This paper deals with trajectory planning for image based eye-in-hand visual servoing applications. Trajectories for extracted feature points of a target object are computed directly in the projective image space such...
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ISBN:
(纸本)0780382323
This paper deals with trajectory planning for image based eye-in-hand visual servoing applications. Trajectories for extracted feature points of a target object are computed directly in the projective image space such that they are compatible with rigid body displacements. To this end, one separately parameterizes for i) the collineation with respect to the plane at infinity (which can be viewed as a projective representation of the rotation) and ii) the projective representation of the translation. Parameterizing the collineation by the use of a decomposition into its canonical form provides an easy way to plan for a geodesic displacement. Furthermore, different strategies are proposed to interpolate for the translation path. As a result, the most advanced strategy guarantees, by the use of a simple analytic criterion, that the points remain visible during the whole path. The method requires in general nothing more than the initial and final images and does not depend on intrinsic camera parameters.
Detection and removal of antipersonnel landmines in infested fields is an important worldwide problem. Around 100 million landmines have been deployed over the last two decades, and demining will take several more dec...
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ISBN:
(纸本)1889335215
Detection and removal of antipersonnel landmines in infested fields is an important worldwide problem. Around 100 million landmines have been deployed over the last two decades, and demining will take several more decades, even if no more mines were deployed in future. A high mine-clearance rate can only be accomplished by using new technologies such as improved sensors, efficient manipulators and mobile robots. This paper presents some basic ideas on the configuration and controller of a mobile system for detecting and locating antipersonnel landmines in an efficient and effective way. The whole system has been configured to work in a semi-autonomous mode with a view also to robot mobility and energy efficiency. The paper outlines the main features of the overall system and focuses on some aspects of the controller.
The proceedings contain 173 papers of the conference on Proceedings-2004 IEEE internationalconference On robotics and automation: Volume V. The topics discussed include: visual rotation detection and estimation for m...
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The proceedings contain 173 papers of the conference on Proceedings-2004 IEEE internationalconference On robotics and automation: Volume V. The topics discussed include: visual rotation detection and estimation for mobile robot navigation;passive sonar applications;evaluation of iconic memory-based ORP navigation;a FEM model for active vibration control of flexible linkages;low overhead manipulation of bound book pages;a new nonlinear control for vehicle in sliding conditions;adapting the sampling distribution in PRM planners based on an approxiated medial axis and robust 3D vision based control and planning.
The capabilities and distributed nature of networked sensors are uniquely suited to the characterization of distributed phenomena in the natural environment. However, environmental characterization by fixed distribute...
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ISBN:
(纸本)0780382323
The capabilities and distributed nature of networked sensors are uniquely suited to the characterization of distributed phenomena in the natural environment. However, environmental characterization by fixed distributed sensors encounters challenges in complex environments. In this paper we describe Networked Infomechanical Systems (NIMS), a new distributed, robotic sensor methodology developed for applications including characterization of environmental structure and phenomena. NIMS exploits deployed infrastructure that provides the benefits of precise motion, aerial suspension, and low energy sustainable operations in complex environments. NIMS nodes may explore a three-dimensional environment and enable the deployment of sensor nodes at diverse locations and viewing perspectives. NIMS characterization of phenomena in a three dimensional space must now consider the selection of sensor sampling points in both time and space. Thus, we introduce a new approach of mobile node adaptive sampling with the objective of minimizing error between the actual and reconstructed spatiotemporal behavior of environmental variables while minimizing required motion. In this approach, the NIMS node first explores as an agent;gathering a statistical description of phenomena using a nested stratified random sampling approach. By iteratively increasing sampling resolution, guided adaptively by the measurement results themselves, this NIMS sampling enables reconstruction of phenomena with a systematic method for balancing accuracy with sampling resource cost in time and motion. This adaptive sampling method is described analytically and also tested with simulated environmental data. Experimental evaluations of adaptive sampling algorithms have also been completed. Specifically, NIMS experimental systems have been developed for monitoring of spatiotemporal variation of atmospheric climate phenomena. A NIMS system has been deployed at a field biology station to map phenomena in a 50m width
Motivated by the applications of flexible fingers (capable of offering large deflections to accommodate object variations) in grasping, we present several computational models that characterize the large deflection of...
