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Titolo:
A neuro-fuzzy approach for robot system safety
Autore:
Zurada, J; Wright, AL; Graham, JH;
Indirizzi:
Univ Louisville, Dept Comp Informat Syst, Coll Business & Publ Adm, Louisville, KY 40292 USA Univ Louisville Louisville KY USA 40292 ubl Adm, Louisville, KY 40292 USA Univ Louisville, Dept Comp Sci & Engn, Speed Sci Sch, Louisville, KY 40292USA Univ Louisville Louisville KY USA 40292 Sci Sch, Louisville, KY 40292USA
Titolo Testata:
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS
fascicolo: 1, volume: 31, anno: 2001,
pagine: 49 - 64
SICI:
1094-6977(200102)31:1<49:ANAFRS>2.0.ZU;2-H
Fonte:
ISI
Lingua:
ENG
Soggetto:
COLLISION AVOIDANCE SYSTEM; TIME OBSTACLE AVOIDANCE; INTEGRATION; FUSION; SPACE; FLOW;
Keywords:
Dempster-Shafer (D-S) theory; safety decision making; sensory integration; virtual repulsive force;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
49
Recensione:
Indirizzi per estratti:
Indirizzo: Zurada, J Univ Louisville, Dept Comp Informat Syst, Coll Business & Publ Adm, Louisville, KY 40292 USA Univ Louisville Louisville KY USA 40292 ouisville, KY 40292 USA
Citazione:
J. Zurada et al., "A neuro-fuzzy approach for robot system safety", IEEE SYST C, 31(1), 2001, pp. 49-64

Abstract

Robot safety is a critical and largely unsolved problem involving the interaction of man and machine. This paper presents a new approach to robot safety which uses an integrated sensing architecture for monitoring the robot workspace, and a new detection and decision logic for regulating the safe operation of the robot. Sensory information is fused through a trained neural network to produce a map of the hazards. Using this combined map, and information about the robot's current position and velocity, a set of fuzzy logic rules has been implemented to regulate robot activity, Simulation results presented in this paper indicate that this method is both effective in detection of potentially hazardous situations and computationally feasible.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 06/04/20 alle ore 02:05:24