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1st IEEE International conference on robotics and Automation, ICRA 1984

作者： Shapiro, L. Haralick, R. Cepartment of Computer Science Virginia Polytechnic Institute State University BlacksburgVA24061 United States

ISBN: (纸本)081860526X

An F-15 bulkhead is to be inspected by a computer system employing television cameras for vision and robot arms with tactile sensors for precise measurements. The system requires a suitable model of the object to be inspected. The model must contain very precise, accurate information for low-level vision and measurement processes and at the same time be useful to high-level vision and planning processes. This requirement makes most existing three-dimensional models useless. In this paper we define a hierarchical, relational model that we have developed to be used by the robot inspection system. © 1984 IEEE.

关键词： Inspection

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Syntactic pattern recognition for robot vision 1

Syntactic pattern recognition for robot vision

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1st IEEE International conference on robotics and Automation, ICRA 1984

作者： stenstrom, J. Rensselaer Polytechnic Institute TroyNY United States

ISBN: (纸本)081860526X

vision will be increasingly important in robotics applications. An object is modeled by critical curves extracted from the object. In the simplest case the object's curve is its outline. A solution to the curve partitioning problem is shown for nonconvex objects. Curves are described in a rotation and translation invariant way. A way to build a combined model database of many classes of objects is presented. A test to insure disjointness of model classes is given. An efficient technique for computing a network of these curves from a gray-level frame is presented. A graph algorithm is presented to match the model in an efficient way, independent of the scaling found in the scene. A technique for computing and classifying more general critical curves from three-dimensional data is developed. © 1984 IEEE.

关键词： computer vision

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An efficient scheme for monitoring sensory conditions in robot systems 1

An efficient scheme for monitoring sensory conditions in rob...

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1st IEEE International conference on robotics and Automation, ICRA 1984

作者： Chern, Ming-Yang Department of Electrical Engineering and Computer Science Korthwestern University EvanstonIL60201 United States

ISBN: (纸本)081860526X

An important use of sensing in robot systems is to initiate or terminate motions. The conditions for these actions are based on sensor data and thus called sensory conditions. The values of the sensor input may vary while the robot is moving or the environment is changing. Hence, the sensor data must be collected repetitively to support the updated evaluation of sensory conditions. In this paper, an efficient scheme for monitoring sensory conditions is presented. An auxiliary sensory processor is used to collect all sensor data (except the vision input) and monitor sensory conditions. Only the raw values of the sensor input will be checked to speed up the monitoring process. The threshold values of the raw data for matching sensory conditions are predetermined in the host computer and stored as a checking list in the sensory processor. The details of this scheme for different cases of sensory conditions are discussed. No floating point capability is needed for the sensory processor. © 1984 IEEE.

关键词： Digital arithmetic

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An inexpensive stereoscopic vision system for robots 1

An inexpensive stereoscopic vision system for robots

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1st IEEE International conference on robotics and Automation, ICRA 1984

作者： Teoh, W. Zhang, X. K. E. Johnson Environmental and Energy Center University of Alabama in Huntsville Huntsvi1leAB35899 Canada Department of Mechanical Engineering University of Alabama in Huntsville Huntsvi1leAB35899 Canada

ISBN: (纸本)081860526X

A relatively low cost stereoscopic vision system has been constructed here at the University of Alabama in Huntsville, using a video camera interfaced to a microcomputer. A motor driven mirror assembly attached to the camera is used to obtain the stereoscopic images. In the preliminary studies, an APPLE II microcomputer fitted with a DITHERTIZER II board was used for digitizing the video images. With its 280 × 192 resolution, we are able to measure distances with an accuracy of 8%. Currently, an IBM PC fitted with a VAN GOGH board by TECMAR having a resolution of 256 by 256 is used in place of the APPLE system. Using this system, much better results are obtained. The end system will be integrated to a Cincinnati Milacron T3industrial robot. In order to meaningfully utilize the information provided by the various subsystems interfaced to the robot, a three level hierarchical distributive system is being set up, using a PDP 11/34 minicomputer as the supervisory computer. © 1984 IEEE.

