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Arnie P. - A robot golfing system using binocular and a heuristic feedback mechanism

Arnie P. - A robot golfing system using binocular and a heur...

引用

1992 IEEE/RSJ international Conference on Intelligent Robots and Systems, IROS 1992

作者： Webster, Roger W. Wei, Yong Department of Computer Science Robot Vision and Artificial Intelligence Laboratory Millersville University MillersvillePA17551 United States Department of Mechanical Engineering Northeast University of Technology Shenyang Liaoning Province China

ISBN: (纸本)0780307372

This paper describes a robot vision golfing system. The Automated. Robotic Navigational unit with Intelligent Eye and Putter (ARN1E P)r project was initiated to investigate the problems and develop software solutions for robotic tasks that require good hand-eye coordination and an intelligent sensor feedback mechanism. This system has only one frame buffer and no specialized hardware, so quasi-real time 3D tracking is accomplished in software using the Unix Spline facility. The single frame buffer and digitizer, stores and retains the location of the ball from two separate cameras during the time interval between the golf ball initially crossing a trigger scan line and the ball coming to a complete stop. The most novel aspect of this study is that by attempting to build or model a difficult perceptory task such as golf which requires integrating many complicated computational pieces (binocular stereo vision, robot arm motion, heuristic feedback, learning), it appears to be a good platform to experiment with artificial intelligence techniques arid robotics. © 1992 IEEE. All rights reserved.

关键词： Golf

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computational scheme for passivity based control of mechanical manipulators

Computational scheme for passivity based control of mechanic...

引用

IEEE international Conference on robotics and automation (ICRA)

作者： M.W. Walker Artificial Intelligence Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA

A computational scheme is presented for the implementation of passivity-based controllers for serial and graph structured manipulators. A special method of incorporating feedback improves the computational efficiency by allowing the designer to base the control on the passivity properties of the entire manipulator. Sufficient conditions are presented to guarantee trajectory tracking of the system. Example controllers and experimental results are presented.< >

关键词： Manipulator dynamics Feedback Trajectory Torque control Adaptive control Inverse problems computational complexity Lagrangian functions Robust control Parameter estimation

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2nd international symposium on automation robotics and artificial intelligence applied to analytical chemistry & robotics in laboratory medicine

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Clinica Chimica Acta 1992年第1期213卷 120-120页

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A knowledge-based control system for a robotics assembly cell

A knowledge-based control system for a robotics assembly cel...

引用

IEEE international symposium on Intelligent Control (ISIC)

作者： A. Bagherzadeh-S A.K.M. Mostafa Kamal S.J. Steiner University of Binningham Birmingham UK

An artificial intelligence cell which can accommodate flexible assembly tasks has been developed. The system comprises a Fanuc S-Model-0 Robot, and a vision system that uses artificial intelligence, located at the robot end-effector. Overall control of the system is provided by an expert system which makes decisions based on the data acquired and processed by the vision system. From the data the system can generate sequential smooth motions to pick up the components in any order, and to assemble them in the right sequence.< >

关键词： Control systems Robotic assembly Assembly systems Costs Uncertainty Robot sensing systems robotics and automation Robot vision systems Machine vision Expert systems

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An intelligent mobile robot golfing system using binocular stereo vision

An intelligent mobile robot golfing system using binocular s...

引用

international Conference on Pattern Recognition

作者： R.W. Webster Yong Wei Robot Vision and Artificial Intelligence Laboratory Department of Computer Science Millersville University Millersville PA USA Department of Mechanical Engineering Northeast University of Technology Shenyang Liaoning China

This paper describes a robot vision golfing system. The ARNIE P/sup tau / (Automated Robotic Navigational unit with Intelligent Eye and Putter) project was initiated to investigate the problems and develop software solutions for robotic tasks that require good hand-eye coordination and an intelligent feedback mechanism. This system has only one frame buffer and no specialized hardware, so quasi-real-time 3D tracking is accomplished in software using the unix spline facility. Golf is a difficult perceptory task which requires the integration of many complicated computational tasks. It is therefore a good platform to experiment with artificial intelligence techniques and robotics.< >

关键词： Intelligent robots Mobile robots Robot kinematics robotics and automation Robot vision systems Machine vision Navigation computational intelligence Feedback Hardware

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Simulation and graphical interface for programming and visualization of sensor-based robot operation

Simulation and graphical interface for programming and visua...

