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Toward automatic robot instruction from perception - Mapping human grasps to manipulator grasps

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 1997年第1期13卷 81-95页

作者： Kang, SB Ikeuchi, K CARNEGIE MELLON UNIV SCH COMP SCI PITTSBURGH PA 15213 USA

Conventional methods for programming a robot either are inflexible or demand significant expertise, While the notion of automatic programming by high-level goal specification addresses these issues, the overwhelming complexity of planning manipulator grasps and paths remains a formidable obstacle to practical implementation, Our approach of programming a robot is by direct human demonstration, Our system observes a human performing the task, recognizes the human grasp, and maps it onto the manipulator, Using human actions to guide robot execution greatly reduces the planning complexity, Subsequent to recording the human task execution, temporal task segmentation is carried out to identify task breakpoints, This step facilitates human grasp recognition and object motion extraction for robot execution of the task, This paper describes how an observed human grasp can be mapped to that of a given general-purpose manipulator for task replication, Planning the manipulator grasp based upon the observed human grasp is done at two levels: the functional and physical levels, Initially, at the functional level, grasp mapping is achieved at the virtual finger level;the virtual finger is a group of fingers acting against an object surface in a similar manner, Subsequently, at the physical level, the geometric properties of the object and manipulator are considered in fine-tuning the manipulator grasp, Our work concentrates on power or enveloping grasps and the fingertip precision grasps, We conclude by showing an example of an entire programming cycle from human demonstration to robot execution.

关键词： automatic programming automatic robot instruction Education fine-tuning Fingers human grasp mapping human grasp recognition Humans learning (artificial intelligence) manipulator grasps manipulators motion control motion planning Orbital robotics Path planning pattern recognition physical level Robot programming Robotics and automation virtual finger level

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automatic generation of intelligent agent programs

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IEEE EXPERT-INTELLIGENT SYSTEMS & THEIR APPLICATIONS 1997年第1期12卷 3-4页

作者： Spector, L Hampshire College UK

One cause for excitement about agent oriented AI is the belief that it is easier to write programs for many narrow, autonomous systems than for fewer, broader, user-driven systems. A related cause for excitement is the primary message of these comments: it is also easier to automatically generate agent programs. The artificial life, machine learning, and automatic programming literature already describes many experiments in which systems with agent-like properties have been automatically generated. Although most of the previously generated systems have been too simple to perform helpful tasks for actual users, recent advances suggest that useful intelligent agents will soon be within reach of these techniques. The paper focuses on one particular technology, genetic programming, but related points should apply to other automatic programming technologies.

关键词： Intelligent agent Genetics Humans Artificial intelligence Educational institutions automatic testing programming profession automatic programming Transfer functions automatic control

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The engineering of complex distributed computer systems

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IEEE CONCURRENCY 1997年第4期5卷 30-31页

作者： ElRewini, H Halang, W FERNUNIVERSITAT HAGEN D-5800 HAGEN GERMANY

The technology issues leading to the formation of the IEEE Computer Society's Technical Committee on Complexity in Computing are briefly reviewed. The technical committee (TC) aims to develop the scientific and engineering field of complex computing systems to the point where users can rely on the dependability of the complex systems they construct. To meet this objective, the scope of the TC covers all methods appropriate to thoroughly understand, specify, design, implement, maintain, and assess critical properties of complex computing systems. Committee members envision creating system environments that will carry out critical functions and whose architectures intrinsically support rigorous verification techniques. This demand is radically new: during the last half century, speed, capacity, and throughput had exclusively dominated computer development; now, developers need to address the increasingly urgent problem of growing complexity by optimizing computer-system design towards mastering complexity.

关键词： Distributed Computing Computer Aided Manufacturing Aerospace Industry Humans Software Systems Internet Application Software automatic programming Information Technology Societies

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ROANS - intelligent simulation and programming system for robots and automated workcell

ROANS - intelligent simulation and programming system for ro...

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IEEE International Conference on Intelligent Engineering Systems (INES)

作者： P. Petruska J.N. Marcincin M. Doliak Department of Industrial Robotics Technical University of Kosice Presov Slovakia Fy Doliak Presov Slovakia

Computer is an essential tool for the design, animation, analysis and programming of robots and automated workcell. There are some general CAD products available for design, 3D animation and commercial presentation, but they are complex, run on workstations and require high capital expenditure. On the other hand, there are some special software which are unique PC based analytical and simulation programming systems (ROANS, SOMBAT, ROBCAD, KUSIM). The paper describes the ROANS software which is often used for the development of automated cells, kinematic and dynamic analysis, programming, simulation and monitoring, and communication with the robots.

关键词： Intelligent robots Robot programming Robotics and automation Animation automatic programming Analytical models Dynamic programming Computational modeling Design automation Product design

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ATME: a parallel programming environment for applications with conditional task attributes

ATME: a parallel programming environment for applications wi...

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IEEE International Conference on Algorithms and Architectures for Parallel Processing (ICAP)

作者： Lin Huang M.J. Oudshoorn Department of Computer Science University of Adelaide Adelaide SA Australia

Parallel applications with inconstant usage patterns presents a big challenge to programmers in that the spawning of tasks and the communication between them may be conditional (named "conditional parallel programming"). Ideally, the programmer should not be burdened by operational issues which have little relationship to the application itself. This paper proposes a new parallel programming environment, ATME, to automate task scheduling in conditional parallel programming. By adaptively producing accurate estimates of the task model prior to execution, ATME modifies task distribution to improve the system and application performance.

