Stable Sensorless Localization of 3-D Objects

doi:10.1109/TSMCC.2011.2109948

CSpace > 应用数学研究所

	Stable Sensorless Localization of 3-D Objects
	Liu, Chuankai 1; Qiao, Hong 1; Zhang, Bo2
	2011-11-01
发表期刊	IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS
ISSN	1094-6977
卷号	41 期号:6 页码:923-941
摘要	In 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.
关键词	Localization of 3-D objects manipulation motion planning parting feeding sensorless stability
DOI	10.1109/TSMCC.2011.2109948
语种	英语
资助项目	National 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研究方向	Computer Science
WOS类目	Computer Science, Artificial Intelligence ; Computer Science, Cybernetics ; Computer Science, Interdisciplinary Applications
WOS记录号	WOS:000296019400012
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/12872
专题	应用数学研究所
通讯作者	Liu, Chuankai
作者单位	1.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
推荐引用方式 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.