Issues concerning the effective integration of multiple sensors into the operation of intelligent systems are presented, and a description of some of the general paradigms and methodologies that address this problem i...
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In this paper, the usefulness of applying the complex as well as ordinary moment features for similar object recognition using a tactile array sensor has been explored. Some complex moment invariants have been derived...
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The objective of this paper is to describe some of the intermediate results on the 3-D curved object recognition and verification using 3-D range data. A representation of a 3-D curved object is extracted from a compl...
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An architectural model is proposed for intelligent robotic systems (IRSs). Specific hardware mechanisms are described for the organization and coordination levels using microprocessor-based and discrete logic design t...
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An architectural model is proposed for intelligent robotic systems (IRSs). Specific hardware mechanisms are described for the organization and coordination levels using microprocessor-based and discrete logic design techniques. The overall system is modeled as a loosely coupled parallel distributed processing system which is shown to preserve the hierarchical structure and the principle of increasing intelligence with decreasing precision. Modifications can be performed within one or more of the subsystems without violation of the overall system structure. In addition, the scheme provides flexibility, incorporating functionality for various application domains without modifications of the configuration of the overall IRS. Intensive calculations are distributed among different parts of the machine, resulting in higher performance.< >
A robotically assisted field material handling system designed for loading and unloading of a planar pallet with a forklift in unstructured field environment is'presented The system uses combined acoustic/visual s...
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Much of the emphasis in computer vision research has been on recognizing objects. However, in order to perform tasks such as manipulating and avoiding collisions with objects, one needs to consider how to derive appro...
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Much of the emphasis in computer vision research has been on recognizing objects. However, in order to perform tasks such as manipulating and avoiding collisions with objects, one needs to consider how to derive appropriate three-dimensional descriptions of objects from available sensor data. A description is given of a computational approach that has been successful in deriving renditions of shaded images in terms of volumetric primitives such as ellipsoids and cylinders.< >
An approach is presented for the design of simple robust independent joint controllers which result in linear decoupled joint motions. In this approach each joint is treated as a simple inertial systems plus a disturb...
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An approach is presented for the design of simple robust independent joint controllers which result in linear decoupled joint motions. In this approach each joint is treated as a simple inertial systems plus a disturbance torque representing all the unmodeled dynamics. By means of a very simple procedure, the disturbance is instantly estimated and rejected, thus allowing simple PD control to be used. The controllers are inherently robust. Experimental evaluations of the controller on a PUMA 560 are are performed, and the experimental results are presented.< >
Orientation selection is the inference of orientation information out of images. It is one of the foundations on which other visual structures are built, since it must precede the formation of contours out of pointill...
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Orientation selection is the inference of orientation information out of images. It is one of the foundations on which other visual structures are built, since it must precede the formation of contours out of pointillist data and surfaces out of surface markings. We take a differential geometric view in defining orientation selection and develop algorithms for actually doing it. The goal of these algorithms is formulated in mathematical terms as the inference of a vector field of tangents (to the contours), and the algorithms are studied in both abstract and computational forms. They are formulated as matching problems, and algorithms for solving them are reduced to biologically plausible terms. We show that two different matching problems are necessary, the first for 1-dimensional contours (which we refer to as Type I processes) and the second for 2-dimensional flows (or Type II processes).
A novel method is presented for grouping range image regions such that each group of regions represents a meaningful part of an object. The set of regions, defined as a convex region set (CRS), is obtained by analyzin...
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A novel method is presented for grouping range image regions such that each group of regions represents a meaningful part of an object. The set of regions, defined as a convex region set (CRS), is obtained by analyzing the boundary types between a pair of regions. The boundary types are classified as convex, concave and jump boundaries. If two regions share a convex boundary it is assumed that they are inseparable regions, thus describing the same part (object). The CRSs are determined by a region boundary graph (RBG) which is defined as a graph whose nodes represent regions, and the edges represent boundaries: convex and concave. Since jump boundaries represent no physical contact in 3-D, they are represented as null edges. A CRS is defined as a set of regions (or nodes in an RBG) such that for each pair of regions in the set, there is a path, which is represented only by convex edges. The physical interpretation is that a CRS represents part of an object such that the regions in the set cannot be separated.< >
A novel algorithm is described for the adaptive control of a robot manipulator which may contain closed kinematic loops. The algorithm identifies the mass properties of each link and the viscous friction coefficients ...
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A novel algorithm is described for the adaptive control of a robot manipulator which may contain closed kinematic loops. The algorithm identifies the mass properties of each link and the viscous friction coefficients for each joint of the manipulator. It is similar to the Newton-Euler inverse dynamics algorithm and hence obtains its computational efficiency through the recursive nature of the algorithm.< >
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