关键词： Parallel programming Application software Processor scheduling Runtime programming profession Scheduling algorithm Computational modeling Computer science Distributed computing automatic programming

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Supporting unbounded process parallelism in the SPC programming model

Supporting unbounded process parallelism in the SPC programm...

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International Conference on High Performance Computing

作者： A.J.C. van Gemund Department of Electrical Engineering Delft University of Technnology Delft Netherlands

In automatic mapping of parallel programs to target parallel machines the efficiency of the compile-time cost estimation needed to steer the optimization process is highly dependent on the choice of programming model. Recently a new parallel programming model, called SPC, has been introduced that specifically aims at the efficient computation of reliable cost estimates, paving the way for automatic mapping. In SPC all algorithm level parallelism is explicitly specified, relying on compile-time transformation of the possibly unbounded algorithm level (data) parallelism to that of the actual target machine. In this paper we present SPC's process-algebraic framework in terms of which we demonstrate that the transformations needed to efficiently support unbounded process parallelism at program level are straightforward.

关键词： Parallel programming Parallel processing automatic programming Cost function Computational efficiency Concurrent computing Parallel languages Pipeline processing High performance computing Prediction methods

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Symbols facilitate programming of industrial robots

Symbols facilitate programming of industrial robots

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IEEE International Conference on Robotics and Automation (ICRA)

作者： D. Zuhlke F. Mobius C. Schroder Institute for Production Automation University of Kaiserslautern Kaiserslautern Germany

In recent years only large scale enterprises have applied industrial robots, but with decreasing prime cost their application is getting more and more interesting for medium sized companies. But the cost of programming is still comparatively high: The huge variety of different manufacturer-dependent and complex offline-programming tools require high-qualified personnel for the whole process of software development. Furthermore most of the text-oriented programming systems lack user-friendly interfaces and the graphic-supported systems with simulation tools and CAD-data interfaces are still too expensive. Due to these reasons, the Institute for Production Automation at the University of Kaiserslautern developed a new offline programming tool for industrial robots, based on the technique of visual programming. The advantages of this technique is already used in a lot of software applications and is offering a good support especially for non-experts. With the help of this tool, called ROBICON, the user is able to design, build and document any robot program in any code, by using graphical symbols. The knowledge of a textual programming language is not necessary anymore.

关键词： Robot programming Service robots Manufacturing industries Costs Application software Robotics and automation automatic programming Large-scale systems Companies Manufacturing processes

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Detection of epileptic events using genetic programming

Detection of epileptic events using genetic programming

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： B. Marchesi A.L. Stelle H.S. Lopes Paraná Federal Center for Technological Education Curitiba Parana Brazil

This paper presents a method using genetic programming for automatic detection of 3 Hz spike-and-slow-wave complexes, that are a characteristic of typical absences, in electroencephalogram (EEG) signals. Training features are extracted from 1s EEG frames, randomly chosen from pre-recorded files. The frames are visually classified as spike-and-slow-wave complexes (SASWC) or non-spike-and-slow-wave complexes (NSASWC). Genetic programming techniques are then applied to these data to build a program capable of recognizing such complexes.

关键词： Event detection Epilepsy Genetic programming Electroencephalography Diseases Genetic algorithms automatic programming Feature extraction Data mining Signal processing

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A three-dimensional machine-vision approach for automatic robot programming

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Journal of Intelligent & Robotic Systems 1995年第1期12卷 23-48页

作者： Tsai, Du-Ming Department of Industrial Engineering Yuan-Ze Institute of Technology 135 Yuan-Tung Road Nei-Li Chung-Li Tao-Yuan Shan Taiwan

This research investigates a novel robot-programming approach that applies machine-vision techniques to generate a robot program automatically. The hand motions of a demonstrator are initially recorded as a long sequence of images using two CCD cameras. Machine-vision techniques are then used to recognize the hand motions in three-dimensional space including open, closed, grasp, release and move. The individual hand feature and its corresponding hand position in each sample image is translated to robot's manipulator-level instructions. Finally a robot plays back the task using the automatically generated program. A robot can imitate the hand motions demonstrated by a human master using the proposed machine-vision approach. Compared with the traditional leadthrough and structural programming-language methods, the robot's user will not have to physically move the robot arm through the desired motion sequence and learn complicated robot-programming languages. The approach is currently focused on the classification of hand features and motions of a human arm and, therefore, is restricted to simple pick-and-place applications. Only one arm of the human master can be presented in the image scene, and the master must not wear long-sleeved clothes during demonstration to prevent false identification. Analysis and classification of hand motions in a long sequence of images are time-consuming. The automatic robot programming currently developed is performed off-line. © 1995 Kluwer Academic Publishers.

关键词： 3D hand-motion analysis automatic programming machine vision Robot programming

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Change detection for aggregate objects with aliasing

Change detection for aggregate objects with aliasing

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Australian Conference on Software Engineering

作者： J. Noble J. Potter MRI School of MPCE Macquarie University Sydney Australia

Object oriented systems often need to detect when objects have changed. Due to aggregation and aliasing, programmers must explicitly identify changes to objects in most object oriented systems. We describe a program monitoring technique which takes account of aggregation and aliasing, and which can be used to detect changes automatically. automatic change detection can simplify programming and design, so producing more reliable systems with less effort.

关键词： Object detection Aggregates User interfaces Object oriented programming Relational databases Visualization Magnetic resonance imaging Computerized monitoring automatic programming Displays

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