This paper presents an approach for designing robust tracking controller for lumped mass model of a vibrating link (VL) robot manipulator. The control methodology is intuitively simple since it is based on concepts wh...
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We propose a new interprocessor communication network, named the Segmented Bus, for multiprocessor message passing computer architectures executing groups of processes with localized communication patterns and time va...
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A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, ...
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A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, typically edge-element-based, primitive for stereo analysis and to their use of a single-level control strategy. The multi-primitive hierarchical (MPH) framework for stereo analysis presented is directed toward overcoming these deficiencies. In the MPH model, stereo analysis is performed in multiple stages, incorporating multiple primitives and utilizing a hierarchical control strategy. The higher levels of the hierarchical system are based on primitives containing more semantic information, and the results of stereo analysis at higher levels are used for guidance at the lower levels. It is shown that such a stereo system is superior to a single-level, single-primitive system.< >
We present a canonical frame construction for determining projectively invariant indexing functions for non-algebraic smooth plane curves. These invariants are semi-local rather than global, which promotes tolerance t...
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In this paper we develop a framework for integrating real-Time software modules that comprise a reconfigurable multi-sensor based system. Our framework is based on the proposed concept of a global database of state in...
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The authors discuss active tactile sensing for detecting a contact point between a multifingered robot hand and an unknown object. They define the concept of actively sensible meaning that an active sensing motion can...
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The authors discuss active tactile sensing for detecting a contact point between a multifingered robot hand and an unknown object. They define the concept of actively sensible meaning that an active sensing motion can be planned for a sensing event. Assuming more than two sensing events, conditional-minimum-external-sensor-realization is defined, where it is shown that it is possible to reduce the number of external sensors with a well-planned sensing algorithm. Based on these definitions, an active sensing algorithm for detecting the contact point with minimum-external-sensor-realization is proposed. This approach remedies several disadvantages found in conventional approaches. The approach was tested through experiments using a single-finger model with a fingertip tactile sensor.< >
Recognising a curved surface from its outline in a single view is a major open problem in computer vision. This paper shows techniques for recognising a significant class of surfaces from a single perspective view. Th...
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A technique for the calibration of an active camera system is presented. The calibration of manipulator, camera-to-manipulator, camera, and base-to-world is treated in a unified and elegant way. In this approach, the ...
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