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

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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automatic Robot programming

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IFAC Proceedings Volumes 1983年第20期16卷 273-282页

作者： J.C. Latombe Imag BP No 68 38402 Saint-Martin d’Heres Cedex France

Industrial robots require more and more advanced programming tools. After “teaching by showing” techniques, manipulator-level programming languages for describing tasks by sequences of robot operations have emerged, and they to-day become widespread in industry. However, writting manipulatorlevel programs is not easy. This difficulty arises the need for higher level languages, called task-level languages, for describing assembly tasks as sequences of goal spatial relationships between objects. Translating such a description into a manipulator-level program requires to solve three main problems: grasp planning, path planning, and fine notion planning. This paper surveys recent progress toward solving these problems. Task-level languages may deeply transform the way we will program robots in the future, and they contribute to better CAD/CAM integration.

关键词： Robot programming automatic programming robot languages automatic mechanical assembly

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automatic rapid programming of large arrays of floating-gate elements

Automatic rapid programming of large arrays of floating-gate...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： G. Serrano P.D. Smith H.J. Lo R. Chawla T.S. Hall C.M. Twigg P. Hasler Department of Electrical Engineering Georgia Institute of Technology Atlanta GA USA

The use of floating-gate elements on analog circuits has increased over the last few years. Floating-gate transistors are been used for analog multiplication, memory storage, on-chip bias, offset removals, etc. Complex systems, such as imagers and filter arrays, use thousands to millions of programmable floating-gate elements. The programming speed and precision of these elements plays a major role on the performance of these systems. In this paper we present a system approach that allows for automatic rapid programming of large arrays of floating-gates. We achieve this by optimizing all the time consuming tasks involved in the programming, such as current measurements and drain pulsing among others.

关键词： automatic programming Voltage Nonvolatile memory MOSFETs Electrons Field programmable gate arrays Current measurement EPROM Tunneling Pulse measurements

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CAD-based feature-utility measures for automatic vision programming

CAD-based feature-utility measures for automatic vision prog...

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Workshop on Directions in Automated CAD-Based Vision

作者： Chien-Huei Chen P.G. Mulgaonkar SRI International Inc. Menlo Park CA USA

Three feature-utility measures-detectability, reliability, and error rate-are defined and related to the execution time of a vision program. Using a realistic vision task as a scenario, the authors show how the utility measures can be used to automatically generate the most efficient vision programs. They also present the experimental result of estimating the feature-utility measures using synthetic images rendered from CAD models. The discrepancy between the estimated utility measures obtained from CAD-rendered images and from real training images suggests that one must be cautious in constructing CAD-based vision systems.< >

关键词： automatic programming Image recognition Costs Machine vision Utility programs programming profession Predictive models Time measurement Rendering (computer graphics) Feature extraction

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An automatic Triangulation programming Using Matlab

An Automatic Triangulation Programming Using Matlab

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Asia-Pacific Conf on (CICC-ITOE) Innovative Computing and Communication, Intl Conf on and Information Technology and Ocean Engineering

作者： Yingyi Li Liwei Xu Jing Zhu Communication and Electronic Engineering Institute Qiqihar University Qiqihar China Science College Qiqihar University Qiqihar China

In this paper, a method of automatic triangulation in FEM using Matlab is discussed, the detailed idea and segmental key codes are also given.

关键词： automatic programming Underwater communication Electronic mail Mathematical model Differential equations Information technology Oceans Educational institutions Finite element methods Partial differential equations

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Feature-utility measures for automatic vision programming

Feature-utility measures for automatic vision programming

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IEEE International Conference on Robotics and Automation (ICRA)

作者： C.-H. Chen P.G. Mulgaonkar SRI International Inc. Menlo Park CA USA

Three utility measures that can be used to judge the effectiveness of features in a model-based matching strategy are defined: detectability, reliability, and error rate. With the probability framework, it is shown how it is possible to analytically estimate the reliability of a hypothesis using the measures of the individual features. Based on these measures, the authors have formulated and experimentally verified the matching cost (expressed as execution time) of locating an instance of a model in an image. An algorithm is presented for the selection of optimal seed features of the model using the estimated cost of criterion.< >

关键词： automatic programming Costs Time measurement Machine vision programming profession Feature extraction Predictive models Image recognition Construction industry Object recognition

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automatic parallel programming using the descartes specification language

Automatic parallel programming using the descartes specifica...

