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International Conference on Pattern Recognition

作者： S. Peleg H. Rom Department of Computer Sciences Hebrew University of Jerusalem Jerusalem Israel David Samoff Research Center Inc. Princeton NJ USA Institute of Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

An iterative method is described for segmenting image sequences into independently moving regions while computing the motion parameters of each region. In each iteration, image points are classified into regions based on their consistency with the different motion estimates, and motion estimates are then updated using the obtained regions. The motion estimates and the segmentation improve with every iteration, and the iteration stops when a stable segmentation is obtained. Accurate motion parameters are recovered for each segment. The process is performed directly on gray-level images and does not require detection of special feature points and the computation of point correspondence. It is also faster and more robust than optical-flow-based segmentation methods.< >

关键词： Image segmentation Image motion analysis Cameras Optical computing Layout Optical noise Motion estimation Image sequences intelligent robots computer science

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Reasoning about grasping from task descriptions 7

Reasoning about grasping from task descriptions

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intelligent Robots and computer Vision VII 1988

作者： Liu, Huan Iberall, Thea Bekey, George A. Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los AngelesCA90089 United States

The advent of multiple degree of freedom, dextrous robot hands has made robot hand control more complicated. Besides the existing problem of finding a suitable grasping position and approach orientation, it is now necessary to decide the appropriate hand shape to use for a given task. In order to deal with this additional complexity, we focus on how to represent prehensile tasks for mapping task descriptions into suitable hand shapes, positions and orientations. A generic robot hand control system GeSAM is being implemented to refine task descriptions into suitable dextrous robot hand shapes using Knowledge Craft on a TI lisp machine. © 1989 SPIE. All rights reserved.

关键词： Robotic arms

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The multi-dimensional quality of task requirements for dextrous robot hand control

The multi-dimensional quality of task requirements for dextr...

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IeeE International Conference on robotics and Automation (ICRA)

作者： H. Liu T. Iberall G.A. Bekey Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los Angeles CA USA

The authors identify four important task requirements for dextrous robot hand control. These requirements are stability, manipulability, torquability, and radial rotatability. High-level task descriptions, supplied by the user, are refined into detailed task descriptions that can be used to drive a robot hand. A knowledge-based approach for refining a reasonable set of tasks is used to infer values for a set of task attributes, which trigger several heuristics. Those heuristics are applied using a set of metaheuristics to determine good grasp postures and poses for the task. How to use this multidimensional grasping quality in grasp mode selection and performance evaluation is shown in an industrial assembly domain.< >

关键词： Robot control intelligent robots Robotic assembly Control systems Fingers Stability Refining Service robots robotics and automation Manufacturing automation

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On the applicability of knowledge-based systems in communication

On the applicability of knowledge-based systems in communica...

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Israel Conference on computer systems and Software Engineering

作者： A. Kandel J.M. Perl M. Schneider Computer Science Department and the Institute for Expert Systems and Robotics Florida State University Tallahassee FL USA Computer Science Department Florida Institute of Technology Melbourne FL USA

A knowledge-based system (COMEX) is presented which replaces or augments the human operator of a communication station in a multilink, multidrop communication network. The system accepts some preliminary information from a human operator, from utility programs running on the same processor, and from external sensors. The system comprises an expert system that operates on three distinct knowledge bases in order to reach an optimal solution for the communication problem. COMEX is written in Turbo Pascal and runs on an IBM-compatible PC, which functions as the communication station controller. When used in a fully automatic mode, it performs efficiently all the functions of an experienced and expert operator, equipment parameters selection and setting, and complete message handling.< >

关键词： Knowledge based systems Communication system control Expert systems Humans Frequency Control systems Automatic control intelligent systems Satellite broadcasting Artificial satellites

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Dissertation abstracts

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Machine Vision and Applications 1989年第2期2卷 117-120页

作者： Tanimoto, Steven L. Srihari, Sargur N. Levine, Martin D. Seering, Warren P. Nevatia, R. Department of Computer Science FR-35 University of Washington Seattle USA Technical Report 88-08 Department of Computer Science SUNY at Buffalo Buffalo USA Technical Report 88-22 Department of Computer Science SUNY at Buffalo Buffalo USA Research Centre for Intelligent Machines McGill University Montréal Canada Publications Department Technical Report 932 MIT Artificial Intelligence Laboratory Cambridge USA Institute for Robotics and Intelligent Systems University of Southern California School of Engineering Los Angeles USA

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Automatic construction of assembly partial-order graphs

Automatic construction of assembly partial-order graphs

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International Conference on computer Integrated Manufacturing

作者： S. Lee Y.G. Shin Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Computer Science Department University of Southern California Los Angeles CA USA

