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This paper presents a novel method for efficient rendezvous of an autonomous vehicle with a moving convoy in the presence of traffic on a highway. The problem is addressed by utilizing a prediction based obstacle-avoidance algorithm augmented with a rendezvous-guidance algorithm. The proposed method can deal with fast-maneuvering obstacles (i.e., other(More)
This paper addresses a multi-robot optimal assembly planning problem which in essence is an augmented Travelling Salesperson Problem (TSP+). In our TSP+, both the " salesperson " (a robot with a tool) as well as the " cities " (another robot with a workpiece) move. Namely, in addition to the sequencing of tasks, further planning is required to choose where(More)
Manufacturing systems generally encompass processes that are discrete in time and space. Among the variety of real-time supervisory control techniques reported in the literature , controlled-automata-based discrete event system (DES) theory is one of the few with mathematical formalism. However, the control of even a moderately complex system using this(More)
The feasibility of a pre-marking scheme for three-dimensional object recognition is demonstrated. The proposed scheme is based on the assumption that an object can be modeled by a small number of its distinct two-dimensional perspective projections. Circular markers are used to identify these views by determining their surface normals passing through their(More)
In this paper, a detailed dynamic model for a general parallel kinematic mechanism (PKM) used in a reconfigurable meso-milling machine tool (RmMT) is developed in terms of active joint coordinates via the Lagrange formulation and appropriate coordinate transformations. The proposed dynamic model is, then, implemented numerically on a 3-PPRS parallel(More)
The design and analysis of anoncontact electro-optical proximity sensor, based on the intensity measurement of modulated light signals reflected from the surface of an object, is addressed in this paper. The proposed sensor is capable of measuring one-dimensional inclination angles in the range of +20 degrees to -20 degrees , and distances of up to 7.5 mm.(More)
In this paper, a neural-network-based guidance methodology is proposed for the docking of autonomous vehicles. The novelty of the overall system is its applicability to cases that do not allow for the direct proximity measurement of the vehicle's pose (position and orientation). In such instances, a guidance technique that utilizes line-of-sight based(More)
In this paper, a novel tactile photoelastic transducer for normal forces is presented. When a normal input force profile is applied to the transduction medium, stress is generated in the photoelastic layer making it birefringent. Consequently, circularly-polarized input light becomes elliptically polarized at the output due to the introduction of a(More)