检索结果-内蒙古大学图书馆

International Electron Devices Meeting (IEDM)

作者： K. Suzuki K. Najafi K.D. Wise Sensor Research Laboratory Microelectronics Research Laboratories NEC Corporation Limited Kanagawa Japan Center of Integrated Sensors and Circuits Solid-State Electronics Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

A 32-*32-element capacitive silicon tactile imager has been developed for use in precision robotics applications where high density and high resolution are important. The silicon chip measures 1.8 cm*1.7 cm and is organized in an X-Y matrix of 1024 capacitor elements on 0.5-mm centers. The process uses two boron diffusions (deep and shallow) followed by a silicon-to-glass electrostatic bonding step and subsequent unmasked wafer dissolution. This results in a thick center plate for the sense capacitor supported by thinner beams. A data acquisition system used with the device offers over 7-bit force resolution with a maximum operating force of about 1 gm/element.< >

关键词： Silicon Capacitors Robots Image resolution Electrostatic measurements Semiconductor device measurement Boron Diffusion bonding Wafer bonding Data acquisition

来源：评论

学校读者我要写书评

暂无评论

PAR - A CSG-BASED UNIQUE REPRESENTATION SCHEME FOR ROTATIONAL PARTS

引用

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS 1987年第6期17卷 1039-1049页

作者： LEE, YC JEA, KFJ Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI 48109

PAR (principal axis representation) for rotational parts (i.e., solids of revolution) is proposed as an internal representation scheme for constructive solid geometry (CSG). They key idea of PAR is to represent an object uniquely by its principal axis and a set of boundary curves. Since PAR is in an evaluated form, geometrical properties of parts can be computed more directly and efficiently from this evaluated representation than from the original CSG tree. The scheme is described, and operations (e.g. union) on PARs are defined. The uniqueness of the scheme is proved. An algorithm that converts a CSG representation into PAR is presented along with examples. The equivalence of PAR to the CSG scheme for rotational parts is proved.

关键词： Feature extraction Solids Geometry Syntactics Task analysis Solid modeling Pattern recognition

来源：评论

学校读者我要写书评

暂无评论

Computational themes in applications of visual perception

Computational themes in applications of visual perception

引用

AIAA/NASA/USAF 2nd Symposium on Automation, robotics and Advanced Computing for the National Space Program,1987

作者： Jain, Ramesh Schunck, Brian G. Weymouth, Terry Computer Vision Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48109-2122 United States

The paper summarizes the current research in the computer vision research laboratory at the University of Michigan. The laboratory concentrates on developing generic vision algorithms for industrial applications. Generic vision algorithms can be applied to a wide variety of inspection problems. The paper includes a discussion of the current state of the machine vision industry and provides recommendations for improving the transfer of vision technology from research to practice. according to applications areas. There are no automotive vision algorithms or aerospace vision algorithms;vision algorithms are not specific to any one industry. vision algorithms are defined by the properties of the vision processing task;that is, in terms that depend on the vision processing itself, rather than on some intended use for the algorithm. © 1987 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： computer vision

来源：评论

学校读者我要写书评

暂无评论

New concepts in tele-autonomous systems

New concepts in tele-autonomous systems

引用

AIAA/NASA/USAF 2nd Symposium on Automation, robotics and Advanced Computing for the National Space Program,1987

作者： Conway, Lynn Volz, Richard Walker, Michael Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48109 United States

We have taken up the challenge of integrating telemanipulation technology and autonomous system technology. We are seeking methods for integration at a fundamental rather than an ad-hoc level. We believe that success in this effort can open up new space and defense applications now beyond reach of either technology alone. In our presentation at this symposium, we introduce a series of concepts for "tele-autonomous" systems. The concepts involve new system architectures and associated new system interface controls including "time clutches", "position clutches" and "time brakes". Taken, together, the concepts enable effective, efficient intermingling of real-time cognition and manipulation tasks performed by either humans or machines. The concepts also yield simple mechanisms and protocols for handoffs of such tasks between multiple agents. In this presentation we focus primarily on the tutorial introduction of the basic tele-automation concepts. We then briefly describe our environment for exploring this new technology and the results of our initial experiments. Further details concerning tele-autonomous system architecture and our initial experimental results can be found in an attached reference [CON87]. © 1987 by the American institute of Aeronautics and Astronautics, Inc.

关键词： computer architecture

来源：评论

学校读者我要写书评

暂无评论

Decentralized adaptive control of robot manipulators

Decentralized adaptive control of robot manipulators

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： D. Gavel T. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA

A decentralized adaptive control scheme is presented for multilink robot arms. The structure of dynamic and force interactions in the robot arm allows local high gain feedback control to stabilize the overall system, and cause the arm to track reference trajectories to any accuracy desired. The adaptive law is locally stable with an attractive set that is adjustable a-priori using minimal knowledge of robot parameters. Robot manipulators control using decentralized approach is highly desirable in that it facilitates real-time implementation.

