Describes the status of ongoing work in developing a sensory-motor robotic system, R2H, with 10 degrees of freedoms for research in active vision. To complement the R2H system, a Graphical Simulation and Animation (GS...
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Describes the status of ongoing work in developing a sensory-motor robotic system, R2H, with 10 degrees of freedoms for research in active vision. To complement the R2H system, a Graphical Simulation and Animation (GSA) environment has also been developed. The objective of building the GSA system is to create a comprehensive design tool to design and study the behavior of active systems and their interactions with the environment. The GSA system will aid the researchers to develop high performance and reliable software and hardware in a most effective manner. The GSA environment integrates sensing and motor actions and features complete kinematic simulation of the R2H system, sensors and its workspace. With the aid of the GSA environment, depth-from-focus, depth-from-vergence, and depth-from-stereo modules have been implemented and tested.
The basic operational scenario for many application domains is to deploy nonhuman system components in the hazardous workspace and keep the human operator away from the hazardous but real work environment. The operato...
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The basic operational scenario for many application domains is to deploy nonhuman system components in the hazardous workspace and keep the human operator away from the hazardous but real work environment. The operator is an essential element of the integrated system and is provided with various powerful displays (for both visual and nonvisual information) for telepresence and interactive controls for teleoperation. Thus, the operator stationed in the safe and virtual work environment, is able to cooperate with the robotic system in accomplishing an assigned task. The team has been investigating various problems associated with the use of virtual-reality based concepts in robot control and system development for the past several years. Some of the main ideas which underlie the investigations are, multiple sensory based operation, transparency between real and virtual mode operation, integrating sensing and task planning in simulation, and reliance on extensive and systematic experimental evaluation. The systems developed are useful for both off-online and online operation.
This paper describes a reactive obstacle negotiating algorithm for articulated-tracked robots and demonstrates a working system by presenting the simulation, animation, and control methodologies for an articulated-tra...
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This paper describes a reactive obstacle negotiating algorithm for articulated-tracked robots and demonstrates a working system by presenting the simulation, animation, and control methodologies for an articulated-tracked mobile robot with a manipulator and sensory modules. Developing the motion planning strategies for robots with articulated-tracked locomotin is much different from path planning techniques developed for wheeled robots traveling on a planar surface, as the problems are not limited to solving the obstacle avoidance only, but involve finding the obstacle negotiating strategy as well. The authors have been developing tracked mobile-manipulator systems for applications in hazardous environments. A simulation, animation, visualization and interactive control (SAVIC) environment has been developed for the design and operation of a integrated robotic manipulator system.
There is no standard representation scheme that is followed by different groups of robot designers to describe the orientation of a rotating rigid body. For a sensor-based robot, the particular rotation representation...
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There is no standard representation scheme that is followed by different groups of robot designers to describe the orientation of a rotating rigid body. For a sensor-based robot, the particular rotation representation scheme used by the robot affects not only the specification of the positioning of the arm and end-effector, but also the specification of the placement of the sensors and the method of computing the sensory-to-world transformation. Thus the need for finding the transformation between different rotation representations is obvious for one involved in the development of high-level software systems that need to be transported to different robots utilizing different rotation representation schemes. Among those representation schemes, Euler angle representations are widely used in commercial robots as well as in researchlaboratory robots. Typically, there are three different Euler angle representation systems, and each system describes a particular orientation of a rigid body in a reference coordinate frame by specifying three angles. Mathematical derivations of the transformation relationships underlying the parameters from two most commonly utilized representation schemes are presented. These relationships are derived in two different ways. One is based upon the solution of the inverse transform for Euler angles and the other is based upon the Napier's rules associated with spherical trigonometry.
This paper describes how a surface reconstruction algorithm, based on minimizing the variation of surface curvature, can be used to stabilize and correct the results of local shading analysis. What is novel about this...
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This paper describes how a surface reconstruction algorithm, based on minimizing the variation of surface curvature, can be used to stabilize and correct the results of local shading analysis. What is novel about this approach is that it is viewpoint independent and applicable to any process that can provide estimates of local surface orientation. The assumptions used in formulating the minimization are derived from standard differential geometry. When applied as a second stage of processing after local shading analysis, the algorithm can recover a close approximation of the true surface orientation under realistic assumptions about image noise. Results are presented that show the performance of the algorithm on synthetic and real data. In particular, they demonstrate how this form of reconstruction can compensate for some of the shape distortion incurred in local shading analysis.
We describe an algorithm for segmenting a 3D object into its constituent volumetric parts from a single 2D line drawing. This algorithm is part of the bottom-up line drawing description process of PARVO, a generic obj...
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We describe an algorithm for segmenting a 3D object into its constituent volumetric parts from a single 2D line drawing. This algorithm is part of the bottom-up line drawing description process of PARVO, a generic object recognition system. In PARVO, an object is recognized as being a member of a class defined by qualitative geometrical properties and topological structure. Similarity between different 3D views of any member of a given class is a result of building coarse part-based structural descriptions from limited information. A preliminary stage to part segmentation of an object consists of extracting viewpoint-invariant and nonaccidental features from the line drawing. The segmentation process itself is described as a hierarchical decomposition of the line drawing on the basis of pairs of high-concavity points in its silhouette. The pairing of these so-called segmentation points rests on (i) an object visibility model describing the generic structures present in any line drawing satisfying our assumptions, and (ii) the feature instances extracted from the specific line drawing analyzed. First, we discuss the properties of the line drawings in the domain of PARVO. From them, geometrical models of important line drawing features may be developed. The latter are used both as cues in the segmentation process and as precursors to the representation from which part structure is understood.
In this paper we nzake an attempt to bring out the rationale that, for complex robotic applications, contact sensors can provide certain vital information quite easily as compared to non-contact sensors. We begin with...
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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, ...
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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...
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