Now showing items 1-17 of 17

    • Agent-Based Planning and Control of a Multi-Manipulator Assembly System 

      Fraile, Juan-Carlos; Paredis, Chris; Wang, Cheng-Hua; Khosla, Pradeep K. (Georgia Institute of Technology, 1999-05)
      This paper presents a distributed planning and control architecture for autonomous Multi-Manipulator Systems (MMS). The control architecture is implemented using an agent-based approach. A team of distributed and autonomous ...
    • An Architecture for Gesture-Based Control of Mobile Robots 

      Iba, Soshi; Vande Weghe, J. Michael; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyIEEE Industrial Electronics Society, 1999-10)
      Gestures provide a rich and intuitive form of interaction for controlling robots. This paper presents an approach for controlling a mobile robot with hand gestures. The system uses Hidden Markov Models (HMMs) to spot and ...
    • Behavioral Model Composition in Simulation-Based Design 

      Sinha, Rajarishi; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of Technology, 2002-04)
      We present a simulation and design framework for simultaneously designing and modeling electromechanical systems. By instantiating component objects and connecting them to each other via ports, a designer can configure ...
    • Combining Information Technology Components and Symbolic Equation Manipulation in Modeling and Simulation of Mechatronic Systems 

      Diaz-Calderon, Antonio; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyIEEE Industrial Electronics Society, 1999-08)
      We present a hybrid representation for modeling of mechatronic systems. This representation consists of a linear graph and block diagrams and supports our concept of composable simulation. By composable simulation we mean ...
    • Composable Models for Simulation-Based Design 

      Paredis, Chris; Diaz-Calderon, Antonio; Sinha, Rajarishi; Khosla, Pradeep K. (Georgia Institute of TechnologySpringer-Verlag, 2001)
      This article introduces the concept of combining both form (CAD models) and behavior (simulation models) of mechatronic system components into component objects. By connecting these component objects to each other through ...
    • Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot 

      Ferreira, Enrique D.; Tsai, Shu-Jen; Paredis, Chris; Brown, H. Benjamin, Jr. (Georgia Institute of TechnologyBrill Academic Publishers, 2000)
      The Gyrover is a single wheel gyroscopically stabilized mobile robot developed at Carnegie Mellon University. An internal pendulum serves as a counter weight for a drive motor that causes fore/aft motion, while a large ...
    • Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot 

      Tsai, Shu-Jen; Ferreira, Enrique D.; Paredis, Chris (Georgia Institute of Technology, 1999-10)
      The Gyrover is a single wheel gyroscopically stabilized mobile robot developed at Carnegie Mellon University. An internal pendulum serves as a counterweight for a drive motor that causes fore/aft motion, while a tilt-mechanism ...
    • Fault Tolerant Localization for Teams of Distributed Robots 

      Tinós, Renato; Navarro-Serment, Luis E.; Paredis, Chris (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers (IEEE), 2001)
      To combine sensor information from distributed robot teams, it is critical to know the locations of all the robots relative to each other. This paper presents a novel fault tolerant localization algorithm developed for ...
    • Heterogeneous Teams of Modular Robots for Mapping and Exploration 

      Grabowski, Robert; Navarro-Serment, Luis E.; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of Technology, 2000)
      In this article, we present the design of a team of heterogeneous, centimeter-scale robots that collaborate to map and explore unknown environments. The robots, called Millibots, are configured from modular components ...
    • Integrating Social Aspects and Group Work Aspects in Engineering Design Education 

      Subrahmanian, Eswaran; Westerberg, Arthur; Talukdar, Sarosh; Garrett, James; Jacobson, Annette; Paredis, Chris; Amon, Cristina; Herder, Paulien; Turk, Adam (Georgia Institute of TechnologyTempus Publications, 2003)
      Over the last several years, the Institute for Complex Engineered Systems (ICES), from its origins as the Engineering Design Research Center (EDRC), has evolved two elective courses addressing the social and group aspects ...
    • Integration of Mechanical CAD and Behavioral Modeling 

      Sinha, Rajarishi; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyIEEE Computer Society, 2000-10)
      This article introduces the concept of combining both form (CAD models) and behavior (simulation models) of mechatronic system components into component objects. By composing these component objects, designers automatically ...
    • Interactive Multi-Modal Robot Programming 

      Iba, Soshi; Khosla, Pradeep K.; Paredis, Chris (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers (IEEE), 2002-05)
      As robots enter the human environment and come in contact with inexperienced users, they need to be able to interact with users in a multi-modal fashion—keyboard and mouse are no longer acceptable as the only input modalities. ...
    • Micro Planning for Mechanical Assembly Operations 

      Gupta, S. K.; Paredis, Chris; Brown, P. F. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1998-05-01)
      Significant advances have been made in the area of macro planning for assembly operations (i.e., dividing a product into sub-assemblies, determining the sequence of assembly operations). On the contrary, the state of the ...
    • Modularity in Small Distributed Robots 

      Navarro-Serment, Luis E.; Grabowski, Robert; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologySociety of Photo-optical Instrumentation Engineers, 1999-09)
      This paper describes the development of small mobile robots for collaborative surveillance tasks. Each of the robots, called Millibots, has only limited sensing, computation, and communication capabilities. However, ...
    • On the Synthesis of the System Graph for 3D Mechanics 

      Diaz-Calderon, Antonio; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyAmerican Automatic Control CouncilIEEE, 1999-06)
      This paper presents a methodology for deriving the system graph of a 3D mechanism from CAD models. That is, a linear graph that captures the energy flow in a system. This work is part of a larger research effort in composable ...
    • On-Line Planning of Flexible Assembly Systems: An Agent-Based Approach 

      Wang, Cheng-Hua; Paredis, Chris (Georgia Institute of Technology, 1999-08)
      This paper presents an agent-based approach to online assembly task allocation and scheduling for flexible assembly systems. We propose an anytime-scheduling algorithm to handle dynamic changes during planning. This ...
    • RAVE: A Real and Virtual Environment for Multiple Mobile Robot Systems 

      Dixon, Kevin; Dolan, John; Huang, Wesley; Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyIEEE Industrial Electronics Society, 1999-10)
      To focus on the research issues surrounding collaborative behavior in multiple mobile-robotic systems, a great amount of low-level infrastructure is required. To facilitate our on-going research into multi-robot systems, ...