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Stable Sensorless Localization of 3-D Objects
Liu, Chuankai1; Qiao, Hong1; Zhang, Bo2
2011-11-01
Source PublicationIEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS
ISSN1094-6977
Volume41Issue:6Pages:923-941
AbstractIn general, localization is a very important step in the manufacturing process, which can be considered as a prior process of assembly, machining, transportation, etc. Localization can be achieved with or without sensors. Compared with localization with sensors, localization without sensors can be more reliable, cheaper, and can have lower requirements on the environment. For example, localization without sensors can be achieved in a dark environment. However, it is more restrictive to the condition of the system. Localization of 2-D objects without sensors has been deeply investigated. Some theoretical results on 3-D-object localization without sensors have been given. On the other hand, some work has been carried out that tries to find methods to reduce uncertainties in the 3-D orientation of a polyhedron (i.e., the orientation of the polyhedron in a 3-D space). However, to the best of our knowledge, no practical and effective methods have been proposed, so far, to localize a polyhedron from any initial 3-D orientation to a unique 3-D orientation without sensors. This paper aims to find conditions and strategies for 3-D objects to be rotated from an unknown initial stable state to a unique stable state without sensors. The main contributions of this paper are given as follows: 1) It is discovered and proved that there are two classes of 3-D objects that can be rotated into a unique state from an arbitrary initial state without sensory feedback. 2) For these two classes of objects, the practical strategies are presented, and one example for each class is given to show the validity of the strategy. 3) Based on the above results, the robotic system and localization operations are illustrated, and some experimental results are given.
KeywordLocalization of 3-D objects manipulation motion planning parting feeding sensorless stability
DOI10.1109/TSMCC.2011.2109948
Language英语
Funding ProjectNational Natural Science Foundation (NNSF) of China[60675039] ; National Natural Science Foundation (NNSF) of China[60621001] ; National Natural Science Foundation (NNSF) of China[60725310] ; National Natural Science Foundation (NNSF) of China[90820007] ; 863 Program of China[2007AA04Z228] ; 973 Program of China[2007CB311002]
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Cybernetics ; Computer Science, Interdisciplinary Applications
WOS IDWOS:000296019400012
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/12872
Collection应用数学研究所
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
2.Chinese Acad Sci, Inst Appl Math, Acad Math Ad Syst Sci, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Liu, Chuankai,Qiao, Hong,Zhang, Bo. Stable Sensorless Localization of 3-D Objects[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS,2011,41(6):923-941.
APA Liu, Chuankai,Qiao, Hong,&Zhang, Bo.(2011).Stable Sensorless Localization of 3-D Objects.IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS,41(6),923-941.
MLA Liu, Chuankai,et al."Stable Sensorless Localization of 3-D Objects".IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS 41.6(2011):923-941.
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