A robot is a powerful production tool, however, an "intelligent robot" with flexible control is often needed to acomplish complex tasks and to adapt to changes in its working enviroment. This paper describes...
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ISBN:
(纸本)0819404489
A robot is a powerful production tool, however, an "intelligent robot" with flexible control is often needed to acomplish complex tasks and to adapt to changes in its working enviroment. This paper describes the integration of machine vision with a robot to accomplish this. The system integrates an IBM 7535 industrial 7535 Industrial Robot, with four degrees of freedom, with its own programming language, AML/Entry, and a vision System from Intelledex Inc. The IBM has its own programming language AML/ENTRY, as does the Intelledex vision system, vision BASIC. The major objective of the project was to interface the controller of the IBM 7535 robot with host processor (a compatible IBM AT) to a vision system. In an operational scenario, the vision system is tasked with the responsabilities of recognizing an object and determining its location and orientation. Based on this information, the robot is able to pick up the object and transfer it to a pre-defined destination. The paper describes how the interfaces were developed.
Attributed Fuzzy Tournaments (AFT''s) are a special type of attributed fuzzy graphs which are useful to represent uncertainties inherent to many realworld problems. A new algorithm that finds the best fuzzy ma...
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ISBN:
(纸本)0819404489
Attributed Fuzzy Tournaments (AFT''s) are a special type of attributed fuzzy graphs which are useful to represent uncertainties inherent to many realworld problems. A new algorithm that finds the best fuzzy matching configuration between components of two Attributed Fuzzy Transitive Tournaments (AFTT''s) is proposed. The best fuzzy matching between two AFTT''s is the matching configuration between components of both AFTT''s such that the overall distance measure between two AFTT''s possesses the minimum value. Useful applications of the proposed algorithm can be found in scene matching where the nodes of an AFT represent the objects in the scene and the arcs represent the relationships among the objects. Uncertainties of the image are represented via fuzzy membership values associated with the nodes and arcs. An examples showing the usefulness of the algorithm in pattern matching is shown through image analysis. I.
This paper presents a method for verification of ANSI form tolerances using computervision with structured light. A sampling plan is developed to determine the required resolution of the system in order to inspect th...
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This paper presents a method for verification of ANSI form tolerances using computervision with structured light. A sampling plan is developed to determine the required resolution of the system in order to inspect the part to a specified tolerance. A statistical method based on the measurement error is used for verification.
Engineers at the Rome Air Development Center (RADC) are investigating novel approaches to automating the exploitation of digital imagery obtained from reconnaissance missions with the ultimate goal of developing an au...
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Engineers at the Rome Air Development Center (RADC) are investigating novel approaches to automating the exploitation of digital imagery obtained from reconnaissance missions with the ultimate goal of developing an automated imagery exploitation system. Incorporating many computervision and image understanding algorithms, such a system would automatically detect, segment, classify and identify all ground targets in a specified area of interest. Development challenges and proposed solutions are discussed in an attempt to stimulate further research.
The food industry offers many automated inspection challenges that are not readily solved using commercial industrial vision systems. A discussion of these challenges includes a package inspection involving a variable...
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The food industry offers many automated inspection challenges that are not readily solved using commercial industrial vision systems. A discussion of these challenges includes a package inspection involving a variable 'good' package, color analysis of a baked product, high speed verification of a coating process, and a high speed printed web inspection. Solutions for these problems are solicited.
A new approach is introduced in this paper to deal with the problems of real-time machine vision and pattern recognition for robotic manipulations. This approach emphasizes three directions: (1) the developed algorith...
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A new approach is introduced in this paper to deal with the problems of real-time machine vision and pattern recognition for robotic manipulations. This approach emphasizes three directions: (1) the developed algorithm has to be compact enough for embedded intelligent control implementation;(2) the computational scheme should be highly efficient for on-line robot reasoning and manipulations;and (3) the resulting system has to be sufficiently flexible to accommodate various working environments and to cope with some system shortcomings. The vertical integration of related vision hardware, image analysis software and analytical techniques (e.g. fuzzy logic and neural networks) together with the novel algorithms for robot eye-brain-hand coordination constitutes a unique robot vision system. The potential of more extensive hardware implementation is discussed and a wider spectrum of applications of the proposed robot vision system is envisioned.
Successful integration of robots into a manufacturing system is a crucial step in achieveing an efficient automated production system. However, different robots use different languages. To solve this problem, standard...
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Successful integration of robots into a manufacturing system is a crucial step in achieveing an efficient automated production system. However, different robots use different languages. To solve this problem, standardization of robotic control languages is desirable. A standardized robotic control language, UNLAN (UNIversal LANguage), is developed to control two different miniature robotic manipulators. UNILAN is designed as a motion-based language and is on a level close to the object level.
computer diagnosis of the vascular diseases treatable by laser burning (photocoagulation) are investigated. Specific concern is with identification of the region and its distance from the center of the foveal avascula...
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computer diagnosis of the vascular diseases treatable by laser burning (photocoagulation) are investigated. Specific concern is with identification of the region and its distance from the center of the foveal avascular zone. The parametrization of the lesion boundary and location and measurement of distance from the lesion to foveal center is accomplished with an algorithm which builds the boundary as points on spokes emanating from a chosen interior point, one point on each spoke.
This paper presents a flexible and highly-reliable gray-level vision system based on multiple cell-feature descriptions using only three basic operation modules: extended convolution, radially traversing probing, and ...
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This paper presents a flexible and highly-reliable gray-level vision system based on multiple cell-feature descriptions using only three basic operation modules: extended convolution, radially traversing probing, and histogram compression. The generalized Hough transform is introduced as a universal method for object model matching. Model learning is automatically performed by acquiring image samples while rotating each object. A prototype system demonstrates successful recognition of mechanical parts.
vision systems will play an increasing role in intelligent material handling systems. This paper discusses two hardware principles which make possible a host of cost-effective applications-integrated vision systems an...
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vision systems will play an increasing role in intelligent material handling systems. This paper discusses two hardware principles which make possible a host of cost-effective applications-integrated vision systems and the use of retroreflective materials. Described are (1) the design, cost, and performance characteristics of integrated systems, those with the microcomputer, array detector, and illumination as part of a single circuit;(2) the impact of using retroreflective materials, those with apparent brightness of more than 1000 times that of diffuse white surfaces;and (3) some specific applications: AGV guidance, part handling, and AS/RS control.
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