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检索条件"机构=Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department"

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Robotically assisted field material handling using combined visual/acoustic sensing system

Robotically assisted field material handling using combined ...

引用

1988 International Conference on Industrial Electronics: robotics and vision, IECON 1988

作者： Luo, Ren C. Jang, Jong W. Sousk, Steve Keller, Harry Robotics and Intelligence System Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States U. S. Army Belvoir Research Development and Engineering Center United States

A robotically assisted field material handling system designed for loading and unloading of a planar pallet with a forklift in unstructured field environment is'presented The system uses combined acoustic/visual sensing data to define the position/orientation of the pallet and to determine the specific locations of the two slots of the pallet, so that the forklift can move close to the slot and engage it for transport. In order to reduce the complexity of the material handling operation, we have developed a method based on the integration of 2-D range data of Poraloid ultrasonic sensor along with 2-D visual data of an optical camera. Data obtained from the two separate sources complements each other and is used in an efficient algorithm to control this robotically assisted field material handling system. Range data obtained from two linear scannings is used to determine the pan and tilt angles of of a pallet using least mean square method. Then, 2-D visual data is used to determine the swing angle and. © 1988 IEEE.

关键词： Pallets

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Broad area graded barrier quantum well heterostructure lasers by metalorganic chemical vapor deposition for high power applications

Broad area graded barrier quantum well heterostructure laser...

引用

High Power Laser Diodes and Applications 1988

作者： Givens, M.E. Zmudzinski, C.A. Bryan, R.P. Coleman, J.J. Department of Electrical and Computer Engineering Materials Research Laboratory University of Illinois 1406 West Green Streeet UrbanaIL61801 United States

Graded barrier quantum well (GBQW) heterostructure broad area lasers are capable of high power pulsed and cw operation. In this paper, we describe some of the design issues involving broad area graded barrier quantum well heterostructure lasers grown by metalorganic chemical vapor deposition including the effect of junction heating in cw devices and the effect of various buffer layer structures on laser characteristics. We also outline some high power laser diode results for uncoated broad area devices. © 1988 SPIE. All rights reserved.

关键词： Metallorganic chemical vapor deposition

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Robust independent robot joint control: design and experimentation

Robust independent robot joint control: design and experimen...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： T.C. Hsia T.A. Lasky Z.Y. Guo Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

An approach is presented for the design of simple robust independent joint controllers which result in linear decoupled joint motions. In this approach each joint is treated as a simple inertial systems plus a disturbance torque representing all the unmodeled dynamics. By means of a very simple procedure, the disturbance is instantly estimated and rejected, thus allowing simple PD control to be used. The controllers are inherently robust. Experimental evaluations of the controller on a PUMA 560 are are performed, and the experimental results are presented.< >

关键词： Robust control Robot control Manipulator dynamics Motion control Couplings Torque control Nonlinear dynamical systems Gravity PD control Performance evaluation

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Region grouping from a range image

Region grouping from a range image

引用

Conference on computer vision and Pattern Recognition (CVPR)

作者： J.H. Han R.A. Volz Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

A novel method is presented for grouping range image regions such that each group of regions represents a meaningful part of an object. The set of regions, defined as a convex region set (CRS), is obtained by analyzing the boundary types between a pair of regions. The boundary types are classified as convex, concave and jump boundaries. If two regions share a convex boundary it is assumed that they are inseparable regions, thus describing the same part (object). The CRSs are determined by a region boundary graph (RBG) which is defined as a graph whose nodes represent regions, and the edges represent boundaries: convex and concave. Since jump boundaries represent no physical contact in 3-D, they are represented as null edges. A CRS is defined as a set of regions (or nodes in an RBG) such that for each pair of regions in the set, there is a path, which is represented only by convex edges. The physical interpretation is that a CRS represents part of an object such that the regions in the set cannot be separated.< >

关键词： Image segmentation Image analysis Testing Military computing Robots Laboratories Image recognition Solid modeling Optimization methods Labeling

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An efficient algorithm for the adaptive control of a manipulator

An efficient algorithm for the adaptive control of a manipul...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.W. Walker Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

A novel algorithm is described for the adaptive control of a robot manipulator which may contain closed kinematic loops. The algorithm identifies the mass properties of each link and the viscous friction coefficients for each joint of the manipulator. It is similar to the Newton-Euler inverse dynamics algorithm and hence obtains its computational efficiency through the recursive nature of the algorithm.< >

