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Design of a structured light sensor for in situ calibration

Design of a structured light sensor for in situ calibration

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： F.W. DePiero R.L. Kress Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA Roboticsand Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA

This paper highlights a ranging sensor that can be calibrated at standoffs of 1 to 3 feet with a depth of field of /spl ap/1 ft. Tests at a 16" standoff have produced a 0.004 inch standard deviation in height measurement errors. The data density and field of view are programmable. The sensor is positioned robotically, allowing it to provide accurate, shed-range measurements prior to manipulation tasks. The sensor head is relatively inexpensive (/spl ap/$10 k) and is designed for in situ calibration. This approach is intended to allow replacement components to be installed, calibrated, and validated without decontamination. Calibration, validation and data acquisition are all designed to be performed remotely and in a highly automated fashion. These in situ features of the design are targeted for the interest of industry with the aim of producing a sensor having a longer lifetime and a lower maintenance cost.

关键词： Calibration Testing Measurement standards Measurement errors Robot sensing systems Position measurement Decontamination Data acquisition Sensor phenomena and characterization Costs

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On reference trajectory modification approach for Cartesian space neural network control of robot manipulators

On reference trajectory modification approach for Cartesian ...

引用

IEEE International Conference on robotics and Automation (ICRA)

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

It is well known that computed torque robot control is subjected to performance degradation due to uncertainties in robot model, and application of neural network (NN) compensation techniques are promising. In this paper we examine the effectiveness of NN as a compensator for the complex problem of Cartesian space control. In particular we examine the differences in system performance when the same NN compensator is applied at different locations in the controller. It is found that using NN to modify the reference trajectory to compensate for model uncertainties is much more effective than the traditional approach of modifying joint torque/force. To facilitate the analysis, a new NN training signal is introduced. The study is extended to non-model based Cartesian control problem. Simulation results are also presented.

关键词： Neural networks Uncertainty computer networks Robot control Degradation Orbital robotics System performance Control systems Torque Signal analysis

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On neural network application to robust impedance control of robot manipulators

On neural network application to robust impedance control of...

引用

IEEE International Conference on robotics and Automation (ICRA)

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

Performance of impedance controller for robot force tracking is affected by the uncertainties in the robot model and environment stiffness. The purpose of the paper is to improve the controller robustness by applying the neural network technique to compensate for the uncertainties in the robot model. A novel error signal is proposed for the neural network training. In addition, an algorithm is developed to determine the reference trajectory when the environment stiffness is unknown. Simulations show that highly robust position/force tracking by a three degrees-of-freedom robot can be achieved under large uncertainties.

关键词： Neural networks Robust control Impedance Robot control Force control Uncertainty Manipulator dynamics Robot sensing systems Orbital robotics robotics and automation

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Systematic design of novel architectures for implementation of Radon Transform

Systematic design of novel architectures for implementation ...

引用

Midwest Symposium on Circuits and Systems (MWSCAS)

作者： D. Soudris T. Chronopoulos N. Koussoulas T. Stouraitis Department of Electrical & Computer Engineering Democritus University of Thrace Xanthi Greece Lab of Automation and Robotics Department of Electrical Engineering University of Patras Achaia Greece VLSI Design Laboratory Department of Electrical Engineering & Computer Technology University of Patras Achaia Greece

A systematic methodology is introduced for designing highly pipelined array architectures for implementation of Discrete Radon Transform and its Inverse, starting from the algorithmic level and ending with the architectural (hardware) level. Due to large amount of data, the original algorithm is partitioned into nested loops that can be easily mapped onto fixed-size hardware. The proposed methodology derives a plethora of alternative architectures, which meet various parameters such as high-throughput rate, maximum hardware utilization, and pipelinability. Moreover, the derived architectures are piecewise regular and consist of linear and/or 2-D systolic arrays.

关键词： Discrete transforms computer architecture Algorithm design and analysis Partitioning algorithms Hardware Systolic arrays Geophysics computing Concurrent computing Image reconstruction robotics and automation

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Maximum-likelihood depth-from-defocus for active vision

Maximum-likelihood depth-from-defocus for active vision

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Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

作者： W.N. Klarquist W.S. Geisler A.C. Bovik Laboratory for Vision Systems Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA Center for Vision and Image Sciences University of Texas Austin Austin TX USA

A new method for actively recovering depth information using image defocus is demonstrated and shown to support active stereo vision depth recovery by providing monocular depth estimates to guide the positioning of cameras for stereo processing. This active depth-from-defocus approach employs a spatial frequency model for image defocus which incorporates the optical transfer function of the image acquisition system and a maximum likelihood estimator to determine the amount of defocus present in a sequence of two or more images taken from the same pose. This defocus estimate is translated into a measurement of depth and associated uncertainty that is used to control the positioning of a variable baseline stereo camera system. This cooperative arrangement significantly reduces the matching uncertainty of the stereo correspondence process and increases the depth resolution obtainable with an active stereo vision platform.

