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IEEE International Conference on Image processing

作者： F. Abegg H. Worn Institute for Process Control and Robotics Computer Science Department Universität Karlsruhe Karlsruhe Germany

ISBN: (纸本)0780362977

A new algorithm for segmenting and tracking deformable (shape-changing) linear (thin and long with negligible diameter) objects in video images is presented. The core of the algorithm is to detect the two boundary curves of a deformable linear object within adaptive tracking windows. The boundaries are found by analyzing the gray value gradients within the tracking windows, The algorithm provides a robust tracking of the shape- and width-changing object by using a fuzzy estimation of the object's membership function at the tracked points. The result of the segmentation is a list of base describing the shape of the object. This list is used to define features for shape change detection. For the feature analysis, we propose an algorithm which works well for several classes of feature curves. Experiments on robotic applications using both algorithms show promising results.

关键词： Robustness Image recognition Shape Image sequences Change detection algorithms Image segmentation Object detection Algorithm design and analysis Service robots Robot sensing systems

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Distributed modular computer-integrated surgical robotic systems: Architecture for intelligent object distribution 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2000

作者： Schorr, Oliver Hata, Nobuhiko Bzostek, Andrew Kumar, Rajesh Burghart, Catherina Taylor, Russel H. Kikinis, Ron Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute for Process Control and Robotics University of Karlsruhe Germany Department of Computer Science Johns Hopkins University BaltimoreMD United States

ISBN: (纸本)3540411895

This paper presents intelligent object distribution architecture to maximize the performance and intelligence of a distributed surgical robotics system and its preliminary implementation in an MR-guided surgical robot system in an open-configuration MR! scanner. The method enables networked integration of a robot control server and multiple clients with minimum engineering overhead but maximum flexibility and performance. The clients in this study include an intraoperative imager, high-performance image processing computers), and surgical navigation host. The first contribution of the paper is to propose the use of object distribution by common object request broker architecture (CORBA), in which a robot control object on the robot control server can be remotely but transparently invoked from the clients regardless of their hardware, operating systems, or programming language. Second, we propose a technique to achieve additional flexibility by reporting the robot configuration information, i.e. geometry and kinematics of the robot, to the clients upon connection. Third, we ensure protection against an unauthorized entity by introducing a security control host that authorized the clients’ access to the robot server. In a prototype implementation of an MR-guided surgical robot system, the robot was controlled by surgical navigation software (the 3D Slicer) on a UNIX client by invoking the distributed control object on a robot control server on a PC. The method was evaluated in performance studies;and the result indicated 3.6 milliseconds for retrieving positions of the robot stages and 25.5 milliseconds to send a frame-based motion command, which are satisfactory for surgical robot control. In conclusion, the proposed method shows the potential usefulness of flexibly integrating the legacy software to a surgical robot system with minimum engineering overhead, thereby achieving highly complex and intelligent tasks in robot-assisted surgery. © Springer-Verlag Berlin Hei

关键词： Robotic surgery

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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Generating polyhedral convex cones from contact graphs for the identification of assembly process states

Generating polyhedral convex cones from contact graphs for t...

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Mosemann T. Bierwirth F. Wahl S.A. Stoeter Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis USA

A new approach to automatically generate polyhedral convex cones from contact graphs for identification of assembly process states is presented. The state of contact between subassemblies is changing as operation proceeds in manipulative tasks such as part-mating. Measured contact forces and the resulting torques provide information about the contact geometry which is used to guide the assembly operation. In this paper, we present a method to calculate contact graphs for polyhedral subassemblies. The nodes of the contact graph represent contact formations of the subassemblies and the arcs represent neighborhoods of contact formations. This information is used to generate polyhedral convex cones for each contact formation considering friction. These polyhedral convex cones describe static equilibrium for each contact formation and are used to identify the contact state by measuring forces and torques during a part-mating.