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Motivated by the applications of flexible fingers (capable of offering large deflections to accommodate object variations) in grasping, we present several computational models that characterize the large deflection of a flexible finger (beam). Specifically, we develop analytical methods for analyzing the design of cantilever-like fingers or elements of a machine that is designed primarily to support forces acting perpendicular to the axis of the member. Both uniform and non-uniform beams are considered. The methods were numerically validated by comparing the computed results against those obtained using the closed-form solutions, where exact solutions are available for fingers with a uniform cross-section. To extend the closed-form solution for predicting the shape of a non-uniform finger, we compute numerically an effective EI that approximates the non-uniform finger as a uniform finger at the point of contact. The approximate model has been examined experimentally. The results show excellent agreement. We expect that the methods presented here will have other engineering applications.
Robotic systems are often used for remote operations in Department of Energy Environmental Management applications because they allow the removal of personnel from dangerous environments. Typically, these systems are ...
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Robotic systems are often used for remote operations in Department of Energy Environmental Management applications because they allow the removal of personnel from dangerous environments. Typically, these systems are operated in pure teleoperation mode by a human operator. While these systems are capable of performing many tasks, their performance can be greatly enhanced through the use of telerobotics (a combination of teleoperation, automation, and decision making). This paper describes an analytical approach to decision making for robotic systems used in remote operations. This approach utilizes redundancy in the system or the task to improve the overall system performance based on analytical criteria. The approach is illustrated by application to the Dual Arm Telerobot at Oak Ridge National Laboratory (ORNL) and the Pit Viper System at Pacific Northwest National Laboratory (PNNL). In both instances, decision making clearly reduces the operator involvement in tedious tasks while improving performance.
In this paper, a complete dynamic modeling on task space for a 6 DOF Gough-Stewart platform type of CNC machine is derived. The rotation terms of the legs are included for its inertia effect cannot be negligible in th...
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In this paper, a complete dynamic modeling on task space for a 6 DOF Gough-Stewart platform type of CNC machine is derived. The rotation terms of the legs are included for its inertia effect cannot be negligible in the machine tool applications. Also its formulation derived by means of Euler-Lagrange method is convenient for designing the adaptive control law. The average-type force model for planar end-milling process is derived. A composite adaptive control scheme is developed by use of filtering dynamics technique. An appropriate weighting is designed in the parameter adaptation law that is useful for estimating the selected important cutting parameters in particular in the light milling process. Experimental results verify the proposed adaptive control scheme can achieve good tracking performance.
Matching corners between images is an important and difficult problem in stereo vision and many other vision applications, and no effective method has been developed to cope with general cases. In this paper, we prese...
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Matching corners between images is an important and difficult problem in stereo vision and many other vision applications, and no effective method has been developed to cope with general cases. In this paper, we present an improved SUSAN (Smallest Univalue Segment Assimilating Nucleus) corner detection algorithm and an effective algorithm to establish corner correspondence between two images based on Delaunay triangulation. First we construct Delaunay triangulations among corners of each image and compute interior angles of the triangles. The corner correspondence is established based on an observation that these angles completely and uniquely characterize the corners and their values are not affected by scale change, less affected by rotation and translation to some extent. At the matching stage, we first obtain the most similar triangle pairs, and then extend their edges circularly until all matching corners are triangulated and mismatching corners are discarded. Experimental results are provided which illustrate the good performance of the algorithm.
The rapid progress of 3D modeling techniques have brought more and more applications of 3D range data in robotics. However, the 3D data we acquire with range finders mounted on mobile robots are usually too large to p...
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The rapid progress of 3D modeling techniques have brought more and more applications of 3D range data in robotics. However, the 3D data we acquire with range finders mounted on mobile robots are usually too large to process in real-time, and holes and boundaries are unavoidable on the surface it represents. One method to resolve this problem is to perform mesh simplification and Level of Detail (LOD) control on these models. A new method based on Progressive Meshes (PMs) is proposed in this paper, which adopts different simplification and remeshing strategies on different boundary conditions, and therefore well preserves geometrical features on the boundaries through the simplification. The detail records are organized in a forest-shaped data structure at the same time. Hence, when a scene is reconstructed using the multiresolution models, the local details can be rapidly added by selective refinement Furthermore, continuous view-dependent distributions of LOD are also supported to provide efficient scene representation and rendering.
The structure and application of a universal communication architecture for high-dynamic robot systems were presented. The architecture consists of a middleware for robotic and process control applications - extended ...
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ISBN:
(纸本)0780386531
The structure and application of a universal communication architecture for high-dynamic robot systems were presented. The architecture consists of a middleware for robotic and process control applications - extended (MiRPA-X) and a communication protocol Industrial automation Protocol (IAP) based on the IEEE1394 communication standard. Both are implemented with ANSI C under the real-time operating system QNX Neutrino. IAP provides network management functions to control participant states and global object directory to virtually unite all participant paremeters.
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