In the rapid pursuit of automation, it is sometimes overlooked that an elaborate human-machine interplay is still necessary, despite the fact that a fully automated system, by definition, would not require a human int...
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In the rapid pursuit of automation, it is sometimes overlooked that an elaborate human-machine interplay is still necessary, despite the fact that a fully automated system, by definition, would not require a human interface. In the future, real-time sensing, intelligent processing, and dextrous manipulation will become more viable, but until then it is necessary to use humans for many critical processes. It is not obvious, however, how automated subsystems could account for human intervention, especially if a philosophy of "pure" automation dominates the design. Teleoperation, by contrast, emphasizes the creation of hardware pathways (e.g., hand-controllers, exoskeletons) to quickly communicate low-level control data to various mechanisms, while providing sensory feedback in a format suitable for human consumption (e.g., stereo displays, force reflection), leaving the "intelligence" to the human. These differences in design strategy, both hardware and software, make it difficult to tie automation and teleoperation together, while allowing for graceful transitions at the appropriate times. In no area of artifical intelligence is this problem more evident than in computervision. Teleoperation typically uses video displays (monochrome/color, monoscopic/stereo) with contrast enhancement and gain control without any digital processing of the images. However, increases in system performance such as automatic collision avoidance, path finding, and object recognition depend on computervisiontechniques. Basically, computervision relies on the digital processing of the images to extract low-level primitives such as boundaries and regions that are used in higher-level processes for object recognition and positions. Real-time processing of complex environments is currently unattainable, but there are many aspects of the processing that are useful for situation assessment, provided it is understood the human can assist in the more time-consuming steps. This paper maps out th
In this paper, vision sensing and processing techniques that permit in-process determination of the position and detailed three-dimensional surface geometry of a weld joint are presented. Structured lighting in the fo...
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ISBN:
(纸本)0892527617
In this paper, vision sensing and processing techniques that permit in-process determination of the position and detailed three-dimensional surface geometry of a weld joint are presented. Structured lighting in the form of a cone of laser light and specialized vision processing schemes are used to obtain three-dimensional geometric surface descriptions from a two-dimensional TV image. This geometric description is used to define joint position, surface orientations, and a variety of cross-sectional measurements such as fill volume, preparation angles, gap size, and presence and dimensions of a previously deposited weld bead or tack weld. The visual feedback is then used for real time control of the torch position relative to the weld joint, and for in-process adjustment of welding process parameters such as welding arc voltage, and wire feed rates.
A tactile sensor was designed into the finger tips of a multifinger dextrous hand. The sensor features complete coverage of the cylindrical and hemispherical end portions of the finger. An 8 multiplied by 8 array is u...
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ISBN:
(纸本)0892527617
A tactile sensor was designed into the finger tips of a multifinger dextrous hand. The sensor features complete coverage of the cylindrical and hemispherical end portions of the finger. An 8 multiplied by 8 array is used based on standard capacitive sensing techniques. An analysis of appropriate sensor depth has been used to allow accurate localization of contacts, and reduced spatial aliasing. A comparison has been done between the cylindrical sensor and a simple two dimensional stress strain model. The effects of skin thickness and sensor depth on sensitivity are analyzed. Preliminary methods for determining contact location, total force, and tangential force with just normal deflection sensors have been implemented.
This conference proceedings contains 70 papers. These papers addressed major topics in intelligentrobots and computervision research. The main subjects are feature extraction, pattern recognition, image processing, ...
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ISBN:
(纸本)0892526149
This conference proceedings contains 70 papers. These papers addressed major topics in intelligentrobots and computervision research. The main subjects are feature extraction, pattern recognition, image processing, robot sensors, image understanding, artificial intelligence, optical processing techniques for robotic applications, mobile robots, autonomous land vehicle systems, robot language and programming, and processor architectures to implement various computervision systems.
In some industrial applications it is not economical or possible to orient parts with standard devices such as vibratory feeders, because of their tendency to tangle, or to adhere, or be damaged by such a process. We ...
