In numerous computervision applications, there is both the need and the ability to access multiple types of information about the three dimensional aspects of objects or surfaces. When this information comes from dif...
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Integrating the modules of early vision, such as color, motion, texture, and stereo, is necessary to make a machine see. Parallel machines offer an opportunity to realize existing modules in a near real-time system;th...
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A sensor-based intelligent robot may be used for moving objects, moving levels or knobs, assembly parts, driving screws, etc. However, for many task environments some constraints in task space generally exist. In thes...
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ISBN:
(纸本)0892527617
A sensor-based intelligent robot may be used for moving objects, moving levels or knobs, assembly parts, driving screws, etc. However, for many task environments some constraints in task space generally exist. In these cases, neither pure position nor pure force control is appropriate. There is a need to develop a hybrid controller to accommodate various task environments. We have developed a new approach for enhancing the current hybrid control techniques. The major contribution of this proposed hybrid position/force controller is its capability for accommodating the compliance selection vector both in position and force with the task environment adaptively. The derivation of an adaptive selection vector by the use of minimum energy and parameter identification algorithms is described in detail. The illustrative example and simulation results will be presented.
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.
Absolute location of mobile robot is a central problem to improve autonomy of vehicles in any known environment. The authors developed five methods using a scanning laser range finder. They compared the precision, the...
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ISBN:
(纸本)0892525568
Absolute location of mobile robot is a central problem to improve autonomy of vehicles in any known environment. The authors developed five methods using a scanning laser range finder. They compared the precision, the necessary computer time and the robustness of their algorithms for non-polyhedral cylindrical worlds.
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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