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

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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Simulation of frontal orbital advancement

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Virtual Reality 1999年第3期4卷 235-240页

作者： Grabowski, H.A. Hassfeld, S. Krempien, R. Munchenberg, J. Brief, J. Rembokp, U. Wörn, H. Institute for Process Control and Robotics University of Karlsruhe Germany Clinic for Cranio-Maxillo-Fociol-Surgery University of Heidelberg Germany Department of Radiology University of Heidelberg Germany Institute for Process Control and Robotics Department of Computer Science University of Karlsruhe 76128 Karlsruhe Germany

In this paper, we present a system for performing a complex surgical intervention using virtual reality (VR) technology. With the aid of the system, the intervention can be planned and simulated exactly before performing it in reality and important additional information can be achieved during the simulation. Before working in VR, finite element models of the patient's head are generated form CT-images. Based on these models, additional work is done in VR, where the patient's skull is cut into several pieces, which are then re-positioned. Based on moving and shifting the obtained pieces, the goal is to increase the volume inside the skull, which is called intracranial volume. Until now, it was not possible to measure the achieved increase of the intracranial volume. However, by using our system is it now possible to calculate this volume online during each step of our virtual intervention. The obtained results are used for the surgical intervention in reality. © Springer-Verlag London Ltd.

关键词： Finite element models Geometric modelling Mesh generation Virtual cutting Volume measurement VR-based surgery

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Sensor-based obstacle modeling in configuration space for manipulator motion planning 1

Sensor-based obstacle modeling in configuration space for ma...

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1st Workshop on Robot Motion and control, RoMoCo 1999

作者： Li, Wei Chen, Zushun Wahl, F.M. Kozlowski, Krzysztof R. Department of Computer Science and Technology Tsinghua University Beijing100084 China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 BraunschweigD-38114 Germany Poznań University of Technology Department of Control Robotics and Computer Science Ul. Piotrowo 3a Poznań60-965 Poland

ISBN: (纸本)0780356551

This paper presents an approach to sensor-based obstacle modeling in a configuration space for manipulator motion planning in unknown environments. In order to achieve this objective, an efficient algorithm is used to fast map obstacles based on defined fundamental obstacles in the workspace and their images in the configuration space. A robotic manipulator is assumed to be equipped with distance" sensors to detect obstacles inthe local region. By computation of the critical points of an obstacle based on information acquired by the distance" sensors, an obstacle model in the configuration space is constructed. By using this sensor-based configuration space modeling, robot motion planning in unknown environments can be performed in realistic time frames. © 1999 IEEE.

关键词： Wave functions

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Sensor-based controlling of the objects pose for multifinger grippers

Sensor-based controlling of the objects pose for multifinger...

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IEEE International Symposium on Intelligent control (ISIC)

作者： T. Fischer D. Rapela H. Woern Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

In the field of research and development of grippers in object-handling applications, many research results in improving grippers performances have been achieved, and many kinds of multifinger grippers have been developed. By using multifinger grippers, it is possible to grasp different objects of different shapes without changing grippers; and most importantly, it can manipulate the grasped object in the hand, under the condition that the object is controlled in real-time. Therefore, an object-pose controller with feedback from an object-pose sensor is presented in this paper.

关键词： Grippers Fingers Force control Sliding mode control Open loop systems control systems Robot sensing systems Shape control Feedback Orbital robotics

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Vision-based behavior control of autonomous systems by fuzzy reasoning 3rd

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3rd International Workshop on Modelling and Integration of Sensor Based Intelligent Robot Systems, 1998

作者： Li, Wei Wahl, Friedrich M. Zhou, Jiangzhong Z. Wang, Hong He, Kezhong Z. Department of Computer Science and Technology Tsinghua University Beijing100084 China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 BraunschweigD-38114 Germany Institute for Computer Peripherals Chinese Academic of Sciences Wuhan430050 China

ISBN: (纸本)3540669337

Vision-based motion control of an autonomous vehicle operating in real world requires fast image processing and robustness with respect to noisy sensor readings and with respect to varying illumination conditions. In order to improve vehicle navigation performance in out-door environments, this paper presents methods for recognizing landmarks based on fuzzy reasoning. Firstly, a fuzzy thresholding algorithm is proposed to segment roads and to extract white line marks on streets from images. Secondly, some special domain knowledge about edges on roads represented by fuzzy sets is integrated into the rule base of a fuzzy edge detector. Based on this, the fuzzy thresholding algorithm is adopted to recognize road edges. In addition, a method for path planning in sensor space is presented and a path following behavior based on a fuzzy rule base is defined to control vehicle motion. The proposed methods are applied to navigate the THMR-III autonomous vehicle in out-door environments. Some experimental driving maneuvers have been performed to prove their effectiveness and their robustness.…. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Fuzzy inference

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Sensor-based obstacle modeling in configuration space for manipulator motion planning

Sensor-based obstacle modeling in configuration space for ma...

