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3D vision in a virtual reality robotics environment

3D vision in a virtual reality robotics environment

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3rd conference on Telemanipulator and Telepresence Technologies

作者： Schutz, C Natonek, E Baur, C Hugli, H Univ. of Neuchatel (Switzerland) Swiss Federal Institute of Technology (Switzerland)

ISBN: (纸本)0819423033

Virtual reality robotics (VRR) needs sensing feedback from the real environment. To show how advanced 3D vision provides new perspectives to fulfill these needs, this paper presents an architecture and system that integrates hybrid 3D vision and VRR and reports about experiments and results. The first section discusses the advantages of virtual reality in robotics, the potential of a 3D vision system in VRR and the contribution of a knowledge database, robust control and the combination of intensity and range imaging to build such a system. Section two presents the different modules of a hybrid 3D vision architecture based on hypothesis generation and verification. Section three addresses the problem of the recognition of complex, free-form 3D objects and shows how and why the newer approaches based on geometric matching solve the problem. This free-form matching can be efficiently integrated in a VRR system as a hypothesis generation knowledge-based 3D vision system. In the fourth part, we introduce the hypothesis verification based on intensity images which checks object pose and texture. Finally, we show how this system has been implemented and operates in a practical VRR environment used for an assembly task.

关键词： virtual reality virtual reality robotics 3D vision knowledge-based vision range imaging image correlation

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Augmented reality to enhance an active telepresence system

Augmented reality to enhance an active telepresence system

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3rd conference on Telemanipulator and Telepresence Technologies

作者： Wheeler, A Pretlove, J Parker, GA Univ. of Surrey (United Kingdom)

ISBN: (纸本)0819423033

Tasks carried out remotely via a telerobotic system are typically complex, occur in hazardous environments and require fine control of the robot's movements. Telepresence systems provide the teleoperator with a feeling of being physically present at the remote site. Stereoscopic video has been successfully applied to telepresence vision systems to increase the operator's perception of depth in the remote scene and this sense of presence can be further enhanced using computer generated stereo graphics to augment the visual information presented to the operator. The Mechatronic Systems and robotics Research Group have over seven years developed a number of high performance active stereo vision systems culminating in the latest, a four degree-of-freedom stereohead. This carries two miniature colour cameras and is controlled in real time by the motion of the operator's head, who views the stereoscopic video images on an immersive head mounted display or stereo monitor. The stereohead is mounted on a mobile robot, the movement of which is controlled by a joystick interface. This paper describes the Active Telepresence System and the development of a prototype Augmented Reality (AR) application to enhance the operator's sense of presence at the remote site. The initial enhancements are a virtual map and compass to aid navigation in degraded visual conditions and a virtual cursor that provides a means for the operator to interact with the remote environment. The results of preliminary experiments using the initial enhancements are presented.

关键词： augmented reality telepresence virtual reality mobile robotics

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Force interactive virtual reality using local joint error control

Force interactive virtual reality using local joint error co...

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3rd conference on Telemanipulator and Telepresence Technologies

作者： Luecke, GR Edwards, JC Miller, B Iowa State Univ. (United States)

ISBN: (纸本)0819423033

Robot manipulators are the natural choice for transmitting computer-generated dynamic forces from a virtual environment to a human user immersed in that environment. control schemes for this type of interactive interface are extensions of the techniques used in teleoperation systems. with the forces applied between the master and the human generated by the dynamic model rather than measured from sensors on the slave. Stability problems arise when the robot inertia and dynamics are coupled to the complex and time-varying human dynamic characteristics. In this work, a new local feedback error control technique is applied to an interface robot to allow motion only in free directions in the virtual space. This virtual force interface does not require the use of an end effector force transducer. As in all local control schemes, the dynamic characteristics and cross-coupling effects of the manipulator are neglected, so that actual motion may deviate slightly from the desired trajectory during high speed operation. Experimental results are presented showing the use of this haptic device moving within a cubic space representing a fish tank. Motion of the hand controls the motion of virtual fish within the tank, and as the fish contact the walls of the virtual tank, the human feels the hard surface of the tank walls. Stability for this scheme is based on the stability of position error feedback for the manipulator.

