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Artificial neural-net based intelligent robotics control

Artificial neural-net based intelligent robotics control

引用

intelligent robots and computer vision VI 1987

作者： Pao, Yon-Han Sobajic, Dejan J. Center for Automation and Intelligent System Research Case Western Reserve University ClevelandOH44106 United States

Fast real-time intelligent control of dynamic systems can be implemented with a combination of logic-based (higher level) strategies and automatic reflexive pattern driven responses generated with artificial neural-nets (ANN). In this paper we are concerned with the adaptive control of a robot manipulator with two degrees of freedom. The objective is to move the end effector of a two limbed manipulator towards a target point until the positions of two coincide. The task is to generate the control signals for movement of the arm through the use of ANN. Control algorithm is computationally simple and robust due to the exploitation of highly parallel information processing capabilities of multilayered neural-nets. Feasibility of obstacle avoidance is discussed also. The proposed approach was evaluated with a computer simulation. A feedforward neural-net was used for this purpose. The results are presented and discussed in this paper. © 1988 SPIE. All rights reserved.

关键词： Degrees of freedom (mechanics)

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Applying intelligent robotics and vision to mail processing

Applying intelligent robotics and vision to mail processing

引用

Third International Symposium on intelligent Control 1988

作者： Lee, Jay Glickman, Frederick US Postal Service Office of Adv Technol Washington DC USA

ISBN: (纸本)0818620129

The vision-guided robotic IPP (irregular parcels and pieces) singulation (generalized bin-picking) and address block location technologies are described. The technological requirements and limitations are examined and discussed. Other mail singulation technologies for letters and flats that use vision-guided intelligent robots and computer-controlled intelligent mechanisms are reviewed.

关键词： Mail Handling

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Model for pattern recognition

Model for pattern recognition

引用

intelligent robots and computer vision VI 1987

作者： Qu, Gongyuan Li, Zhongrong Harbin Institute of Technology Department of Computer Science Harbin Institute of Thchnology Box 406 China

In this paper, a model based upon the automaton theory and used for pattern recognition is introduced. The main purpose of this model is to evaluate the performance of a pattern recognition computer and an algorithm for pattern recognition. This model abstracts main frame from new generation pattern recognition computers and is defined as follows: M=(P1, W, B, P, P11,S), where p1 is a set of input patterns;W is a set of strings representing a program or explanations for processing;B is a knowledge base storing rules and feature functions of puzzy sets;P represents computer systems for pattern recognition;P1 is a set of output patterns;S is the processing results. By using this model, the performance of a pattern recognition computer and an algorithm for pattern recognition can be easily evaluated. © 1988 SPIE. All rights reserved.

关键词： Knowledge based systems

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Interactive image processing environment with expandable packages

Interactive image processing environment with expandable pac...

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intelligent robots and computer vision VI 1987

作者： Blanchet, Marc Poussart, Denis Laboratoire de Vision et Systèmes Numériques Département de Génie Electrique Université Laval QuébecQCG1K 7P4 Canada

This paper describes an interactive software that manages objects and routines. It provides a workbench for implementing and testing image processing algorithms. A user can program his own routines and insert them into the environment. Standard C objects and complex structures are available. Interpreter design and object/function relations are detailed. Modifications and expansions are discussed. © 1988 SPIE. All rights reserved.

关键词： C (programming language)

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Bus automata for intelligent robots and computer vision

Bus automata for intelligent robots and computer vision

引用

intelligent robots and computer vision VI 1987

作者： Rothstein, Jerome Department of Computer and Information Science Ohio State University 2036 Neu Avenue Mall ColumbusOH43210-1277 United States

Bus automata (BA's) are arrays of automata, each controlling a module of a global interconnection network, an automaton and its module constituting a cell. Connecting modules permits cells to become effectively nearest neighbors even when widely separated. This facilitates parallelism in computation far in excess of that allowed by the "bucket-brigade" communication bottleneck of traditional cellular automata (CA's). Distributed information storage via local automaton states permits complex parallel data processing for rapid pattern recognition, language parsing and other distributed computation at systolic array rates. Global BA architecture can be entirely changed in the time to make one cell state transition. The BA is thus a neural model (cells correspond to neurons) with network plasticity attractive for brain models. Planar (chip) BA's admitting optical input (phototransistors) become powerful retinal models. The distributed input pattern is optically fed directly to distributed local memory, ready for distributed processing, both "retinally" and cooperatively with other BA chips ("brain"). This composite BA can compute control signals for output organs, and sensory inputs other than visual can be utilized similarly. In the BA retina is essentially brain, as in mammals (retina and brain are embryologically the same). The BA can also model opto-motor response (frogs, insects) or sonar response (dolphins, bats), and is proposed as the model of choice for the brains of future intelligent robots and for computer eyes with local parallel image processing capability. Multidimensional formal languages are introduced, corresponding to BA's and patterns the way generative grammars correspond to sequential machines, and applied to fractals and their recognition by BA's. © 1988 SPIE. All rights reserved.

