rights reserved. No part of this publicati an may be reproduced, stored in a retrieval
system ar transmitted in any form ar by any means, mechanical, photo-copying, recording,
ar otherwise, without the prior written permission of the publisher, Springer
Science+Business Media, LLC.
Printed on acid-free pap er.
for
Areti, little Stella (KPV)
and
Youla (GNS)
Contents
LIST OF FIGURES . . . . . . . . . . . . . . . . . . . . . . . .. xi
LIST OF TABLES . . . . . . . . . . . . . . . . . . . . . . . . . . xv
Preface ................................x vii
Chapter 1 INTRODUCTION ................ 1
Section 1 Introduction ...... . . . . . . . . . . . . . 1
Section 2 Outline of the Monograph ......... 11
Chapter 2 A REVIEW ON HIERARCHICAL AND
EXPERT SYSTEMS . . . . . . . . . . .. 13
Section 1 Introduction .................. 13
Section 2 Information Theory as Applied to General
Systems Theory and Modeling of
Decision Makers . . . . . . . . . . . . . . . 14
Section 3 The Duality of the Concept of Entropy
and its Application to Control Theory .. 24
Section 4 Hierarchically Intelligent Systems ..... 28
Section 5 Knowledge Based Expert Systems ... 32
Section 6 Comparison Between Knowledge Based
Expert Systems and Intelligent
Machines. . . . . . . . . . . . . . . . . . . . 35
Section 7 Remarks .................... 37
Chapter 3 ON THE GENERAL THEORY OF
INTELLIGENT MACHINES . . . . . . .. 39
Section 1 Introduction .................. 39
Section 2 Review of the Analytic Formulation of
Intelligent Controls .............. 41
Section 3 Definitions and the Principle of Increasing
Precision with Decreasing Intelligence . 43
Section 4 The Analytic Formulation of the Principle
of Increasing Precision with Decreasing
Intelligence .................. 46
Section 5 The Analytic Structure of an Intelligent
Machine .................... 48
Section 6 Intelligent Machines in a Distributed
Intelligence Environment .......... 52
Section 7 Applications to Robotic Systems . . . . . 54
Section 8 Remarks .................... 55
Chapter 4 THE MATHEMATICAL MODEL FOR
INTELLIGENT ROBOTIC SYSTEMS.. 59
Section 1 Introduction .................. 59
Section 2 The Probabilistic Model of the
Organization Level . . . . . . . . . . . . . . 60
Topic 1 Pertinent Definitions in the Organizer
Workspace . . . . . . . . . . . . . . . . .. 61
Topic 2 Functions of the Organization Level ... 65
Topic 3 Operational Procedures in the
Organization Level .. . . . . . . . . . . . 67
Topic 4 The Mathematical Model of the Input
Classifier ................... 72
Topic 5 The Organization Level Algorithm .... 77
Section 3 The Expert System Cell for the
Organization Level . . . . . . . . . . • . . . 85
Topic 1 Subsystem Structures and Functions . . 86
Section 4 The Coordination Level . . . . . . . . . . . 95
Topic 1 The Functions of the Vision System
Coordinator ................ 100
Topic 2 The Functions of the Sensor System
Coordinator . . . . . . . . . . . . . . . .. 105
viii
Topic 3 The Functions of the Motion System
Coordinator . . . . . . . . . . . . . . . .. 106
Topic 4 The Functions of the Gripper System
Coordinator . . . . . . . . . . . . . . . .. 10 8
Topic 5 The Algorithm of the Coordination
Level. . . . . . . . . . . . . . . . . . . .. 110
Section 5 The Execution Level. . . . . . . . . . . . 112
Section 6 Summary of the Mathematical Model . 112
Section 7 Integrated Control and Diagnostics in
Intelligent Robotic Systems ..... . . 113
Topic 1 Accommodation of the Robot Payload
Variation Problem . . . . . . . . . . . .. 114
Section 8 Discussion . . . . . . . . . . . . . . . . . . 120
Section 9 Remarks . . . . . . . . . . . . . . . . . . . 122
Chapter 5 ARCHITECTURAL MODELS FOR
INTELLIGENT ROBOTIC SYSTEMS .. 125
Section 1 Introduction . . . . . . . . . . . . . . . . . 125
Section 2 The Architectural Model for the
Organization Level. . . . . . . . . . . . . 127
Topic 1 The Probabilistic Based Architectural
Model .................... 128
Topic 2 The Expert System Cell Based
Architectural Model . . . . . . . . . . .. 136
Section 3 The Architectural Model for the
Coordination Level. . . . . . . . . . . . . 140
Section 4 The Architectural Model for the Execution
Level ..................... 149
Section 5 The Architectural Model for the Upgrade
Phase ..................... 150
Section 6 Remarks . . . . . . . . . . . . . . . . . . . 152
ix
Chapter 6 EXAMPLES AND CASE STUDIES .. 155
Section 1 Introduction . . . . . . . . . . . . . . . . . 155
Section 2 An Intelligent Robot Operating System
for Emergency Situations In A Nuclear
Power Plant . . . . . . . . . . . . . . . . . 156
Topic 1 Review on Nuclear Robotics Research 157
Topic 2 Problem Statement ............ 162
Topic 3 Strategy Formulation ........... 169
Topic 4 The Model of the Workspace Environment
and Related Simplifications . . . . . .. 170
Topic 5 The Coordination and Execution Level
Model .................... 177
Topic 6 Examples .................. 180
Section 3 An Intelligent Robotic System Operating
in a Hospital Environment . . . . . . . . 185
Section 4 A Robotic Assembly System ...... 200
Section 5 Remarks . . . . . . . . . . . . . . . . . . . 208
Chapter 7 CONCLUSIONS AND
RECOMMENDATIONS .......... 211
Section 1 Summary. . . . . . . . . . . . . . . . . . . 211
Section 2 Present and Future Developments in
Intelligent Controls ............. 213
Section 3 Some Ideas for Future Investigation . . 217
Appendix A REFERENCES ............... 219
Appendix B GLOSSARY . . . . . . . . . . . . . . . . . 243
Appendix C ABBREVIATIONS ............. 247
Index ................................. 249
x
LIST OF FIGURES
Figure 1.1 Definition of the Intelligent Control
Discipline 2
Figure 1.2 General Structure of a Hierarchically
Intelligent Control System 7
Figure 1.3 General Block Diagram of an Intelligent
Machine 8
Figure 1.4 Intelligent Robotic System with
Multi-Sensory Capabilities 9
Figure 2.1 A Typical Expert System 34
Figure 3.1 Structure of an Intelligent Machine 42
Figure 3.2 Block Diagram of the Organization Level
Functions 50
Figure 3.3 General Structure of the Coordination
Level 51
Figure 3.4 The RPI CIRSSE Telerobotics Testbed
Configuration 56
Figure 4.1 The Mathematical Model for the
Classification Procedure 73
Figure 4.2 The Pattern Classifier Model 76
Figure 4.3 Knowledge Base Structures of the
Organizer 92
Figure 4.4 Main Program Flowchart 96
Figure 4.5 Block Diagram of the Coordination Level
of an Intelligent Robotic System 99
Figure 4.6 The Vision System Coordinator and
Execution Devices 102