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Dexterous robotic sampling for Mars in-situ science

Dexterous robotic sampling for Mars in-situ science

Conference on intelligent robots and computer vision XVI - algorithms, techniques, active vision, and Materials Handling

作者： Schenker, PS Baumgartner, ET Lee, S Aghazarian, H Garrett, MS Lindemann, RA Brown, DK BarCohen, Y Lih, SS Joffe, B Kim, SS Hoffman, BH Huntsberger, T Jet Propulsion Lab. (United States) Massachusetts Institute of Technology (United States) Univ. of South Carolina (United States)

ISBN: (纸本)0819426407

Robotic exploration of the Martian surface will provide important scientific data on planetary climate, life history, and geologic resources. Ln particular, robotic arms will assist in the detailed visual inspection, instrumented analysis, extraction, and earth return of soil and rock samples. To this end, we are developing new robotic manipulation concepts for use on landers and rovers, wherein mass, volume, power and the ambient Mars environment are significant design constraints. Our earlier work led to MarsArmI, a 2.2 meter, 3-d.o.f. hybrid metal/composite, DC-motor actuated arm operating under coordinated joint-space control;NASA's Mars Surveyor '98 mission utilizes this design concept More recently, we have conceived and implemented new, all-composite, very light robot arms: MarsArmII, a 4.0 kilogram, 2.3 meter arm for lander operations, and MicroArm-I and MicroArm-2, two smaller 1.0+ kilogram, .7 meter rover arms for mobile sample acquisition and Mars sample return processing. Features of these arms include our creation of new 3D machined composites for critical load-bearing parts;actuation by high-torque density ultrasonic motors;and visually-designated inverse kinematics positioning with contact force adaptation under a novel task-level, dexterous controls paradigm, Our demonstrated results include robotic trenching, sample grasp-manipulation-and-transfer, and fresh rock surface exposure-probing via the science operator's ''point-and-shoot'' visual task designation in a stereo workspace. Sensor-referenced control capabilities include red-time adaptation to positioning error and environmental uncertainties (e.g., variable soil resistance and impediments), and the synthesis of power optimal trajectories for free space manipulation.

关键词： space robotics manipulators intelligent control mobile robots planetary sampling Mars sample return

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Lightweight rovers for Mars science exploration and sample return

Lightweight rovers for Mars science exploration and sample r...

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Conference on intelligent robots and computer vision XVI - algorithms, techniques, active vision, and Materials Handling

作者： Schenker, PS Sword, LF Ganino, AJ Bickler, DB Hickey, GS Brown, DK Baumgartner, ET Matthies, LH Wilcox, BH Balch, T Aghazarian, H Garrett, MS Jet Propulsion Lab. (United States)

ISBN: (纸本)0819426407

We report on the development of new mobile robots for Mars exploration missions. These ''lightweight survivable rover (LSR)'' systems are of potential interest to both space and terrestrial applications, and ape distinguished from more conventional designs by their use of new composite materials, collapsible running gear, integrated thermal-structural chassis, and other mechanical features enabling improved mobility and environmental robustness at reduced mass, volume, and power. Our first demonstrated such rover architecture, LSR-1, introduces running gear based on 2D composite struts and 3D machined composite joints, a navel collapsible hybrid composite-aluminum wheel design, a unit-body structural-thermal chassis with improved internal temperature isolation and stabilization, and a spot-pushbroom laser/CCD sensor enabling accurate, fast hazard detection and terrain mapping. LSR-1 is a similar to .7 x 1.0 meter(Lambda)2(WxL) footprint six-wheel (20 cm dia.) rocker-bogie geometry vehicle of similar to 30 cm ground clearance, weighing only 7 kilograms with an onboard 3 kilogram multi-spectral imager and spectroscopic photometer. By comparison, NASA/JPL's recently flown Mars Pathfinder rover Sojourner is an 11+ kilogram flight experiment (carrying a 1 kg APXS instrument) having similar to .45 x.6 meter(Lambda)2 (WxL) footprint and 15 cm ground clearance, and about half the warm electronics enclosure (WEE) volume with twice the diurnal temperature swing (-40 to +40 degrees C) of LSR-1 in nominal Mars environments. We are also developing a new, smaller 5 kilogram class LSR-type vehicle for Mars sample return - the travel to, localization of, pick-up, and transport back to an Earth return ascent vehicle of a sample cache collected by earlier science missions. This Sample Retrieval Rover R&D prototype has a. completely collapsible mobility system enabling rover stowage to similar to 25% operational volume, as well an actively articulated axle, allowing changeable pose of

关键词： mobile robots 3D sensing robotic sampling planetary science Mars sample return

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Robust visual tracking by an active observer

Robust visual tracking by an active observer

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Proceedings of the 1997 IEEE/RSJ International Conference on intelligent Robot and Systems. Part 2 (of 3)

作者： Arsenio, Artur Santos-Victor, Jose Inst Superior Tecnico Lisboa Portugal

In this paper we address the problem of tracking a moving target by a monocular observer. The ability to track a moving object has many applications in robotics, teleoperation, surveillance systems, human-machine interfaces, etc. Our goal was the development of a robust tracking system for practical (industrial) applications and therefore based on inexpensive hardware. The strategy we present is based on the integration of correlation based techniques together with active contours, using a Kalman filtering approach. The overall operating frequency is about 6 Hz. The system is robust both to changes in the illumination and multiple moving objects in cluttered environments. Results are presented and discussed.