关键词： haptic feedback robotics virtual reality human interaction

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Multimodally controlled intelligent telerobot for people with disabilities

Multimodally controlled intelligent telerobot for people wit...

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3rd conference on Telemanipulator and Telepresence Technologies

作者： Kazi, Z Chen, SP Beitler, M Chester, D Foulds, R Univ. of Delaware and A. I. duPont Hospital for Children (United States)

ISBN: (纸本)0819423033

This paper reports on the current status of The Multimodal User Supervised Interface and Intelligent control (MUSIIC) project, which is working towards the development of an intelligent assistive telemanipulative system for people with motor disabilities. Our MUSIIC strategy overcomes the limitations of previous approaches by integrating a multimodal RUI (Robot User Interface) and a semi-autonomous reactive planner that will allow users with severe motor disabilities to manipulate objects in an unstructured domain. The multimodal user interface is a speech and deictic (pointing) gesture based control that guides the operation of a semi-autonomous planner controlling the assistive telerobot. MUSIIC uses a vision system to determine the three-dimensional shape, pose and color of objects and surfaces which are in the environment, and as well as an object-oriented knowledge base and planning system which superimposes information about common objects in the three-dimensional world. This approach allows the users to identify objects and tasks via a multimodal user interface which interprets their deictic gestures and a restricted natural language like speech input. The multimodal interface eliminates the need for general purpose object recognition by binding the users speech and gesture input to a locus in the domain of interest. The underlying knowledge-driven planner, combines information obtained from the user, the stereo vision mechanism as well as the knowledge bases to adapt previously learned plans to perform new tasks and also to manipulate newly introduced objects into the workspace. Therefore, what we have is a flexible and intelligent telemanipulative system that functions as an assistive robot for people with motor disabilities.

关键词： robotics knowledge bases planning color-vision human-computer interfacing gesture rehabilitation assistive devices multimodal interface

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Realization of a modified fuzzy logic controller

Realization of a modified fuzzy logic controller

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IEEE international conference on Fuzzy Systems (FUZZ-IEEE)

作者： S. Tandio N.N. Bengiamin J. Hootman N. Swain Electrical Engineering Department University of North Dakota Grand Forks ND USA

A novel method for realizing fuzzy logic controllers is presented. The basic concept of fuzzy logic is modified to accommodate desirable feedback control implementation features. Moreover, TUTSIM (a dynamic systems computer simulation program) is used to introduce a flexible, economical, and effective tool for studying fuzzy logic based control algorithms. Fuzzification, fuzzy inference, and defuzzification are addressed. The developed methodology is applied to a typical control and its effectiveness is demonstrated when compared to PID control. The developed fuzzy control module has value as a readily available tool for analysis and design.< >

关键词： Fuzzy logic Fuzzy control Zirconium control systems Computational modeling Computer simulation Three-term control Automatic control Motion control robotics and automation

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Fuzzy controller synthesis in robotic assembly: procedure and experiments

Fuzzy controller synthesis in robotic assembly: procedure an...

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IEEE international conference on Fuzzy Systems (FUZZ-IEEE)

作者： M. Nuttin H. van Brussel C. Baroglio R. Piola Department of Mechanical Engineering Division PMA Katholieke Universiteit Leuven Heverlee Belgium Dipartimento di Informatica Università di Torino Torino Italy

In controller synthesis for basic robotic assembly tasks, the optimal performance is characterized by high level criteria. Performance of a peg-into-hole task is, for example, measured in insertion time and average/maximum force level. Moreover, the unknown optimal control of a peg-into-hole task was shown to be nonlinear. Fuzzy rules are used in our approach to approximate this nonlinear control. The fuzzy controller synthesis can be automated with the use of a machine learning tool SMART+, provided that examples are available. Besides examples, SMART+ can also handle domain knowledge as input. Its output can also be a learning fuzzy controller, in order to achieve online performance improvement. The paper presents this approach and initial experiments.< >

关键词： Fuzzy control Robot control Robotic assembly Automatic control Machine learning robotics and automation Uncertainty Optimal control Robot sensing systems Force measurement

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control of robotic manipulator using fuzzy logic