关键词： Robotic assembly Force measurement Torque measurement Assembly systems Intelligent robots Friction Robot sensing systems Robot vision systems robotics and automation Uncertainty

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Operation planning of robot supported surgical interventions

Operation planning of robot supported surgical interventions

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： J. Munchenberg J. Brief J. Raczkowsky H. Worn S. Hassfeld J. Muhling Institute for Process Control and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany Clinic for Cranio-Maxillo-Facial-Surgery University of Heidelberg Heidelberg Germany

Presents a new operation planning system which enables a surgeon to plan and perform complex robot-supported surgical interventions. The system has been evaluated in the Clinic for Cranio-Maxillo-Facial Surgery at the University of Heidelberg. In contrast to commercial systems, our goal was that the system should consider the complete surgical intervention and not just a single procedure of it. A second goal was that the system should enable the management of complex operations, independent of which way the intervention is intra-operatively performed (without technical support, with passive navigation support or with active support by robots). Our system supports the surgeon during pre-operative planning as well as during the intra-operative execution phase. Therefore, we developed a model of the course of operation by which the management of surgical interventions is made possible. The focus of this paper is on this course model. First, we introduce instruction graphs and describe the structure of each activity, observing its attributes and their context. Additionally, various surgical scopes are presented which enable the surgeon to select one view among different ones in the individual operation procedures, in accordance with medical and technical knowledge as well as in accordance with different degrees of abstraction. Finally, we demonstrate the realisation of the introduced course model in our operation planning system and present first results in clinical practice.

关键词： Robots Surgery Surges Navigation Surgical instruments Head process control computer science process planning Costs

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Design of the TUAT/Karlsruhe humanoid hand

Design of the TUAT/Karlsruhe humanoid hand

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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

作者： N. Fukaya S. Toyama T. Asfour R. Dillmann Department of Mechanical System Engineering Tokyo University of Agriculture슠and슠Technology Japan Department of Computer Science Institute for Control and Robotics University of Karlsruhe Germany

The increasing demand for robotic applications in dynamic unstructured environments is motivating the need for dextrous end-effectors which can cope with the wide variety of tasks and objects encountered in these environments. The human hand is a very complex grasping tool that can handle objects of different sizes and shapes. Many research activities have been carried out to develop artificial robot hands with capabilities similar to the human hand. In this paper the mechanism and design of a new humanoid-type hand (called TUAT/Karlsruhe Humanoid Hand) with human-like manipulation abilities is discussed. The new hand is designed for the humanoid robot ARMAR which has to work autonomously or interactively in cooperation with humans and for an artificial lightweight arm for handicapped persons. The arm is developed as close as possible to the human arm and is driven by spherical ultrasonic motors. The ideal end-effector for such an artificial arm or a humanoid would be able to use the tools and objects that a person uses when working in the same environment. Therefore a new hand is designed for anatomical consistency with the human hand. This includes the number of fingers and the placement and motion of the thumb, the proportions of the link lengths and the shape of the palm. It can also perform most part of human grasping types. The TUAT/Karlsruhe Humanoid Hand possesses 20 DOF and is driven by one actuator which can be placed into or around the hand.

关键词： Humanoid robots Actuators Intelligent robots Grasping Cognitive robotics Agriculture Shape Human robot interaction Intelligent sensors Space technology

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Sparse realizations of optimal finite-precision teleoperation controller structures

Sparse realizations of optimal finite-precision teleoperatio...

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American control Conference (ACC)

作者： R.H. Istepanian J. Wu S. Chen Department of Electrical and Computer Engineering Ryerson Polytechnic University Toronto ONT Canada Institute of Industrial Process Control University of Zhejiang Hangzhou China Department of Electronics and Computer Science University of Southampton Southampton UK

We study the finite word length (FWL) implementation of digital controller structures with sparseness consideration. A FWL stability measure is derived, taking into account the number of trivial elements in a controller realization. The controller realization that maximizes a lower bound of this measure is first obtained, and a stepwise algorithm is then applied to make the realization sparse. A test case involving a dual wrist assembly shows that the proposed design procedure yields a computationally efficient controller realization with good FWL closed-loop stability performance.