关键词： Data handling

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Towards A vision Based Robot With A Driver's License

Towards A Vision Based Robot With A Driver's License

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1988 IEEE International Workshop on intelligent robots and Systems: Toward the Next Generation Robot and System, IROS 1988

作者： Graefe, Volker Kuhnert, Klaus-Dieter Institut Fur MeBtechnik Universitat Der Bundeswehr Munchen Neubiberg8014 Germany

Autonomous road vehicles, guided by computer vision systems, are a topic of research in numerous places in the world. Experimental vehicles have already driven automatically on various types of roads. Some of these vehicles are briefly introduced, and one is described in more detail. Its dynamic vision system has enabled it to reach speeds of about 100 km/h on highways and of 50 km/h on secondary roads. The field has advanced rapidly In recent years. Nevertheless, many problems remain to be solved before such vehicles may be introduced into ordinary road traffic. Some of the problems, and approaches to their solutions are discussed. There are good prospects that driving robots or highway autopilots will in the future help to make driving easier and safer. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Roads and streets

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Fast hough transform on a mesh connected processor array

Fast hough transform on a mesh connected processor array

引用

intelligent robots and computer vision VI 1987

作者： Kannan, C.S. Chuang, Henry Y.H. Department of Computer Science University of Pittsburgh PittsburghPA15260 United States

Hough transform is an effective method for the detection of the shape of object boundaries in image pattern analysis. Since the Hough transform is very computation intensive, it is essential to parallelize the computation. However, an effective parallel algorithm is harder to obtain because it requires global information. In this paper we present an efficient parallel Hough transform algorithm for the detection of straight lines using mesh connected processor arrays. While other parallel algorithms take either 0(n2) or O(N) time, where n is the number of distinct values of a parameter and N is the number of edge pixels, our algorithm takes O(n) time. © 1988 SPIE. All rights reserved.

关键词： Hough transforms

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computer control of the dynamic coordinative assembling of peg-hole

Computer control of the dynamic coordinative assembling of p...

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intelligent robots and computer vision VI 1987

作者： Tsu, Chang Hsiao Xian, Zhang Xiao Shenyang University Dadong District Shenyang China Dept. of Math. Shandong Normal University Jinan China

This paper explores the problem of coordinative assembling "peg and hole" by two anthropomorphic arms. An algorithm has been proposed in this paper for use of computer. This approach enables the peg-hole to be coordinatively assembled at any designated place in three dimensional space R3 containing obstacles. Using this algorithm only a single computer is required for fine adjustment, eliminating the need for vision aid. This paper is divided into two parts. The first is a description of mathematical model which works on the homotopic principle: the rigid solids are abstracted into tetrahedra, then their rigid movement are planed. Homotopic function are formulated through the dynamic matrice thus uniformly and totally characterizing the whole process of this dynamic coordinative assembling. The second part deals with the control algorithm of the collision avoidance discriminant for the peg and the holed solid. If any possible collisions should happen, the computer algorithm may change the orientation of the arms or wrist of the robot to ensure coordinative assembling. Finally the algorithm routine is given in the paper. This approach is not only applicable to the assembling operation of the parts of peg and hole, but also to that of general prisms and corresponding prismatic holes. © 1988 SPIE. All rights reserved.

关键词： Molybdenum Robot vision Polonium computer vision technology Machine vision Solids Prisms Adaptive optics Aluminum Mathematical modeling

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Morphological shape representation and recognition of binary images

Morphological shape representation and recognition of binary...

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intelligent robots and computer vision VI 1987

作者： Sengupta, Sanjay Yang, Hyun S. University of Iowa Dept. of Electrical and Computer Engineering Iowa CityIA52242 United States

In this paper we discuss the differences and similarities of morphological skeleton and skeletons generated by other methods;shape representation by morphological skeleton function;and the concept of minimal skeleton. We then propose a fast shape recognition scheme based on morphological set operations and skeleton function. This scheme measures the goodness-of-fit of prototype skeletons to the observed objects via morphological erosion, exploiting prototype skeletons as structuring elements. Since morphological set operations can be implemented in parallel, the recognition process can be executed at a high speed. Further, the radius information in the morphological skeleton allows a coarse-to-fine version of recognition strategy that discovers poor matches relatively early in the process. © 1988 SPIE. All rights reserved.

关键词： Binary images

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Rule based machine vision system for surface mounted devices

Rule based machine vision system for surface mounted devices

引用

1988 IEEE International Workshop on intelligent robots and Systems: Toward the Next Generation Robot and System, IROS 1988

作者： Tso, S.K. Tsang, Peter W.M. Tao, Spencer S.C. Department of Electrical and Electronic Engineering University of Hong Kong Hong Kong Department of Electronic Engineering City Polytechnic of Hong Kong Hong Kong

This paper presents the design of a rule-based machine vision system. The complete system under development is used to inspect the placement of quad flat pack Surface Mounted Devices {SMD) in relative to their soldering pads, to analyse the defect cause(s) according to the inspected result, to postulate the functionality of the manufacturing process, to conclude errors arising in the process, and to advise remedial actions for maintenance purposes. These features can be realized based upon predefined conditions in conjunction with the rules governing the accuracy of the SMD position. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： computer vision

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