关键词： Adaptive control Control systems Robot control Manipulator dynamics Distributed control Programmable control Feedback Performance gain Torque control Laboratories

来源：评论

学校读者我要写书评

暂无评论

Tele-autonomous systems: Methods and architectures for intermingling autonomous and telerobotic technology

Tele-autonomous systems: Methods and architectures for inter...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： L. Conway R. Volz M. Walker Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Michigan

As a result of recent advances in artificial intelligence, human cognitive modelling, autonomous systems and telerobotics, there is an opportunity to broaden our concepts of technology for projecting action at a distance. We draw on these advances to develop a conceptual and architectural framework that enables efficient projection in time and space of intermingled manipulation and cognition tasks. Where AI-based autonomous systems have previously been concerned with human supervisory intervention primarily at a cognitive level, we add methods for rendezvous, capture and rehandoff of embedded manipulation tasks. Where telerobotics has been concerned with the projection of sensory-motor manipulation, we add the projection of cognitive processing. Thus extended, the two technologies mirror one another and merge into one of "tele-autonomous systems". We introduce notions of how the sensory, cognitive and motor functions of tele-autonomous systems can be factored and transferred back and forth between human and machine. We illustrate how the times to complete tele-autonomous tasks can be reduced through time and space constraint relaxations effected through simple controls: We employ the concepts of forward simulation and predictor display, augmented by "time and position clutches", "time ratio controls" and "time brakes", to control the resulting manipulation paths and event transitions. We sketch some generic architectural and human interface implications of these methods. Finally, we describe our environment for exploring these methods and the results of some recent experiments.

关键词： Telerobotics Humans Space technology Artificial intelligence Cognition Mirrors Time factors Predictive models Discrete event simulation Displays

来源：评论

学校读者我要写书评

暂无评论

On a simplified joint controller design for robot manipulators

On a simplified joint controller design for robot manipulato...

引用

IEEE Conference on Decision and Control

作者： T. C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

A simple controller design approach is introduced which provides linear decoupled joint motion control for a robot manipulator. The main idea is to treat each joint as a simple second order linear system with all the nonlinear and coupling effects viewed as disturbance. By employing a simple disturbance estimation/rejection procedure, highly robust independent joint control can be achieved.

关键词： Robot control Manipulators Torque control Robust control Couplings Force control Gravity Motion control Uncertainty computer simulation

来源：评论

学校读者我要写书评

暂无评论

Range image segmentation and surface parameter extraction for 3-D object recognition of industrial parts

Range image segmentation and surface parameter extraction fo...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Joonhee Han R. Volz T. Mudge Department of Electrical Engineering and Computer Science Robotics Research Laboratory The University of Michigan Ann Arbor MI

This paper addresses the problem of extracting certain types of surfaces for 3-dimensional object recognition in the presence of partial occlusion and noise using range information. We restrict consideration to man made industrial parts. In this case, we need only work with a small set of surface shapes such as planes, cylinders, and spheres since such shapes are common in industrial parts and it is only necessary to recognize and locate a sufficient set of surface regions to uniquely distinguish the part being observed from all others that might be present. We describe a way of extracting the parameters of these types of surfaces using normal analysis. The use of surface parameters then allows efficient and robust use of a matching process for object recognition and pose determination even though there are many undefined or occluded surface regions.

关键词： Image segmentation Parameter extraction Object recognition Shape Surface reconstruction Noise shaping Eigenvalues and eigenfunctions computer industry Equations Image analysis

来源：评论

学校读者我要写书评

暂无评论

PAR: A representation scheme for rotational parts

PAR: A representation scheme for rotational parts

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yung-Chia Lee K. Jea The Robotics Research Laboratory Department of Electrical Engineering and Computer Science The University of Michigan Ann Arbor MI

A new representation scheme PAR (Principal Axis Representation) for rotational parts is proposed as an internal representation scheme for Constructive Solid Geometry (CSG). The main idea of PAR is to represent uniquely an object by its principal axis and a set of boundary curves so that geometrical properties of the part can be easily computed. In his paper, the PAR scheme is first described and followed by a proof of its equivalence to the CSG scheme. Also proved is the uniqueness of the PAR scheme. Finally, an algorithm that converts a CGS representation into PAR is briefly discussed along with examples.

关键词： Feature extraction Shape Lifting equipment Robots Laboratories Computational geometry Virtual manufacturing Solid modeling computer displays Pattern recognition

来源：评论

学校读者我要写书评

暂无评论

Task oriented optimal grasping by multifingered robot hands

Task oriented optimal grasping by multifingered robot hands

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Zexiang Li S. Sastry Electronics Research Laboratory and Department of Electrical Engineering & Computer Sciences University of California Berkeley CA

We discuss the problem of optimal grasping to an object by a multifingered robot hand. We axiomatize using screw theory and elementary differential geometry the concept of a grasp and characterize its stability. Three quality measures for evaluating a grasp are then proposed. The last quality measure is task oriented and needs the development of a procedure for modeling tasks as ellipsoids in the wrench space of the object. Numerical computations of these quality measures and the selection of an optimal grasp are addressed in detail. Several examples are given using these quality measures to show that they are consistent with human grasping experience.

关键词： Grasping Humans Volume measurement Fasteners Stability Service robots Computational geometry Grippers Shape Software performance

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：