Intelligent robots interact with the real world by employing their advanced sensory mechanisms to perceive their environment, and their effectors and tools to change the state of their environment. Such intelligent ro...
详细信息
The authors have implemented a software environment that permits a small mobile robot to be programmed using the Scheme programming language. The environment supports incremental modifications to running programs and ...
详细信息
The authors have implemented a software environment that permits a small mobile robot to be programmed using the Scheme programming language. The environment supports incremental modifications to running programs and interactive debugging using a distributed read-evaluate-print loop. The programming environment separates the essential onboard run-time system from the development environment, which runs on a separate workstation. The development environment takes advantage of the workstation's large address space and user environment. It is fully detachable, so that the robot can operate autonomously if desired, and can be reattached for retrospective analysis of the robots behavior. To make concurrent applications easier to write, the run-time library provides multitasking and synchronization primitives. Tasks are lightweight, and all tasks run in the same address space.< >
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, ...
详细信息
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.< >
Addresses the problem of the design and implementation of a discrete event dynamic system (DEDS) observer for the execution of command sent to a robotic arm during grasping and screwing tasks of an assembly operation....
详细信息
Addresses the problem of the design and implementation of a discrete event dynamic system (DEDS) observer for the execution of command sent to a robotic arm during grasping and screwing tasks of an assembly operation. The resulting robot arm mechanism is discussed as a hybrid intelligent system. It is argued that the nonintrusive observation mechanism offers reliability and robustness advantages over other sensor systems used to detect errors. The work has focused on the use of the DEDS linguistic approach for abstracting high-level knowledge concerning the current state of the machine in the presence of errors, mistakes, and uncertainties in the manipulation system.< >
The authors describe a simulation environment which can be of utility in the design, development, and operation of sensor-driven robotic systems. This environment incorporates the ability to simulate sensory inputs an...
详细信息
The authors describe a simulation environment which can be of utility in the design, development, and operation of sensor-driven robotic systems. This environment incorporates the ability to simulate sensory inputs and their effects on the planning and control functions. A detailed design of the simulator is presented. The simulator is integrated within an entire robotic system, and is utilized for automatic robot programming. Alternatively, the simulated system operation flow can be controlled through either a teach mode or a program mode. Five sensing modalities can be simulated: proximity, point laser range, ultrasonic range, laser range depth imagery, and edge-based intensity imagery. The simulation and animation of a particular robot is described. The unique features of the simulator are that it simulates and utilizes sensory information feedback, it integrates planning and simulation, and it makes the switching between real and simulation mode in the robotic system transparent to the user.< >
Intelligent robotic systems should be capable of performing a range of complex tasks in unstructured and dynamic environments. This chapter discusses a number of important items associated with intelligent robots, rol...
详细信息
Intelligent robotic systems should be capable of performing a range of complex tasks in unstructured and dynamic environments. This chapter discusses a number of important items associated with intelligent robots, role of vision sensing in intelligent robotics, and architecture for the design of an intelligent robot. The chapter also describes the computational task hierarchy that governs a model-based robot vision system, and presents a detailed tutorial on two important components of this hierarchy: image segmentation and matching. The main capabilities that intelligent robotic systems should possess include ability for perception of their environment, planning of their actions, and execution of the planned action. The two important components of a model-based vision system are image segmentation and the matching module. A procedure that allows transformation of 2D image coordinates into 3D world coordinates is also discussed in the chapter. The architecture and control aspects of an integrated sensor-based robotic system consist of six modules: supervisor, task planner, perception, motor, user interface, and knowledge-base. Intelligent, sensor-driven systems pose many challenging basic-research problems from a broad range of scientific and technological disciplines; however, there are many important application areas where such systems would be of significant value and utility, including hazardous environments such as nuclear plants, underwater, and space as well as many industrial-automation tasks. Recent advancements in the VLSI, computer-architectures, sensor-and robot-hardware, and artificial-intelligence fields may aid to the development of robust, practical, and cost-effective intelligent robotic systems for a wide variety of applications.
The purpose of this paper is to present the basic ideas of the theory of stochastic complexity with rigorous asymptotic results in the field of time-series analysis and system identification, which demonstrate the app...
详细信息
The authors address the problem of motion segmentation using the singular value decomposition of a feature track matrix. It is shown that, under general assumptions, the number of numerically nonzero singular values c...
详细信息
The authors address the problem of motion segmentation using the singular value decomposition of a feature track matrix. It is shown that, under general assumptions, the number of numerically nonzero singular values can be used to determine the number of motions. Furthermore, motions can be separated using the right singular vectors associated with the nonzero singular values. A relationship is derived between a good segmentation, the number of nonzero singular values in the input and the sum of the number of nonzero singular values in the segments. The approach is demonstrated on real and synthetic examples. The paper ends with a critical analysis of the approach.< >
暂无评论