引用

IEEE international Conference on robotics and automation (ICRA)

作者： C.X. Chen M.M. Trivedi C.R. Bidlack Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA Artificial Intelligence Laboratory College of Engineering University of Michigan Ann Arbor MI USA

The authors describe a simulation environment which can be of utility in the design, development, and operation of sensor-driven robotic systems. This environment incorporates the ability to simulate sensory inputs and their effects on the planning and control functions. A detailed design of the simulator is presented. The simulator is integrated within an entire robotic system, and is utilized for automatic robot programming. Alternatively, the simulated system operation flow can be controlled through either a teach mode or a program mode. Five sensing modalities can be simulated: proximity, point laser range, ultrasonic range, laser range depth imagery, and edge-based intensity imagery. The simulation and animation of a particular robot is described. The unique features of the simulator are that it simulates and utilizes sensory information feedback, it integrates planning and simulation, and it makes the switching between real and simulation mode in the robotic system transparent to the user.< >

关键词： Robot programming Visualization Robot sensing systems robotics and automation computational modeling Robot vision systems Automatic control Animation Computer simulation Software safety

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Experimental results with the dynamic urgency algorithm

Experimental results with the dynamic urgency algorithm

引用

IEEE international Conference on robotics and automation (ICRA)

作者： Y. Ghallab V. Hayward McGill University Research Center fór Intelligent Machines Montreal QUE Canada

Some experiments as well as some applications relative to an algorithm for collision prediction, the dynamic urgency algorithm (DUA), are presented. The purpose of the experiments is to gain some insight into the behavior of DUA and illustrate its validity. A brief explanation of the algorithm is presented, and the tests which have been made are described. A discussion of the results is presented. Comparing DUA to the full sorting algorithm where tau is calculated, a lower growth of the computational time (up to a ratio of 1:80) is noted, with in turn some erroneous alerts. On the other hand, the sequencing scheme seems to be efficient in 2/3 of the time for the prediction of the most urgent pair. Furthermore, comparing DUA to the full sorting algorithm where the distance function is calculated, it is confirmed that including the rate of change of the environment is more reliable as far as the belief of the most imminent pair is concerned.< >

关键词： Heuristic algorithms Monitoring Resource management Processor scheduling Testing Sampling methods Robot sensing systems Machine intelligence Prediction algorithms Costs

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Fuzzy proximity measures for robot grasp planning

Fuzzy proximity measures for robot grasp planning

引用

IEEE international symposium on Intelligent Control (ISIC)

作者： K. Sridharan H.E. Stephanou New York State Center for Advanced Technology in Automation and Robotics and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, identified sources of fuzziness, and proposed a fuzzy algorithm for multifingered prehension. These ideas are extended by assuming fuzziness in the object location and geometric hand configuration, computing information on proximity of the hand and object, analyzing the computational efficiencies, and indicating how geometric information can be used in the process of prehension. The implementation details are outlined. The computation is useful in grasp planning and in analyzing the local behavior of the robot hand in the vicinity of the object.< >

关键词： Robots robotics and automation Solid modeling Paper technology Systems engineering and theory Fuzzy systems Electric variables measurement Fingers Kinematics End effectors

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"Arnie P." - A Robot Golfing System Using Binocular And A Heuristic Feedback Mechanism

"Arnie P." - A Robot Golfing System Using Binocular And A He...

引用

Proceedings of the IEEE/RSJ international Conference on Intelligent Robots and Systems

This paper describes a robot vision golfing system. The Automated Robotic Navigational unit with Intelligent Eye and Putter (ARNIE P) τ project was initiated to investigate the problems and develop software solutions for robotic tasks that require good hand-eye coordination and an intelligent sensor feedback mechanism. This system has only one frame buffer and no specialized hardware, so quasi-real time 3D tracking is accomplished in software using the Unix Spline facility. The single frame buffer and digitizer, stores and retains the location of the ball from two separate cameras during the time interval between the golf ball initially crossing a trigger scan line and the ball coming to a complete stop. The most novel aspect of this study is that by attempting to build or model a difficult perceptory task such as golf, which requires integrating many complicated computational pieces (binocular stereo vision, robot arm motion, heuristic feedback, learning), it appears to be a good plarform to experiment with artificial intelligence techniques and robotics.

关键词： Feedback Robot kinematics Intelligent robots Artificial intelligence robotics and automation Robot vision systems Robot sensing systems Intelligent sensors Learning Humans

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Reactive behavior design tools

Reactive behavior design tools

引用

IEEE international symposium on Intelligent Control (ISIC)

作者： M. Bradakis T.C. Henderson J. Zachary Department of Computer Science University of Utah Salt Lake UT USA

The reactive behavior of an autonomous agent can be described as collections of logical behaviors, each member of the collection controlling some aspect of the agent and working in conjunction with all the other behaviors. Such collections of reactive behaviors can be defined as combined, synchronous finite-state automata, using real-time programming languages which have strong formal components. These language tools, such as COSPAN and ESTEREL, require sophisticated users who have deep knowledge of both the syntax and semantics of the language. The authors use the simplicity of graphical finite-state automata editing to specify concurrent synchronous finite-state automata, and from those they produce COSPAN descriptions of these behaviors for analysis, and C language programs to implement the designed behaviors. The usefulness and validity of this approach was confirmed by the design, verification and implementation of several examples, including a controller demon for a robot arm.< >

关键词： Autonomous agents Artificial intelligence Intelligent robots Formal verification Computer science Cities and towns Control systems Robust control Concrete robotics and automation

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