Usually, to find a hole in an image, its shape must be known and corrections made to account for perspective distortion or hole surface orientation. Not so with this algorithm. As a heuristic vision algorithm, this ho...
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ISBN:
(纸本)0892525568
Usually, to find a hole in an image, its shape must be known and corrections made to account for perspective distortion or hole surface orientation. Not so with this algorithm. As a heuristic vision algorithm, this hole finder seeks edge patterns which correspond to holes - any promising holes. The algorithm uses neighborhood operators applied in both horizontal and vertical strips to locate the hole centers. The power of the heuristic approach lies in the fact that these algorithms can be uninformed about the nature of the part itself. Yet, a robot can be directed to pick up the part using the hole to grasp it.
A mechanical manipulator, a vision system, and a light table are used to detect the polarity of notched capacitors supplied in disordered random patterns with overlaps. The method is based on the recognition of local ...
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ISBN:
(纸本)0892525568
A mechanical manipulator, a vision system, and a light table are used to detect the polarity of notched capacitors supplied in disordered random patterns with overlaps. The method is based on the recognition of local features that are extracted as a result of the masking of the binary image with a grid of curvilinear polygons, which fragments the image into a mosaic of dispersed information islands. This paper will describe the algorithms which ultimately lead to the derivation of the position and orientation of each individual component. Image processing takes place in parallel to the robot motion. As a consequence of the algorithm speed, the total time of the task implementation is now only bounded by the speed of the mechanical motion.
Recognition of three dimensional (3D) objects in low contrast scenes and in scenes where objects are partially occluded is a challenging problem for advanced 3D sensor based robotic systems. Laser ranging systems meas...
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ISBN:
(纸本)0892525568
Recognition of three dimensional (3D) objects in low contrast scenes and in scenes where objects are partially occluded is a challenging problem for advanced 3D sensor based robotic systems. Laser ranging systems measure the surface depth directly and therefore avoid the computation required for construction of a depth map from multiple camera views. Since the physical level knowledge of the surfaces is directly available, the capability for real time object recognition in complex scenes is introduced. This paper discusses some elements of a real time 3D pattern recognition system for sensor based robot applications. The investigation includes a conceptual discussion of the sensor and techniques for feature extraction.
describes the technology developed and the results obtained by the Carnegie Mellon Robotics Institute in the course of the DARPA Unmanned Ground Vehicle (UGV) project. The goal of this work was to equip off-road ve...
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ISBN:
(数字)9781461563259
ISBN:
(纸本)9780792398332;9781461379041
describes the technology developed and the results obtained by the Carnegie Mellon Robotics Institute in the course of the DARPA Unmanned Ground Vehicle (UGV) project. The goal of this work was to equip off-road vehicles with computer-controlled, unmanned driving capabilities. The book describes contributions in the area of mobility for UGVs including: tools for assembling complex autonomous mobility systems; on-road and off-road navigation; sensing techniques; and route planning algorithms. In addition to basic mobility technology, the book covers a number of integrated systems demonstrated in the field in realistic scenarios. The approaches presented in this book can be applied to a wide range of mobile robotics applications, from automated passenger cars to planetary exploration, and construction and agricultural machines.;shows the progress that was achieved during this program, from brittle specially-built robots operating under highly constrained conditions, to groups of modified commercial vehicles operating in tough environments. One measure of progress is how much of this technology is being used in other applications. For example, much of the work in road-following, architectures and obstacle detection has been the basis for the Automated Highway Systems (AHS) prototypes currently under development. AHS will lead to commercial prototypes within a few years. The cross-country technology is also being used in the development of planetary rovers with a projected launch date within a few years. The architectural tools built under this program have been used in numerous applications, from an automated harvester to an autonomous excavator.;The results reported in this work provide tools for further research development leading to practical, reliable and economical mobile robots.
This book discusses systematic designs of stable adaptive fuzzy logic controllers employing hybridizations of Lyapunov strategy-based approaches/H;theory-based approaches and contemporary stochastic optimization techn...
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ISBN:
(数字)9789811312984
ISBN:
(纸本)9789811312977;9789811346033
This book discusses systematic designs of stable adaptive fuzzy logic controllers employing hybridizations of Lyapunov strategy-based approaches/H;theory-based approaches and contemporary stochastic optimization techniques. The text demonstrates how candidate stochastic optimization techniques like Particle swarm optimization (PSO), harmony search (HS) algorithms, covariance matrix adaptation (CMA) etc. can be utilized in conjunction with the Lyapunov theory/H∞ theory to develop such hybrid control strategies. The goal of developing a series of such hybridization processes is to combine the strengths of both Lyapunov theory/H;theory-based local search methods and stochastic optimization-based global search methods, so as to attain superior control algorithms that can simultaneously achieve desired asymptotic performance and provide improved transient responses. The book also demonstrates how these intelligent adaptive control algorithms can be effectively utilized in real-life applications such as in temperature control for air heater systems with transportation delay, vision-based navigation of mobile robots, intelligent control of robot manipulators etc.
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