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  • 1
    Electronic Resource
    Electronic Resource
    Springer
    Applied intelligence 2 (1992), S. 127-153 
    ISSN: 1573-7497
    Keywords: Adaptive controller ; correlation ; cartesian controller ; optical flow ; telerobotics ; visual servoing
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract This paper addresses the problem of integrating the human operator with autonomous robotic visual tracking and servoing modules. A CCD camera is mounted on the end-effector of a robot and the task is to servo around a static or moving rigid target. In manual control mode, the human operator, with the help of a joystick and a monitor, commands robot motions in order to compensate for tracking errors. In shared control mode, the human operator and the autonomous visual tracking modules command motion along orthogonal sets of degrees of freedom. In autonomous control mode, the autonomous visual tracking modules are in full control of the servoing functions. Finally, in traded control mode, the control can be transferred from the autonomous visual modules to the human operator and vice versa. This paper presents an experimental setup where all these different schemes have been tested. Experimental results of all modes of operation are presented and the related issues are discussed. In certain degrees of freedom (DOF) the autonomous modules perform better than the human operator. On the other hand, the human operator can compensate fast for failures in tracking while the autonomous modules fail. Their failure is due to difficulties in encoding an efficient contingency plan.
    Type of Medium: Electronic Resource
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  • 2
    Electronic Resource
    Electronic Resource
    Springer
    Journal of intelligent manufacturing 2 (1991), S. 5-15 
    ISSN: 1572-8145
    Keywords: Concurrent design ; distributed problem-solving ; flexible organizations ; object-oriented programming ; simultaneous engineering
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This paper is a description of FORS (Flexible Organizations), a design environment based on a network representation of the design effort. Each design network consists of: (a) Tools (software programs distributed over the whole network of computers) and (b) Aspects (models to which the tools are applied). The system's communication and exchange of data are based on distributed problem-solving techniques. FORS provides an icon based interface, allows for the dynamic reconfiguration of the design network, maintains libraries of records, tools and aspects, and attempts to develop mechanisms for collaboration between the different tools. The addition and the deletion of tools are relatively easy and the user has the ability to access information and data from previous design efforts. FORS is a new approach to design environments because it gives equal emphasis on the tools and the data used in the design effort. FORS embodies some old ideas, like object-oriented representation of the tools, but simultaneously extends these and creates a modular and flexible environment. One important aspect of FORS is the introduction of the issue of remote effects (the impacts that one design task can have on other tasks). FORS is currently being used in the mechanical design of an automobile window regulator; an implementation in the area of power systems is in progress.
    Type of Medium: Electronic Resource
    Library Location Call Number Volume/Issue/Year Availability
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