关键词： Video cameras

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Surface descriptions from vision and touch 1

Surface descriptions from vision and touch

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1st IEEE International conference on robotics and Automation, ICRA 1984

作者： Allen, P. Department of Computer and Information Science University of Pennsylvania PhiladelphiaPA19104 United States

ISBN: (纸本)081860526X

The goal of vision is object recognition. Recent research has shown that the human visual system creates a surface description of a scene, including depth and orientation information at all points in a scene as a first step before creating an object centered description. This description is referred to as a 2 1/2 D sketch. Machine vision systems presently do not have the capability of creating this 2 1/2 D sketch from visual information alone, especially for curved surface objects. By using tactile data in cooperation with vision, a method is proposed for creating a surfacc description of an object. This surface description uses bicubic surface patches as a primitive. Once a surface sketch is created with bicubic surface patches the next steps in the hierarchy of processing arc feasible, including a transformation to a full 3D object centered description. © 1984 IEEE.

关键词： Object recognition

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Parts entropy methods for robotic assembly system design 1

Parts entropy methods for robotic assembly system design

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1st IEEE International conference on robotics and Automation, ICRA 1984

作者： Sanderson, Arthur C. Department of Eicctrical and Computer Engineering Robotics Institute Carncgie-Mellon University Schenley Park PittsburghPA15213 United States

ISBN: (纸本)081860526X

Assembly tasks require the feeding, acquisition, orientation, and mating of parts subject to contact forces. Positional entropy provides an efficient tool for describing an assembly task and its system implementation in terms of the uncertainty in position and orientation of parts as the assembly sequence progresses. A parts entropy measure HQ(X) may be calculated from the probability distribution of parts positions and orientations at a given assembly step defined over an ensemble of repeated assembly tasks. The part entropy may be reduced mechanically by containerization, fixturing, manipulation, or product redesign. The part entropy may also be reduced using sensors (typically vision or tactile) by reducing the conditional entropy HQ(X/Y) due to the sensory measurement. The information obtained about part position may be defined in terms of the mutual information I(X;Y). In these terms, the goal of an assembly system is to reduce the joint entropy among parts by mating them in stable configurations. The positional entropy concept provides a unifying tool for assessing the relative effectiveness of systems designs which incorporate both mechanical and sensor-based techniques. The approach may also provide a useful ingredient for quantitative assessment of product designs, complexity of assembly procedures, and flexibility of assembly systems. An example of the use of positional entropy for analysis of an electronic assembly task is given. © 1984 IEEE.

关键词： robotic assembly

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PROCEEDINGS OF THE INTERNATIONAL conference ON robot vision AND SENSORY CONTROLS, 1st, 1981.

PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ROBOT VISION ...

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Proc of the Int Conf on Rob vision and Sens Controls 1st

作者： Anon

Proceedings includes 34 papers dealing with the applications and performance of industrial robot systems, manipulators and sensory control equipment in various industrial applications, such as foundries, materials handling, welding, castings and IC manufacture. Topics considered include: image processing, pattern recognition, automated inspection, surface finishing, feature extraction, computer software and hardware, TV cameras, visual systems, feedback control, chocolate manufacture, automobile engines, adaptive control and industrial scene analysis. Technical and professional papers from this conference are indexed with the conference code no. 00072 in the Ei Engineering Meetings (TM) database produced by Engineering Information, Inc.

关键词： Industrial robots

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PROCEEDINGS OF THE INTERNATIONAL conference ON robot vision AND SENSORY CONTROLS, 1st, 1981.

Advances in Hydrogen Energy

引用

Advances in Hydrogen Energy 1981年

作者： Anon

关键词： INDUstRIAL robotS

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