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International Conference on Information and Communication Systems (ICICS)

作者： Nina Sakhnini Venkata N. Inukollu Joseph E. Urban Computer Engineering Jordan Uni. of Science and Tech Irbid Jordan School of Science and Computer University of Houston Clear Lake TX USA Arizona State University Tempe AZ USA

ISBN: (纸本)9781467386159

automatic programming can be defined as developing software in a high abstraction level. The definition of automatic programming is not precise because what is meant by automatic programming is changing over time. The goal of automatic programming has the programmer set the specifications of a program and the computer generate the source code of that program. There exists a group of specification languages that vary in their properties; the Descartes specification language is known to be comprehensible and easily constructible. Descartes represents the specifications by defining a system's inputs and outputs, as well as the relationship between these as functions. Descartes has been extended to support concurrent systems. These features made Descartes to be a good basis to build this research effort on. This research effort studied automatic programming approaches and created a shortcut between specifications and implementation with all its benefits. This research created a way to transform Descartes specifications into C source code automatically. automatic programming can apply to all fields of knowledge that can be automated; therefore, the scope of this research project was restricted to a few case studies that involve parallel programming.

关键词： automatic programming Specification languages Parallel programming Software Computers Communication systems

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Program analysis for the automatic detection of programming plans applying slicing

Program analysis for the automatic detection of programming ...

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(CSMR) European Conference on Software Maintenance and Reengineering

作者： G. Villavicencio AV. Alsina y Dalmacio Velez Sarsfield Catholic University of Santiago del Estero Santiago del Estero Argentina

ISBN: (纸本)0769510280

The construction of plan libraries as a repository for automatic understanding systems is almost a mystery. So far, there have been no reports that describe a technique for accomplishing program analysis for the construction of programming plan libraries. The paper presents a technique based on the automatic comparison of slices. It permits the analyst to focus his attention on a meaningful code for the design of program plans. The results obtained until now confirm the feasibility of the approach, and lead to strengthening of the practical application of the planning libraries in the maintenance and re-engineering process.

关键词： automatic programming programming profession Software libraries Application software Software systems Debugging Analytical models Storage automation Tail Filters

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On-line automatic robot programming: A case study in grasping

On-line automatic robot programming: A case study in graspin...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： J. Pertin-Troccaz LIFIA Laboratory Saint Martin dHeres France

Despite much research in the field, the use of automatic robot programming systems is still a long term issue; it is the reason why we think that, right now, we have to use the methodology supplied by this research to develop object level on-line robot programming tools. Moreover, we think that some accessibility problems which automatic robot programming addresses might be solved a better way in a sensor based approach. In this paper, we focus on the problem of accessibility analysis for automatic grasping. The problem is to choose a goal configuration and a safe path for a 3D object moving bi-dimensionally among 3D obstacles. We propose an approach relying on a bidimensional geometric reasoning; our approach consists in discretizing the space swept by the gripper using a set of parallel planes. Then, an accessibility analysis using the Configuration Space approach is performed in each of these planes and local constraints are transformed in constraints on the motion of the whole gripper. In this paper, we describe this approach and the work in progress for using visual data in building a model of the empty space.

关键词： Robot programming Grippers Path planning Robotic assembly Computer aided software engineering Laboratories Performance analysis Motion analysis Uncertainty automatic programming

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MARO: Enabling Full MPI automatic Refactoring in DSL-Based programming Framework 24th

MARO: Enabling Full MPI Automatic Refactoring in DSL-Based ...

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24th International Conference on Algorithms and Architectures for Parallel Processing, ICA3PP 2024

作者： Lei, Tong Chen, Zongjing Che, Yonggang Xu, Chuanfu Laboratory of Digitizing Software for Frontier Equipment National University of Defense Technology Changsha410073 China National Key Laboratory of Parallel and Distributed Computing College of Computer Science and Technology National University of Defense Technology Changsha410073 China

ISBN: (纸本)9789819615445

Currently, the landscape of computer hardware architecture presents the characteristics of heterogeneity and diversity, prompting widespread attention to cross-platform portable parallel programming techniques. Most existing portable programming approaches adopt the "MPI+X" strategy, focusing mainly on node-level "X" parallelism, while inter-node parallelization still relies on manual MPI programming. OP2 is a domain-specific language-based portable parallel programming framework for unstructured mesh applications that supports the automatic generation of MPI parallel code. However, programmers must manually write pre-processing code during code refactoring, such as handling the mapping relationship between global and process-local variables and the initial distribution of process-local data. In this paper, we propose MARO (MPI automatic Refactoring for OP2), an automatic refactoring method for generating pre-processing code targeting MPI code generation within the OP2 programming framework for unstructured mesh applications. This method automatically generates the pre-processing code required for MPI parallelism through the source-to-source translator, enabling OP2 to generate MPI parallel code without requiring users to write MPI-related code manually. We compare the automatically refactored OP2 applications using the proposed method with those manually refactored to validate its effectiveness. The proposed method enhances OP2’s automatic parallel code generation capability, enabling it to achieve fully automatic MPI parallelization. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： automatic programming

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