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ISBN:
(纸本)0892526149
In some industrial applications it is not economical or possible to orient parts with standard devices such as vibratory feeders, because of their tendency to tangle, or to adhere, or be damaged by such a process. We have developed a vacuum technique for acquiring a relatively small, and therefore manageable number of such parts in a clump that can be separated by pneumatic and gravity techniques. Once separated, the parts can be individually acquired by a robot guided by visionalgorithms that compute the location and orientation of each part in a field of separated but randomly-oriented parts. We describe the basic concepts and algorithms, and their implementation in a low-cost integrated robot-camera-computer system that is fast enough to be feasible for typical applications. A case study of one such application is used to illustrate the method.
Low level processing or preprocessing is often the starting point in many computervision systems. This stage is typically characterized as picture processing and uses gradients, edge templates, filters, thresholding,...
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ISBN:
(纸本)0892526149
Low level processing or preprocessing is often the starting point in many computervision systems. This stage is typically characterized as picture processing and uses gradients, edge templates, filters, thresholding, and other enhancement techniques. The next stage in computervision commonly deals with the processed image, usually binary in nature, and extracts intrinsic features such as size, shape, boundary, orientation, moments, etc. A new class of multiple-valued integrated optical processors is proposed for the parallel implementation of selected preprocessing algorithms. The basic component of the multiple-valued processor is an integrated optical threshold gate. The parallel processing algorithms required for both smoothing and boundary determination with an integrated optical thresholding array are described. One possible architecture for an optical parallel digital image processor is presented.
In this paper, a fast and accurate range-finding vision system is described. On request, it measures the three-dimensional coordinates (x, y, z) of a single point or of a series of points on the surface of the scene. ...
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ISBN:
(纸本)0892526300
In this paper, a fast and accurate range-finding vision system is described. On request, it measures the three-dimensional coordinates (x, y, z) of a single point or of a series of points on the surface of the scene. The scanning order is not fixed, but can be chosen freely. In fact, the scene-scanning process is driven in close interaction with the segmentation algorithms. The sensor is composed of a laser, a two-degrees-of-freedom deflection unit, pointing the laser-beam on the scene, 3 linear high resolution CCD photodiode arrays, observing the laser-spot through special optics. The system has been designed as an intelligent peripheral to a hostcomputer and is implemented in a 16-bit microprocessor environment. The hardware is roughly described. Two implemented segmentation algorithms, reducing 3-D coordinates to a description of the scene with planes are explained and evaluated.
This paper describes a current research which involves the development of a special end effector and the necessary algorithms to perform inspection and gaging tasks using tactile sensing. The special end effector, whi...
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ISBN:
(纸本)0892526149
This paper describes a current research which involves the development of a special end effector and the necessary algorithms to perform inspection and gaging tasks using tactile sensing. The special end effector, which has a mechanical probe performs these operations by using adaptive contact and continuous measurement of forces to determine the locations and the dimensions of the holes to be inspected. This will provide a flexible and relatively inexpensive means of inspection when extremely high accuracies are not desired.
Mobile robotic devices hold great promise for a variety of applications in industry. A key step in the design of a mobile robot is to determine the navigation method for the mobility control. The purpose of this paper...
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ISBN:
(纸本)0892526149
Mobile robotic devices hold great promise for a variety of applications in industry. A key step in the design of a mobile robot is to determine the navigation method for the mobility control. The purpose of this paper is to describe a new algorithm for omnidirectional vision navigation. A prototype omnidirectional vision system and the implementation of the navigation techniques using this modern sensor and an advanced automatic image processor is described. The significance of this work is in the development of a new and novel approach - dynamic omnidirectional vision for mobile robots and autonomous guided vehicles.
A coherent automated manufacturing system needs to include CAD/CAM, computervision, and object manipulation. Currently, most systems which support CAD/CAM do not provide for vision or manipulation and similarly, visi...
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ISBN:
(纸本)0892526149
A coherent automated manufacturing system needs to include CAD/CAM, computervision, and object manipulation. Currently, most systems which support CAD/CAM do not provide for vision or manipulation and similarly, vision and manipulation systems incorporate no explicit relation to CAD/CAM models. A more unified system will allow vision models to be generated from the CAD database. The model generation should be guided by the class of objects being constructed, the constraints of the visionalgorithms used and the constraints imposed by the robotic workcell environment (fixtures, sensors, manipulators and effectors). We propose a framework in which objects are designed using an existing CAGD system and logical sensor specifications are automatically synthesized and used for visual recognition and manipulation.
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