A system is presented which automatically constructs an assembly partial-order graph from an object-oriented model describing parts and their connections. The construction is based on the principle of assembly by disassembly and on assembly heuristics representing criteria for preferred subassemblies. The system first identifies disassemblable parts and subassemblies by reasoning geometric and physical constraints as well as resource requirements, and then assigns preference to the identified disassembly options based on assembly heuristics. The recursive application of this process to the selected disassemblies results in a hierarchical partial-order graph (HPOG). The HPOG not only specifies the required precedence in part assembly but also provides parallelism for implementing multiple-robot distributed and cooperative assembly. The software is organized under the cooperative-problem-solving paradigm.< >

关键词： Robotic assembly Assembly systems robotics and automation Process planning Job shop scheduling Robot sensing systems intelligent robots Throughput Parallel robots Motion planning

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Learning expert systems for robot fine motion control

Learning expert systems for robot fine motion control

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IeeE International Symposium on intelligent Control (ISIC)

作者： S. Lee M.H. Kim Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Computer Science Department Sung Kyun Kwan University Seoul South Korea

The authors present a learning expert system which enables a robot to acquire fine motion skills automatically. The system follows the paradigm of Expert Assisted Robot Skill Acquisition (EARSA) proposed by the authors (1987). EARSA is mainly concerned with the self-discovery of skills by a robot in conjunction with the transfer of human skills to a robot and emphasizes the distinctive difference in perceptual and physical capabilities between a human and a robot. The authors review the theory and mechanism of EARSA, describe the robot fine motion skill learning algorithm formulated on the basis of EARSA, and present the details of simulation on the robot learning of two-dimensional peg-hole insertion skills. The results of simulation indicate the dramatic improvement of performance as a result of skill learning.< >

关键词： Expert systems Motion control robotics and automation Robot sensing systems intelligent robots Cognitive robotics Motion planning Robotic assembly Automatic control Humans

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Refining edges detected by a LoG operator

Refining edges detected by a LoG operator

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： F. Ulupinar G. Medioni Dept. of Electr. Eng. & Comput. Sci. Univ. of Southern California Los Angeles CA USA Institute for Robotics and Intelligent Systems Department of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The Laplacian of Gaussian (LoG) operator is one of the most popular operators used in edge detection. This operator, however, has some problems: zero-crossings do not always correspond to edges, and edges with an asymmetric profile introduce a symmetric bias between edge and zero-crossing locations. The authors offer solutions to these two problems. First, for one-dimensional signals, such as slices from images, they propose a simple test to detect true edges, and, for the problem of bias, they propose different techniques: the first one combines the results of the convolution of two LoG operators of different deviations, whereas the others sample the convolution with a single LoG filter at two points besides the zero-crossing. In addition to localization, these methods allow them to further characterize the shape of the edge. The authors present an implementation of these techniques for edges in 2-D images.< >

关键词： Image edge detection Laplace equations Detectors intelligent robots Convolution Shape intelligent systems Testing Filters Image segmentation

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Experimental robotics 1

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丛书名： Springer Tracts in Advanced robotics

1000年

作者： Jaydev P. Desai Gregory Dudek Oussama Khatib Vijay Kumar

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Simulation, Modeling, and Programming for Autonomous Robots 1

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丛书名： Lecture Notes in computer science

1000年

作者： Noriaki Ando Stephen Balakirsky Thomas Hemker Oskar Stryk Monica Reggiani

ISBN: (数字)9783642173196

ISBN: (纸本)9783642173189

Why are the many highly capable autonomous robots that have been promised for novel applications driven by society, industry, and research not available - day despite the tremendous progress in robotics science and systems achieved during the last decades? Unfortunately, steady improvements in speci?c robot abilities and robot hardware have not been matched by corresponding robot performance in real world environments. This is mainly due to the lack of - vancements in robot software that master the development of robotic systems of ever increasing complexity. In addition, fundamental open problems are still awaiting sound answers while the development of new robotics applications s- fersfromthelackofwidelyusedtools,libraries,andalgorithmsthataredesigned in a modular and performant manner with standardized interfaces. Simulation environments are playing a major role not only in reducing development time and cost, e. g. , by systematic software- or hardware-in-the-loop testing of robot performance, but also in exploring new types of robots and applications. H- ever,their use may still be regardedwith skepticism. Seamless migrationof code using robot simulators to real-world systems is still a rare circumstance, due to the complexity of robot, world, sensor, and actuator modeling. These challenges drive the quest for the next generation of methodologies and tools for robot development. The objective of the International Conference on Simulation, Modeling, and ProgrammingforAutonomous Robots (SIMPAR) is to o?er a unique forum for these topics and to bring together researchersfrom academia and industry to identify and solve the key issues necessary to ease the development of increasingly complex robot software.

关键词： Artificial Intelligence computer Communication Networks Software Engineering/Programming and Operating systems Simulation and Modeling User Interfaces and Human computer Interaction Computation by Abstract Devices

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