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International Workshop on Robot Motion and control (RoMoCo)

作者： Wei Li Zusbun Chen F.M. Wahl K.R. Kozlowski Department of Computer Science and Technology Tsinghua University Beijing China Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany Chair of Control Robotics and Computer Science Poznań University of Technology Poznan Poland

Presents an approach to sensor-based obstacle modeling in a configuration space for manipulator motion planning in unknown environments. In order to achieve this objective, an efficient algorithm is used to fast map obstacles based on defined fundamental obstacles in the workspace and their images in the configuration space. A robotic manipulator is assumed to be equipped with distance sensors to detect obstacles in the local region. By computation of the critical points of an obstacle based on information acquired by the distance sensors, an obstacle model in the configuration space is constructed. By using this sensor-based configuration space modeling, robot motion planning in unknown environments can be performed in realistic time frames.

关键词： Manipulators Orbital robotics Motion planning Robot sensing systems Space technology Computational geometry process planning Technology planning computer science Solid modeling

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Planning of regrasp operations

Planning of regrasp operations

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.A. Stoeter S. Voss N.P. Papanikolopoulos H. Mosemann Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Institute for Robotics and Process Control Technical University of Braunschweig Germany

Robotic manipulators in contemporary work-cells are often incapable of solving even simple pick-and-place operations. More specifically, most systems require each object to be supplied in the same and pre-defined way. Introducing regrasping to the production cycle relaxes the constraints imposed on supply mechanisms. Regrasping describes the operation that must be performed whenever an object's pick-up grasp is incompatible with its put-down grasp. The paper presents a novel approach to solve the regrasp problem for robots equipped with parallel-jaw end-effecters. The proposed method first evaluates the object's possible grasps and placements. These are subsequently combined to form grasp-placement-grasp triples. A regrasp sequence leading from the pick-up to the put-down grasp is generated by searching through the resulting space of compatible grasp-placement-grasp triples. The algorithm takes kinematic and geometric constraints of both the manipulator and the objects into account. Computational concerns are addressed by subdividing the calculation into an off-line and a fast online phase.

关键词： Intelligent robots Robot vision systems Belts Path planning Artificial intelligence Laboratories computer science process control Manipulators Production

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An efficient image processing algorithm for high-level skill acquisition

An efficient image processing algorithm for high-level skill...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： J. Gonzalez-Linares N. Guil P. Perez M. Ehrenmann R. Dillmann Department of Computer Architecture University of Màlaga Malaga Spain Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

This paper describes the set-up of the image processing system installed at the IPR in Karlsruhe. It will serve for sensor device in the programming by demonstration field. As a first application example, it is used as source for images in the demonstration of a bag packaging task. A detection algorithm that finds positions of infusion bags is presented. It was developed at the department of computer Architecture of the University of Malaga, and uses a straight line Hough transform after the application of a Canny filter. Then, the position of the rubber caps of the bags are located by a binarization technique to predicate the orientation of the bag. However, since the computing power is quite limited, the algorithms must have as low complexity as possible.

关键词： Image processing Robot sensing systems Robot programming Robotic assembly Cameras Intelligent robots Fingers computer architecture Intellectual property Application software

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Joint controller for the object-pose controlling on multifinger grippers

Joint controller for the object-pose controlling on multifin...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： T. Fischer D. Rapela H. Woern Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE

A human hand as a very complex grasping tool can handle objects of different sizes and shapes. Many research works have been done to develop artificial robot hands with similar capabilities to a human hand, such a robot hand is also called a multifinger gripper. Most parts of this research are dedicated to control of multifinger grippers with emphasis on the finger tips or finger joints. By controlling a multifinger gripper, we enable the gripper to handle an object; in another words, controlling a multifinger gripper can be viewed in terms of controlling an object's pose and the forces between the object and its environment. Hence, an object-pose controller with feedback from an object pose sensor suits multifinger gripper control. Also due to the non-linear dynamic system behavior in the joints of most multifinger grippers, an effective, easily-adaptable joint controller is employed. The paper discusses the object pose controller with great detail in a new joint controller. Since the joint controller is based on fuzzy and neural-network algorithms, we do not use an exact analytical model for this case.

关键词： Grippers Force control Humans Robots Fingers Grasping Shape Nonlinear dynamical systems Nonlinear control systems control systems

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Technical note Hybrid fuzzy P+ID control of manipulators under uncertainty

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Mechatronics 1999年第3期9卷 301-315页

作者： W. Li X.G. Chang F.M. Wahl S.K. Tso Department of Computer Science and Technology Tsinghua University Beijing 100084 Peoples Republic of China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany Center for Intelligent Design Manufacturing and Automation Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong KongPeoples Republic ofChina

Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.

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