关键词： computer vision

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Embodied computer vision for mobile robots

Embodied computer vision for mobile robots

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IEEE International Conference on intelligent Processing Systems, ICIPS

作者： N. Barnes Zhi-Qiang Liu Computer Vision and Machine Intelligence Lab Departmelit of Computer Science University of Melbourne Parkville VIC Australia

The basic idea that the perception of actual embodied beings, be they animal or robotic, is fundamentally related to their embodiment is generally referred to as purposive or animate vision. Research in this field generally emphasises low-level vision techniques. This paper outlines a philosophical basis for embodied perception, and develops a framework for conceptual embodiment of vision-guided robots. The aim is to facilitate the use of high-level vision through an active perception framework. We argue that the classical computer vision paradigm has problems in high-level vision due to an implicit assumption that objects in the world can be objectively subdivided into categories. Further, that through conceptual embodiment, active perception offers a way forward. We present a mobile robot navigation system based on the principles of conceptual embodiment. The system uses object recognition to guide a robot around known objects. The robot's object model is embodied, and this embodiment yields specific advantages for the robot.

关键词： computer vision Mobile robots Robot vision systems Animals Animation Navigation Object recognition

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Steps towards an intelligent vision system for driver assistance in urban traffic

Steps towards an intelligent vision system for driver assist...

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International Conference on intelligent Transportation

作者： U. Franke S. Gorzig F. Lindner D. Mehren F. Paetzold Daimler Benz Aerospace Stuttgart Germany Daimler Benz Aerospace Ulm Germany

Most computer vision systems for vehicle guidance developed in the past were tailored to the relatively simple highway scenario. Autonomous driving in the much more complex urban environment or driver assistance systems like intelligent Stop&Go are new challenges not only from the algorithmic but also from the system architecture point of view. This contribution describes our current work on these topics. It includes appropriate vision algorithms as well as the control of different vision modules following the "active vision" paradigm.

关键词： intelligent systems Machine vision computer vision Machine intelligence Remotely operated vehicles Road vehicles Mobile robots Navigation Road transportation computer architecture

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intelligent robots and computer vision XV: algorithms, techniques,active vision, and Materials Handling

Intelligent Robots and Computer Vision XV: Algorithms, Techn...

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intelligent robots and computer vision XV: algorithms, techniques,active vision, and Materials Handling

ISBN: (纸本)0819423068

The proceedings contains 58 papers. Following topics are discussed: pattern recognition in intelligent robotics;obtaining and processing 3D robotic data;stereo processing in robotics;neural nets in computer vision and robotics;control, manipulation, and navigation robotics, use of color in computer vision and robotics;active vision;and robotics and inspection applications and hardware.

关键词： intelligent robots

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Model-based human face recognition in intelligent vision

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 88-99页

作者： Cai, Defu Liang, Huiying Wang, Xiangwen Chen, Jiaofan Inst. of Electronics Beijing China

ISBN: (纸本)0819423068;9780819423061

The face recognition, one of the most important ability of intelligent vision, are discussed in this paper. A new idea of model-based processing are presented. The algorithms of face modeling, global matching and fine matching, and feature points extraction etc. are given. Finally, a rapid and robust scheme for human face recognition are resulted.

关键词： Pattern recognition

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Framework for the implementation of vision-based fuzzy logic navigational algorithms for a mobile robot

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 310-319页

作者： Akec, John Steiner, Simon J. Univ. of Birmingham Birmingham UK United Kingdom

ISBN: (纸本)0819423068

Fuzzy logic has been promoted recently by many researchers for the design of navigational algorithms for mobile robots. The new approach fits in well with a behavior-based autonomous systems framework, where common-sense rules can naturally be formulated to create rule-based navigational algorithms, and conflicts between behaviors may be resolved by assigning weights to different rules in the rule base. The applicability of the techniques has been demonstrated for robots that have used sensor devices such as ultrasonics and infrared detectors. However, the implementation issues relating to the development of vision-based, fuzzy-logic navigation algorithms do not appear, as yet, to have been fully explored. The salient features that need to be extracted from an image for recognition or collision avoidance purposes are very much application dependent;however, the needs of an autonomous mobile vehicle cannot be known fully 'a priori'. Similarly, the issues relating to the understanding of a vision generated image which is based on geometric models of the observed objects have an important role to play;however, these issues have not as yet been either addressed or incorporated into the current fuzzy logic-based algorithms that have been purported for navigational control. This paper attempts to address these issues, and attempts to come up with a suitable framework which may clarify the implementation of navigation algorithms for mobile robots that use vision sensor/s and fuzzy logic for map building, target location, and collision avoidance. The scope for application of this approach is demonstrated.

关键词： Mobile robots

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Prototype system for automated sorting and removal of bags of hazardous waste

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 271-277页

作者： Howard, Ayanna M. Bekey, George A. Univ. of Southern California Pasadena CA USA

ISBN: (纸本)0819423068;9780819423061

In this paper, we present a low-cost vision based system for handling of hazardous waste in an unstructured environment. The prototype system described shows the feasibility of sorting and removal of randomly mixed and oriented flexible objects from a bin using inexpensive and widely available hardware. Our experiments show that the utilization of even the simplest constructs is sufficient for the manipulation of flexible objects.

关键词： computer vision

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Scatterometry for machine vision

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 505-516页

作者： Volcy, Jerry Dickerson, Stephen L. Georgia Inst. of Technology Atlanta GA USA

ISBN: (纸本)0819423068;9780819423061

Specifications and design are provided for a low-cost scatterometer build to study the relationship between optical scatter and image formation. Design principles and considerations are discussed as they relate to digital imaging. Specifications and instrument limitations both mechanical and optical are examined and certain design choices are explained. The process of calibrating the instrument is considered and methods of noise suppression both electronic and optical are discussed. Finally, some measured data is presented.

关键词： computer vision

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