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2004 ASME International Mechanical engineering Congress and Exposition, IMECE 2004

作者： Majidi, Carmel Groff, Richard Fearing, Ron Robotics Lab Department of Electrical Engineering and Computer Science University of California Berkeley CA 94720

The gecko's remarkable dry adhesive system, consisting of arrays of heirarchically stuctured hairs made from a stiff material, has motivated widespread interest in creating a synthetic dry adhesive whose adhesive properties derive more from its geometry than its bulk material properties. Recently, methods for synthesizing simple hair arrays have been developed. It has been observed that micro and nanosized synthetic hairs often adhere together to form clumps. This paper introduces several models and guidelines for predicting clumping conditions through hair geometry and lattice structure, and presents our methods for casting hair arrays. Copyright © 2004 by ASME.

关键词： Adhesives

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Adaptive visual servoing in the presence of intrinsic calibration uncertainty

Adaptive visual servoing in the presence of intrinsic calibr...

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IEEE Conference on Decision and Control

作者： J. Chen A. Behal D.M. Dawson W.E. Dixon Department of Electrical & Computer Engineering Clemson University Clemson SC USA Department of Electrical & Computer Engineering Clemson University Clemson SC Eng. Science and Tech. Div. - Robotics Oak Ridge Natioanl Lab. Oak Ridge TN

In this paper, we design an adaptive kinematic controller that asymptotically regulates a robot end-effector to a desired position and orientation under visual feedback (of points located on a fixed reference frame) from a camera mounted on the end-effector. This task is accomplished despite lack of depth measurements as well as uncertainty in the camera intrinsic parameter matrix.

关键词： Visual servoing Calibration Uncertainty Cameras Robots Adaptive control Kinematics Programmable control Servomechanisms Robust control

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GA Optimized Sliding Mode Control of a Mobile Robot

GA Optimized Sliding Mode Control of a Mobile Robot

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2003年中国智能自动化会议

作者： Simon X．Yang Peter X．Liu Advanced Robotics and Intelligent Systems(ARIS)Lab School of Engineering University of Guelph Guelph ON N1G 2W1 Canada Department of Systems and Computer Engineering Carleton University Ottawa Canada K1S 5B6 School of Computer Science University of Windsor Windsor ON N9B 3P4 Canada

Due to the nonholonomic constraint and restricted mobility, the design of stabilizing control laws for a mobile is a challenging problem. Sliding mode control is a robust design methodology based on a sliding surface and a Lyapunov's stability theorem, where the system uncertainties and external disturbances can be handled under the invariance characteristics of system's sliding condition with guaranteed system stability. In this paper, a genetic algorithm is used to optimize the parameters in sliding mode controller for a nonholonomic mobile robot. The effectiveness of the proposed GA based sliding model controller is demonstrated by simulation studies.

关键词： Mobile GA Optimized Sliding Mode Control of a Mobile Robot

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Using intrinsic images for shadow handling 5

Using intrinsic images for shadow handling

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5th IEEE International Conference on Intelligent Transportation Systems, ITSC 2002

作者： Martin, Robert F.K. Masoud, Osama Papanikolopoulos, Nikolaos Department of Computer Science and Engineering Artificial Intelligence Vision and Robotics Lab University of Minnesota United States

ISBN: (纸本)0780373898

The ability to detect shadows Is a critical feature of any Intelligent transportation system (ITS). The Improper handling of shadows can be the cause of erroneous conclusions in traffic analysis. Because vision-based ITS applications are becoming more popular, It la Important to minimize the fillets of shadows. Here, we present a novel method for shadow handling in a sequences of Images, fallowing recent work motivated by studies of the statistics of natural Images, we show that this new method Is a reliable detector of shadows and can be easily Implemented In real time. © 2002 IEEE.

关键词： Intelligent systems

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An experiment in constraining vision-based finger contact selection with gripper geometry

An experiment in constraining vision-based finger contact se...

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2002 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Morales, Antonio Sanz, Pedro J. Del Pobil, Ángel P. Fagg, Andrew H. Robotic Intelligence Lab. Department of Engineering Universitat Jaume I Castelló Spain Laboratory of Perceptual Robotics Departement of Computer Science University of Massachusetts Amherst MA United States

Research in grasping and manipulation has mainly focused on the theoretical framework of the grasp analysis and synthesis, however there are few works in the practical implementation of these approaches. We propose several methods and criteria for constraining visually-selected planar grasps to the particular kinematics of a three-finger gripper, the Barrett Hand. The method relies on the features of an object provided by a vision system, and uses several criteria for classifying the possible grasps according to the configurations of the gripper that fit them. It has been implemented on the UMass Torso and the results are discussed.