Control of robotic manipulator using fuzzy logic

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IEEE international conference on Fuzzy Systems (FUZZ-IEEE)

作者： K.K. Kumbla M. Jamshidi CAD Laboratory for Intelligent and Robotics Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

This paper describes the implementation of hierarchical control on a robotic manipulator using fuzzy logic. A decentralized control approach is implemented, i.e., individual controllers control the two links of the robot. The kinematic aspect of the control is treated as the supervisory mode at a higher level and the joint control is treated as the lower level. Fuzzy logic based rules determine the inverse kinematic mapping which maps the Cartesian coordinates to the individual joint angles. This scheme is implemented using Togai Infra Logic software and the entire simulation software is implemented using C language. The results of the simulation are discussed. This experiment is a proof of principle to show that the fuzzy controller can be used to map the nonlinear mapping which can be implemented to the more complex problem of inverse kinematics of higher degree of freedom robots. A fuzzy PD controller is implemented on a Rhino robot and the performance is compared with a traditional PD controller.< >

关键词： Robot control Fuzzy logic Fuzzy control Manipulator dynamics Robot kinematics PD control Intelligent robots Nonlinear equations control systems Distributed control

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Performance of production control methods based on flow control approach 3

Performance of production control methods based on flow cont...

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3rd international conference on Cormputer Integrated Manufacturing, CIM 1992

作者： Sharifnia, Ali Manufacturing Engineering Department Boston University BostonMA02215 United States

ISBN: (纸本)0818626151

We report on the performance of a distributed production control method for part release, routing, and machine scheduling in manufacturing systems. The distributed control decisions are "guided" by the solution of a continuous flow (fluid) approximation of the production system. The method is applied to two production system examples. The first system is a highly utilized medium size system with relatively small cycle times. The second example is a semiconductor fabrication plant, a highly re-entrant line with very long cycle times. Simulation experiments show that the first system can be operated near full capacity with near-zero work-in-process. For the second system, the actual production lags somewhat behind the target production. However, the work-in-process and the average queuing time remain extremely low. © 1992 EEE.

关键词： Production control

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control and error management for a flexible assembly cell 3

Control and error management for a flexible assembly cell

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3rd international conference on Cormputer Integrated Manufacturing, CIM 1992

作者： Meijer, Bart R. Stigter, Jurgen Control Laboratory Department of Electrical Engineering Delft University of Technology P.O. Box 5031 GA DelftNL 2600 Netherlands Knowledge Based System Group Department of Technical Mathematics and Informatics Delft University of Technology Julianalaan 132 BC DelftNL 2628 Netherlands

ISBN: (纸本)0818626151

A flexible assembly cell is considered to be an essential building brick for flexible automation of small to medium sized order-based industries. In order to be able to respond adequately to market changes a production facility that can be reprogrammed or even reconfigured in a very short time is vital. Such a system will have to exhibit some form of intelligent behavior. By intelligent behavior we mean that this system should be able to learn from experience. The experience gained in making subsequent batches of products will be used to increase the efficiency of future batches. Unreliable strategies will be replaced by more reliable ones, actual cost data will make it possible to choose a better plan. This paper will focus on the design of a reference model for planning, control and error management for a flexible assembly cell. Furthermore a parameter set forming the basis of a cost function to evaluate strategies is presented. © 1992 EEE.

关键词： Cost functions

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A framework for variable-resolution vision 3rd

引用

3rd international conference on Computing and Information, ICCI 1991

作者： Basu, Anup Li, Xiaobo Alberta Center for Machine Intelligence and Robotics Department of Computing Science University of Alberta EdmontonABT6G 2H1 Canada

ISBN: (纸本)9783540540298

The human visual system has a high resolution fovea and low resolution periphery. We demonstrate here that a variable resolution Computer Vision system resembling humans may indeed have several advantages over a uniform resolution system (as are most presently existing equipment). Specifically, we look at the following problems to demonstrate our point: (a) stereo matching and gaze control, (b) obstacle detection and navigation, (c) tracking a moving object, (d) character thinning. © Springer-Verlag Berlin Heidelberg 1991.

关键词： Stereo image processing

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