Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site contro...
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Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site control program development. These requirements arise because current robotic systems do not have an understanding of the robot task environment. Further, these systems are not able to react intelligently to non-deterministic events which occur during task execution. This paper examines the nature of understanding and its use to resolve uncertainty as it relates to robot task execution. Then a research plan which is aimed at the systematic incorporation of understanding into the robot task environment is outlined.
A new type of tactile sensor is introduced for either robotics [1] or prosthetic applications. The sensor, made by IC microfabrication techniques, detects displacement of a shielding plate which alters the mutual capa...
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A new type of tactile sensor is introduced for either robotics [1] or prosthetic applications. The sensor, made by IC microfabrication techniques, detects displacement of a shielding plate which alters the mutual capacitance between two electrodes. Both normal and shear sensitivity are obtained, and a 16% change of capacitance is produced by a normal stress of 5 gw/cm 2 . Torque sensitivity can also be expected.
Shading correction of image sensors is a very important operation in visual inspection applications. The generation and application of shading correction with and without imaging system response linearization is discu...
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Shading correction of image sensors is a very important operation in visual inspection applications. The generation and application of shading correction with and without imaging system response linearization is discussed and demonstrated. The linearization is achieved by subtracting the dark current image and by applying a lookup table operation. The content of the lookup table is obtained by fitting an analytical function to the measured system response. The linearization enables the shading correction to be a linear operation. The quality of the linearization and the shading correction was evaluated using statistical parameters of the processed images. The results showed a substantial decrease in the standard deviation of the gray level distribution of uniform reference images.
An automated system for detecting Osteogenesis Imperfecta (OI), an inheritable disorder of human connective tissue, is described. The approach is one of texture analysis, founded on standard statistical recognition of...
An automated system for detecting Osteogenesis Imperfecta (OI), an inheritable disorder of human connective tissue, is described. The approach is one of texture analysis, founded on standard statistical recognition of co-occurrence-based texture descriptors. Our contribution is to show that texture descriptors derived from gray-level co-occurrence matrices can be used in conjunction with descriptors derived from generalized co-occurrence matrices of local image features to increase performance. In fact, for the OI problem, our system demonstrates a level of performance which is significantly better than that of medical specialists.
The dynamic performance of computer-controlled manipulators is directly linked to the formulation of the dynamic model of manipulators and its corresponding control law. Several approaches are available in formulating...
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The dynamic performance of computer-controlled manipulators is directly linked to the formulation of the dynamic model of manipulators and its corresponding control law. Several approaches are available in formulating the dynamic models of mechanical manipulators and most notably of these are the Lagrange-Euler and the Newton-Euler formulations. This paper describes an efficient position plus derivative control in joint space for a PUMA robot arm whose dynamic equations of motion are formulated by the Newton-Euler method. The controller compensates the inertia loading, the nonlinear coupling reaction forces between joints and the gravity loading effects. Using a PDP 11-/45 computer the controller equation can be computed in 3 ms which is sufficient for real-time control. computer simulation of the performance of the control law is included for discussion.
Co-occurrence matrices are a popular representation for the texture in images. They contain a count of the number of times that a given feature (e.g., a given gray level) occurs in a particular spatial relation to ano...
Co-occurrence matrices are a popular representation for the texture in images. They contain a count of the number of times that a given feature (e.g., a given gray level) occurs in a particular spatial relation to another given feature. However, because of the large number of spatial relations that are possible within an image, heuristic or interactive techniques have usually been employed to select the relation to use for each problem. In this paper we present a statistical approach to finding those spatial (or other) relations that best capture the structure of textures when the co-occurrence matrix representation is used. These matrices should thus be well suited for discriminations that are structurally based.
There are two different sources of information in relaxation labeling processes: the initial certainty factors of the labels and the compatibility coefficients. In this paper we examine two ways in which the compatibi...
There are two different sources of information in relaxation labeling processes: the initial certainty factors of the labels and the compatibility coefficients. In this paper we examine two ways in which the compatibility coefficients influence the fixed point achieved: (1) we demonstrate how the coefficients can bias the process toward the instantiation of a subset of the labels, and (2) we show how the coefficients precisely define the set of possible fixed points. We also indicate how eigenanalysis of the derivative of a relaxation labeling process at a fixed point can be used to study the stability of the fixed point. Finally, we present an empirical comparison of two statistical interpretations of the compatibility coefficients.
Within two years, both the required algorithmic competence and the necessary integrated circuit technology will have been developed to a point where practical personal reading machines for the blind will be possible. ...
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Within two years, both the required algorithmic competence and the necessary integrated circuit technology will have been developed to a point where practical personal reading machines for the blind will be possible. In this paper, the linguistic and phonetic principles needed to convert optically recognized text to speech are discussed, and it is shown how they mirror the human cognitive ability to read aloud. A perspective on the current status and rate of progress of large scale integration technology is then used to show that economical implementations of even complex text-to-speech algorithms can be realized in the short-term future. Finally, a view of important human factors problems requiring attention is given.
The four-volume set LNCS 7724--7727 constitutes the thoroughly refereed post-conference proceedings of the 11th Asian Conference on computervision, ACCV 2012, held in Daejeon, Korea, in November 2012. The total of 22...
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ISBN:
(数字)9783642373312
ISBN:
(纸本)9783642373305
The four-volume set LNCS 7724--7727 constitutes the thoroughly refereed post-conference proceedings of the 11th Asian Conference on computervision, ACCV 2012, held in Daejeon, Korea, in November 2012.
The total of 226 contributions presented in these volumes was carefully reviewed and selected from 869 submissions. The papers are organized in topical sections on object detection, learning and matching; object recognition; feature, representation, and recognition; segmentation, grouping, and classification; image representation; image and video retrieval and medical image analysis; face and gesture analysis and recognition; optical flow and tracking; motion, tracking, and computational photography; video analysis and action recognition; shape reconstruction and optimization; shape from X and photometry; applications of computervision; low-level vision and applications of computervision.
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