关键词： Optimal control control systems Digital control Wrist Computational efficiency Robust stability Iterative algorithms Assembly systems computer industry Industrial control

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Strong practical stability for a class of 2D linear systems

Strong practical stability for a class of 2D linear systems

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D. Owens Institute of Robotics and Software Engineering Technical University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton UK Institute of Computer Science and Electronics Technical University of Zielona Gora Poland Department of Automatic Control and Systems Engineering University of Sheffield UK

Linear repetitive processes are a distinct class of 2D linear systems of both theoretical and practical interest. The stability theory for these processes currently consists of two distinct concepts termed asymptotic stability and stability along the pass respectively where the former is a necessary condition for the latter. Recently applications have arisen where asymptotic stability is too weak and stability along the pass is too strong for meaningful progress to be made. This paper develops the concept of strong practical stability for such cases.

关键词： Linear systems Asymptotic stability computer science State-space methods robotics and automation Software engineering Systems engineering and theory Metals industry Iterative algorithms Electrical equipment industry

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Stability issues of finite precision state estimate feedback controller realizations for discrete time systems

Stability issues of finite precision state estimate feedback...

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American control Conference (ACC)

作者： Jun Wu Sheng Chen Gang Li R.H. Istepanian Jian Chu J.F. Whidborne National Laboratory of Industrial Control Tech Institute of Advanced Process Control University of Zhejiang Hangzhou China Department of Electronics and Computer Science University of Southampton Southampton UK The school of EEE Nanyang Technological University Singapore Department of Electrical and Computer Engineering Ryerson Polytechnic University Toronto ONT Canada National Laboratory of Industrial Control Tech. Institute of Advanced Process Control University of Zhejiang Hangzhou China Department of Mechanical Engineering King''s College London UK

This paper present a new effective algorithm for the optimal realization of state estimate feedback controller structures for discrete time systems subject to finite-word-length constraints. The problem is formulated as a nonlinear programming to provide an easy and efficient optimization tool to solve such a complex problem. Simulation results of the optimum realizations of state estimate feedback controller structures are presented to illustrate the effectiveness of the proposed strategy.

关键词： Stability State estimation Adaptive control control systems Digital control Industrial control process control Educational institutions Discrete time systems Signal design

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A Robot Playing Scrabble Using Visual Feedback

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IFAC Proceedings Volumes 2000年第27期33卷 551-556页

作者： Johan Bengtsson Anders Ahlstrand Klas Nilsson Anders Robertsson Magnus Olsson Anders Heyden Rolf Johansson Department of Automatic Control Lund Institute of Technology P.O. Box 118 SE-22I 00 Lund Sweden Centre for Mathematical Sciences Lund Institute of Technology P.O. Box 118 SE-22I 00 Lund Sweden Department of Computer Science Lund Institute of Technology P.O. Box 118 SE-22I 00 Lund Sweden Division of Robotics Lund Institute of Technology P.O. Box 118 SE-22I 00 Lund Sweden

Today most industrial robot systems use dedicated and rather limited sensors, and available control systems provide limited support for feedback control. Aiming towards more autonomous robot systems, we want to improve flexibility. The game Scrabble is used as a test problem capturing these aspects. Our approach is to incorporate visual servoing and a conventional powerful off-line prograrnrning (OLP) system into the real-time control system, providing task specification and visual debugging. We use the OLP tool Envision from Deneb and an ABB robot with reconfigured control system, where the control system has an Open Robot control architecture (ORC). The vision system is connected to a host computer and the camera is attached to the robot gripper. By extending the control system, we have designed and implemented both the vision system and the application for the Scrabble game. Our system implementation shows that ORC constitutes a necessary support for incorporation of real-time visual feedback and that OLP may effectively be used with real-time feedback of sensor data.

关键词： Robot vision computer vision Sensor fusion Kinematics Real-time systems

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