Grasping is one of the most fundamental and challenging tasks in robotics. applications range from space missions (e.g., collection of rock samples) to industrial automation. In this work, we use a camera mounted on t...
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Grasping is one of the most fundamental and challenging tasks in robotics. applications range from space missions (e.g., collection of rock samples) to industrial automation. In this work, we use a camera mounted on the end-effector of a manipulator to grasp an unknown object in the workspace. A novel deformable contour model is used to determine plausible grasp axes of the target object. Potential grasp point pairs are generated, ranked based upon measurements taken from the contour, and a vision-guided grasp of the object using the highest ranked grasp point pair is executed. Several experimental results are presented.
Recent developments in several other emerging fields enable us to think of the fields of prototype design, development and automation in new ways and to consider new applications. Most notably are the emerging fields ...
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Recent developments in several other emerging fields enable us to think of the fields of prototype design, development and automation in new ways and to consider new applications. Most notably are the emerging fields on Very Large Scale Integration (VLSI), modern bio-medical engineering, and the world-wide-web Internet communication technology. For these reasons, we decided at the outset of this symposium to focus on the use of information technology for prototype design, development and automation, and yet to cover a wide variety of novel applications with emphasis on emerging fields of automation. Based on the above principles, we organized this symposium which contains five papers, covering the topics of information extraction for engineering design, predictive models of discrete-event and hybrid systems, process planning automation, and prototyping design of vision sensing systems, micro/nano systems, and automated DNA sequencing. This overview paper presents trends of prototyping design and automation with an emphasis on the following two subtopics: (1) a review on prototyping discrete event and hybrid systems, and (2) the trends on prototyping real-time machine vision system design.
Recent research in industrial robotics aims at the involvement of additional sensoric devices to improve robustness, flexibility and performance of common robot applications. Many different sensors have been developed...
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Recent research in industrial robotics aims at the involvement of additional sensoric devices to improve robustness, flexibility and performance of common robot applications. Many different sensors have been developed over the past years to fit the requirements of different but very specific tasks. Special seam tracking sensors support the robot in welding applications. Vision systems are common in quality control and inspection. Force/torque sensors mounted to a robot's wrist are still an exception and limited to the fields of scientific research. Compared to the number of annual robot sales the number of sensor equipped robots is still negligible, although the benefits of sensoric feedback are obvious. In this paper we introduce a general approach to tackle the problem of sensor-based robot assembly. We realized a flexible assembly cell that includes a variety of different sensors for mating with moving parts.
Robotic systems used in field and service applications are required to perform mission-specific target acquisition, discrimination and identification activities. This paper discusses a dynamic approach to target recog...
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Robotic systems used in field and service applications are required to perform mission-specific target acquisition, discrimination and identification activities. This paper discusses a dynamic approach to target recognition that is based on concepts from the theory of optimal design of experiments. The approach uses a cycle of hypothesis formulation, experiment planning for hypothesis validation, experiment execution, and hypothesis evaluation to confirm or reject the classification of targets into given object classes. Target classes of relevance to specific perceptual tasks of a robot mission are described through parameterization of sensor observations. We use spatial stochastic lattice models to encode sensor-based information and to provide potential target hypotheses. Information-theoretic uncertainty minimization metrics are employed to control the sensing processes and the robot vehicle. The approach presented in the paper is being applied to an unmanned aerial robot vehicle developed for environmental research and monitoring applications, and initial results are presented showing aerial identification and tracking of large-scale man-made structures and biological targets.
This book is a collection of talks presented at the 1998 IEEE internationalconference on robotics and automation. Broadly, the meeting discussed the application of modern geometrical methods to problems in robotics. ...
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ISBN:
(数字)9789812813282
ISBN:
(纸本)9789810241131
This book is a collection of talks presented at the 1998 IEEE internationalconference on robotics and automation. Broadly, the meeting discussed the application of modern geometrical methods to problems in robotics. There are now a few textbooks in this area and more papers in the literature. The aim of this book is to introduce these ideas, their simplicity and power, to a wider *** first three chapters give an introduction to the Lie group and Lie algebras. The focus is on the group of rigid body transformations in space, namely the Lie group which is fundamental to robotics. The following chapters provide an overview of some of the most up-to-date work in the field of geometrical methods in robotics and have been written by some of the leading researchers in the field. The applications addressed cover the design of robot kinematics, the analysis of singularities in robots and mechanisms, and a geometric view of some computational issues.
Over the past 3 years, the Genomation Laboratory at the University of Washington has been developing ACAPELLA, an automated submicroliter fluid sample handling system. This general-purpose, chemistry analysis system h...
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Over the past 3 years, the Genomation Laboratory at the University of Washington has been developing ACAPELLA, an automated submicroliter fluid sample handling system. This general-purpose, chemistry analysis system has applications to DNA sequencing, diagnostics, forensics, protein crystallography, and so on. In the first phase of prototype development, the ACAPELLA-1K system was designed to process 1,000 samples in 8 hours. After extensive tests and subsystem modifications, this system has successfully demonstrated high-throughput preparation of restriction enzyme digests, polymerase chain reactions (PCRs), and sequencing reactions for genome analysis. The lessons learned in this prototype development and testing phase have been used to design the next generation ACAPELLA-5K system that processes 5,000 samples in 8 hours and has more functionality. The prototype design, development, and evolution into the ACAPELLA-5K system will be described and the ACAPELLA-5K system will be presented. Various aspects that had to be considered were the architecture (e.g. parallel vs. serial;radial vs. linear), mechanical design, electronics, sensors, novel actuators, thermal processing, detection, sample tracking, error handling, user-interface, and bio-compatibility.
Structured light is one of the well-known methods in part dimensional inspection that have been successfully employed in various applications in the past decades. In this method, the positioning of the camera is very ...
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Structured light is one of the well-known methods in part dimensional inspection that have been successfully employed in various applications in the past decades. In this method, the positioning of the camera is very critical, which affects the accuracy and efficiency of the whole inspection system. Here we develop a CAD-guided camera positioning system to aid the 3-D part inspection. The geometric information in the CAD model of the inspected part and the camera model are used to plan camera configurations that satisfy certain task constraints. The overall system we propose can be applied to the 3-D inspection of parts with free-form surfaces, such as automobile door panels. Experiments on different parts show satisfying results.
New approaches to prepare thin organic NLO films using the microgravity environment of the Space Shuttle have been developed. The evolution of that work to perform similar experiments on the international Space Statio...
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Consider a robot to measure or operate on man made objects randomly located in the workspace. The optronic sensing onboard the robot are a scanning range measuring time-of-flight laser and a CCD camera. The plane surf...
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This study investigates the processing of sonar signals using neural networks for robust differentiation of commonly encountered features in indoor environments. The neural network can differentiate more targets, and ...
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This study investigates the processing of sonar signals using neural networks for robust differentiation of commonly encountered features in indoor environments. The neural network can differentiate more targets, and achieves high differentiation and localization accuracy, improving on previously reported methods. It achieves this by exploiting the identifying features in the differential amplitude and time-of-flight characteristics of these targets. An important observation follows from the robustness tests, which indicate that the amplitude information is more crucial than time-of-flight for reliable operation. The study suggests wider use of neural networks and amplitude information in sonar-based mobile robotics.
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