关键词： Grippers

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Real-time tracking for managing suburban intersections

Real-time tracking for managing suburban intersections

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International Conference on Digital Signal Processing (DSP)

作者： H. Veeraraghavan O. Masoud N. Papanikolopoulos Artificial Intelligence Vision and Robotics Lab Department of Computer Science and Engineering University of Minnesota USA

The goal of this project is to develop a passive vision-based sensing system capable of monitoring an intersection by observing the vehicle and pedestrian flow, and predicting situations that might give rise to accidents. A single camera mounted at an arbitrary position looking at an intersection is used. However, for extended applications multiple cameras will be needed. Some of the key elements are camera calibration, motion tracking, vehicle classification, and predicting collisions. In this paper, we focus on motion tracking. Motion segmentation is performed using an adaptive background model that models each pixel as a mixture of Gaussians. The method used is similar to the Stauffer method for motion segmentation. Tracking of objects is performed by computing the overlap between oriented bounding boxes. The oriented boxes are computed by vector quantization of blobs in the scene. The principal angles computed during vector quantization along with other cues of the object are used for classification of detected entities into vehicles and pedestrians.

关键词： Cameras Tracking Motion segmentation computer vision Vector quantization Vehicle detection Monitoring Accidents Calibration Gaussian processes

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Homography-based visual servoing of wheeled mobile robots

Homography-based visual servoing of wheeled mobile robots

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IEEE Conference on Decision and Control

作者： Y. Fang D.M. Dawson W.E. Dixon M.S. de Queiroz Department of Electrical & Computer Engineering Clemson University Clemson SC USA Department of Electrical & Computer Engineering Clemson University Clemson SC Eng. Science and Tech. Div. Robotics Oak Ridge Nat. Lab. Oak Ridge TN Department of Mechanical Engineering Louisiana State University Baton Rouge LA

By comparing the features of an object from a desired image to features of the object in the current image, geometric relationships are exploited to enable a Euclidean reconstruction from a homography matrix that relates the image-space feedback to the position/orientation of the wheeled mobile robot (WMR) in a local coordinate system. The information obtained from the homography is used to develop a kinematic controller that yields asymptotic regulation of the position/orientation of a WMR system that is modeled as an underactuated "kinematic wheel" subject to nonholonomic constraints. The control design is facilitated by performing the stability analysis in terms of the unmeasurable camera/WMR Euclidean position. In contrast to many of the previous homography-based visual servo controllers, the kinematic control law does not depend on the numerical estimation of depth measurements. The control design is based on the nonlinear model of the vision system and the mobile robot system and is analyzed through a Lyapunov-based stability analysis.

关键词： Visual servoing Mobile robots Kinematics Control design Stability analysis Image reconstruction Feedback Wheels Robot vision systems Cameras

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Factorization method for multiple perspective views via iterative depth estimation

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Systems and computers in Japan 2000年第13期31卷 87-95页

作者： Ueshiba, Toshio Tomita, Fumiaki Electrotechnical Laboratory Tsukuba 305-8568 Japan Department of Electrical Engineering University of Tokyo Electrotechnical Laboratory Min. of Intl. Trade and Industry Intelligent Systems Division Canada Nat. Inf. Eng. Lab. Information Processing Society Robotics Society of Japan Soc. of Instrum. Control Engineers Department of Control Engineering Osaka University CMU Department of Computer Science Information Processing Society Robotics Society of Japan

This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the affine projection camera model, the projection depth is iteratively estimated until the measurement matrix has rank 4. Then, the obtained measurement matrix is factorized to restore the three-dimensional information of the scene in the projection space. This approach eliminates noise sensitive processes, such as the calculation of the fundamental matrix, that are required in the factorization for the conventional perspective projection image, and a stable reconstruction is realized. Furthermore, the metric constraint in the conventional affine model is extended, and the metric constraint in the perspective projection condition is derived. It is shown that the reconstruction in Euclidean space is realized if the internal parameters of the camera are given.

关键词： Image reconstruction

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Robotic assistants for aircraft inspectors

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IEEE Instrumentation and Measurement Magazine 1998年第1期1卷 16-30页

作者： Siegel, Mel Gunatilake, Priyan Podnar, Gregg Intelligent Sensor Msrmt. C. Robotics Institute Carnegie Mellon University University of Colorado JILA University of Virginia SUNY Buffalo NY United States Extranuclear Laboratories ABB-Extrel Aircraft Diagnostics Corporation University of Alaska Fairbanks AK United States Elec. and Comp. Eng. Department Carnegie Mellon University CMU Vis. Lab. of the Robotics Institute CMU Mobile Robot Laboratory Engineering Design Research Center CMU Computer Science Department JiangXi University Robotics Institute Measurement and Control Laboratory

Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described. Remote 3D stereoscopic visual inspection is outlined and algorithms developed for crack detection and surface and subsurface corrosion detection are described. Future development trends are also outlined.

关键词： Robots Aircraft Aerospace electronics Instruments

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