关键词： Adaptive control Manipulator dynamics Stability Heuristic algorithms Parameter estimation Acceleration Computational complexity Kinematics Lyapunov method Accelerometers

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A learning algorithmic scheme for collision free navigation

A learning algorithmic scheme for collision free navigation

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IEEE International Symposium on Intelligent Control (ISIC)

作者： N.G. Bourbakis Department of Electrical & Computer Engineering Machine Vision Laboratory GEORGE MASON University Fairfax VA USA

A learning algorithmic scheme for collision-free navigation is presented. This scheme determines the minimum collision-free navigation path of an autonomous platform by using a trial and error process and past navigation knowledge and by extracting the current information from the surrounding environment. This scheme is related to the Odysseus autonomous navigation platform. However, it could be made into a general-purpose scheme with simple modifications. Simulated results for an illustrative example in a graphical representation are provided.< >

关键词： Sonar navigation Orbital robotics Wheels Machine vision computer vision computer errors Tree data structures Counting circuits Reflective binary codes Goniometers

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An adaptive robotic tracking system using optical flow

An adaptive robotic tracking system using optical flow

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.C. Luo R.E. Mullen D.E. Wessell Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A robotic system that can visually track and intercept an arbitrary object which is traveling at an unknown velocity on a conveyor has been presented. A fiber-optic eye-in-hand vision system developed at NCSU is used as an integral part of the entire tracking system. The eye-in-hand system is used to characterize the object trajectory in real time, using a modified optical flow approach. A control strategy has been developed which utilizes the kinematic data that are extracted by the tracking algorithm to intercept the moving object. An overall system configuration and its basic principles are described. The demonstration of the initial results is presented.< >

关键词： Adaptive systems Adaptive optics Image motion analysis Intelligent robots Robot vision systems Optical sensors Robot sensing systems Cameras Machine vision Intelligent systems

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Robot multi-sensor fusion and integration: optimum estimation of fused sensor data

Robot multi-sensor fusion and integration: optimum estimatio...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.C. Luo M.-H. Lin Robotics and Intelligent System Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

The authors address the problem of robot multisensor fusion and integration with special emphasis on optimal estimation of fused sensor data. The investigation is based on a Unimation PUMA 560 robot and various external sensors. These include overhead vision, eye-in-hand vision, proximity, tactile array, position, force/torque, crossfire, overload, and slip sensing devices. The efficient fusion of data from different sources will enable the machine to respond promptly in dealing with the real world. Towards this goal, the general paradigm of a sensor data fusion system has been developed, and some simulation results as well as results from the actual implementation of certain concepts of sensor data fusion have been demonstrated.< >

关键词： Robot sensing systems Sensor fusion Intelligent sensors Intelligent robots Sensor systems Layout Laboratories Data engineering State estimation Logic

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Dynamic control of redundant manipulators

Dynamic control of redundant manipulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Hsu J. Hauser S. Sastry Department of Electrical Engineering and Computer Science Electronics Research Laboratory University of California Berkeley CA USA

The authors provide a dynamic control law that guarantees the tracking of a given end-effector trajectory and also provides for the control of the redundant joint velocity. The desired redundant joint velocity can then be specified to optimize a cost function over the configurations allowed by the extra degrees of freedom that achieve the given end-effector position.< >

关键词： Manipulator dynamics End effectors Velocity control Cost function Trajectory Null space Jacobian matrices Laboratories Cities and towns Sampling methods

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Kinematics and control of multifingered hands with rolling contact

Kinematics and control of multifingered hands with rolling c...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： A. Cole J. Hauser S. Sastry Department of Electrical Engineering and Computer Science Electronics Research Laboratory University of California Berkeley CA USA

The kinematics of rolling contact for two surfaces of arbitrary shape rolling of each other is derived. Applying these kinematic equations to two planar multifingered hands manipulating some object of arbitrary shape, a scheme is presented for the control of these hands which is a generalization of the computed torque method of control of robot manipulators. In implementing the control, it is required that all applied forces lie within the friction cone of the object so that sliding does not occur. The theory is illustrated with graphic simulations of the control law applied to the system dynamics for two examples.< >

关键词： Kinematics Shape control Torque control Equations Robot control Manipulator dynamics Force control Friction Graphics Computational modeling

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