关键词： Focusing Lenses Layout Cameras Robot vision systems Maximum likelihood estimation Stereo vision Laboratories Machine vision Frequency estimation

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Sensorless manipulation using transverse vibrations of a plate

Sensorless manipulation using transverse vibrations of a pla...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.-F. Bohringer V. Bhatt K.Y. Goldberg Robotics & Vision Laboratory Department of Computer Science Cornell University Ithaca NY USA Sibley School of Mechanical and AeroSpace Engineering Cornell University Ithaca NY USA Department of Computer Scienc University of Southern California Los Angeles CA USA

The existing industrial parts feeders move the parts through a sequence of mechanical filters that reject parts in unwanted orientations. In this paper we develop a new setup that uses a different vibratory mechanism to systematically manipulate parts, by actively orienting and localizing them. The idea is to generate and change dynamic modes for a plate by varying the applied frequency of oscillation. Depending on the node shapes of the plate for these frequencies, the position and orientation of the parts can be controlled. We develop an analysis of the underlying dynamics, and show that it can be used to predict the behavior of objects placed on the vibrating plate. Using this analysis, we propose that the applied frequencies can be automatically sequenced to obtain a "sensorless" strategy for manipulating a given object.

关键词： Filters Frequency Sensor systems Vibrations computer science Aerodynamics Shape control Assembly Costs Tactile sensors

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Preisach modeling of piezoceramic and shape memory alloy hysteresis

Preisach modeling of piezoceramic and shape memory alloy hys...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： D. Hughes J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Smart materials such as piezoceramics and shape memory alloys (SMAs) exhibit significant hysteresis and in order to estimate the effect on open and closed loop control a suitable model is needed. One promising candidate is the Preisach independent domain hysteresis model that is characterized by the congruent minor loop and wiping out properties. Comparable minor loop and decaying oscillation test data for a multi-sheet piezoceramic actuator (made of lead zirconate titanate) attached to a flexible beam are presented and are seen to be very consistent with the two Preisach model properties. The commanded parameter is the sheet transverse electric field while the measured parameter is an approximately colocated strain induced in the beam. Equivalent data for a Nitinol SMA wire muscle, attached to the same beam, are also presented. The input and output parameters are the SMA current and a beam strain respectfully. The minor loop and wiping out evidence is less strong than that of the piezoceramic case, but encouraging. In all experiments the quasi-steady state responses were generated in order to avoid exciting beam flexible modes which would complicate the analysis.

关键词： Piezoelectric materials Shape memory alloys Hysteresis Strain measurement Shape control Open loop systems Testing Actuators Titanium compounds Electric variables measurement

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Synthesized passive feedback control of sensor-rich smart structures-experimental results

Synthesized passive feedback control of sensor-rich smart st...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures Department of Electrical Computer and Systems EngineeringCenter for Advanced Technology in Automation Robotics & Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring down" matrix which renders a system passive by using a linear combination of all collocated and non-collocated sensor/actuator pairs. The design uses experimental transfer functions and does not require the knowledge of the system model. The problem of finding the squaring down matrix is cast as a solution to a set of linear matrix inequalities (LMIs) subject to some additional performance considerations. The design procedure of the squaring down matrix assumes that velocity information is available from the sensors which is not generally the case. We show that the squaring down matrix can be implemented without the use of such velocity information. We provide experimental results gathered from the single link flexible beam setup in the C/sub La/MS laboratory at RPI to show that implementation of passive loops without velocity measurements provides very good results.

关键词： Feedback control Linear matrix inequalities Intelligent sensors Control system synthesis Robust control Sensor systems Hydraulic actuators Transfer functions Laboratories Economic indicators

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Model development of MIMO nets: a H-EPN based approach

Model development of MIMO nets: a H-EPN based approach

引用

IEEE Conference on Decision and Control

作者： S. Ramaswamy K.P. Valavanis S. Barber The Laboratory for Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA The Robotics and Automation Laboratory The Center for Advanced Computer Studies and the Apparel-CIM Center University of Southwestern Louisiana Lafayette LA USA

The construction and analysis of multiple-input multiple-output (MIMO) subnets is discussed. It is shown that hierarchical time-extended Petri nets (H-EPNs) allow the development of structured MIMO subnets through the use of bottom-up Petri net synthesis techniques. The paper analyzes Petri net extensions that allow a truly hybrid approach to Petri net based systems modeling, analysis and development. The case study emphasizes the advantage of the activator arc extension in studying issues such as static priority scheduling, dynamic failure recognition, and rescheduling in manufacturing systems. The SPNP package, suitably modified to handle the H-EPN extensions, is used to analyze the properties of the derived H-EPN model.

关键词： MIMO Petri nets Failure analysis Job shop scheduling Dynamic scheduling Modeling Timing Manufacturing Packaging Solids

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Adaptive visual tracking algorithm and real-time implementation

Adaptive visual tracking algorithm and real-time implementat...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.W. Eklund G. Ravichandran M.M. Trivedi S.B. Marapane Computer Vision and Robotics Research Laboratory Electrical and Colmputer Engineerirrg Department University of Tennessee Knoxville TN USA University of Tennessee Knoxville Knoxville TN US Dept. of Electr. & Comput. Eng. Tennessee Univ. Knoxville TN USA

A real-time correspondence based tracking algorithm is detailed. The system uses a pipeline processor, a general purpose processor, a camera and a display. The minimum noise and correlation energy (MINACE) filter is used in the tracking algorithm as it provides a good combination of speed, accuracy and flexibility for the targeted hardware system. The system designed is fast and tracking is accomplished at a rate of 15 Hz. The system is adaptive and does not rely on a previous model of the object; the training image for filter synthesis is acquired from previous image frames and the filter is synthesized online to accommodate 3D variations of the target being tracked. The system tracks an object consistently as is demonstrated by the low deviation of the results in the evaluation.

关键词： Target tracking Cameras Robot vision systems Filters Visual servoing Image motion analysis computer vision Laboratories Power engineering and energy Pipelines

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