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Annual Symposium on Simulation

作者： J.-Y. Jo Y.-W. Kim S.A. Ameduri A. Podgurski Computer Engineering & Science Department Case Western Reserve University Cleveland OH USA Electrical Engineering & Applied Physics Department Center for Automation and Intelligent Systems Research Case Western Reserve University Cleveland OH USA

Simulation is an effective technique to test software where testing in the real environment is not feasible. A 3D graphical simulator can make the software testing process much more effective and efficient. With graphical representation, the software's behavior can be observed in a virtual environment similar to the real environment. This kind of simulator can be best used in testing embedded system software, specifically in systems with many moving objects. Typically, however, the creation of a simulator is expensive in terms of time and cost. In addition, it is difficult to verify the accuracy of the system. We propose an inexpensive 3D graphical simulation method for software testing of embedded systems. This system eliminates the need for mathematical modeling by modeling the physical objects with simple rules. These objects self-coordinate their operation through the application of these rules. The 3D graphical simulator integrates the entire modeling process, eliminating the need for separate simulation and graphical display units. The simulator provides instant graphical feedback of system behavior to illustrate the feasibility and reliability of the system.

关键词： Software testing Embedded system Mathematical model Virtual environment System testing Embedded software Software systems Costs Application software Three dimensional displays

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Geometric collision detection and potential field based time delay planning for dual arm systems

Geometric collision detection and potential field based time...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Sukhan Lee H. Moradi G. Kardaras Sung-Kwon Kim Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Production Engineering Center Samsung Electronics Company Limited Suwan South Korea

In this paper a method for collision detection and collision avoidance for dual arm robots is proposed. The collision detection, a fast geometric approach based on link intersection, detects the collision and constructs the collision region for given trajectories. The time delay planning determines the minimum necessary time delay to avoid collisions using a potential field representation for collision regions. The planning is based on a flexible, massively parallel approach. It effectively avoids any local minima problems due to the potential field representation and can be used regardless of the complexity of the collision region (e.g., concave or complicated regions).

关键词： Delay effects Robotic assembly Manipulators Orbital robotics intelligent robots Parallel robots Parallel processing Assembly systems robotics and automation Path planning

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3D free-form surface registration and object recognition

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INTERNATIONAL JOURNAL OF computer VISION 1996年第1期17卷 77-99页

作者： Chua, CS Jarvis, R Intelligent Robotics Research Center Department of Electrical and Computer Systems Engineering Monash University Wellington Road 3168 Clayton Vic Australia

A new technique to recognise 3D free-form objects via registration is proposed. This technique attempts to register a free-form surface, represented by a set of 2 1/2D sensed data points, to the model surface, represented by another set of 2 1/2D model data points, without prior knowledge of correspondence or vie;tv points between the two point sets. With an initial assumption that the sensed surface be part of a more complete model surface, the algorithm begins by selecting three dispersed, reliable points on the sensed surface. To find the three corresponding model points, the method uses the principal curvatures and the Darboux frames to restrict the search over the model space. Invariably, many possible model 3-tuples will be found. For each hypothesized model 3-tuple, the transformation to match the sensed 3-tuple to the model 3 tuple can be determined. A heuristic search is proposed to single out the optimal transformation in low order time. For realistic object recognition or registration, where the two range images are often extracted from different view points of the model, the earlier assumption that the sensed surface be part of a more complete model surface cannot be relied on. With this, the sensed 3-tuple must be chosen such that the three sensed points lie on the common region visible to both the sensed and model views. We propose an algorithm to select a minimal non-redundant set of 3-tuples such that at least one of the S-tuples will lie on the overlap. Applying the previous algorithm to each 3-tuple within this set, the optimal transformation can be determined. Experiments using data obtained from a range finder have indicated fast registration for relatively complex test cases. If the optimal registrations between the sensed data (candidate) and each of a set of model data are found, then, for 3D object recognition purposes, the minimal best fit error can be used as the decision rule.

关键词： computer vision

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Robust optic flow estimation using least median of squares

Robust optic flow estimation using least median of squares

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IEEE International Conference on Image Processing

作者： A. Bab-Hadiashar D. Suter Intelligent Robotics Research Centre Department of Electrical & Computer Systems Engineering Monash University Australia

A new approach to optic flow calculation, based on a highly robust statistical technique, is presented. In this algorithm, the optic flow problem is first formulated as a standard least squares problem. Then, its associated closest point problem is introduced and the transformation which takes this problem to a standard regression problem is provided. The least median of squares technique is used to solve the resulting regression problem. Some experimental results for both synthetic and real image sequences are also presented.

关键词： Robustness Image motion analysis Optical sensors Optical computing Optical noise Brightness Equations intelligent robots Image sequences Vectors

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Pattern analysis for autonomous vehicles with the region- and feature-based neural network: global self-localization and traffic sign recognition

Pattern analysis for autonomous vehicles with the region- an...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.A. Janet M.W. White T.A. Chase R.C. Luo J.C. Sutton Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Autonomous vehicles require that all processes be efficient in time, complexity and data storage. In fact, an ideal system employs multifunctional models where ever possible. This paper presents the region- and feature-based neural network (RFNN) as a viable pattern analysis process engine for solving a variety of problems with a single math model. The RFNN employs receptive fields and weight sharing which compensate for noise, minor phase shifts and occlusions. The RFNN also utilizes greedy adaptive learning rates and mature feature preservation to expedite the overall training process. A novel ad hoc approach called "shocking" is used to solve the instability problem inherent to greedy adaptive learning rates. The basic RFNN "feature" is grounded in computer vision morphology in that the neural network autonomously learns subpatterns unique to various problems. This paper comprehensively describes the flexible RFNN architecture and training process and presents two problems that can be solved by the RFNN: sensor pattern-recognition and traffic sign recognition.

关键词： Pattern analysis Remotely operated vehicles Mobile robots Neural networks Memory Engines Phase noise computer vision Morphology computer architecture

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TETROBOT modular robotics: prototype and experiments

TETROBOT modular robotics: prototype and experiments

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： G.J. Hamlin A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

TETROBOT is a modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms. This paper describes new experimental results based on evaluation of prototype configurations with up to 18 nodes, 48 links and 15 actuators. TETROBOT is an actuated robotic structure which may be reassembled into many different configurations while still being controlled by the same hardware and software architecture. Implementations of a double octahedral platform, a tetrahedral arm and a six-legged walker, constructed from the same set of parts, are described. The TETROBOT system addresses the needs of application domains, such as space, undersea, mining, and construction, where adaptation to unstructured and changing environments and custom design for rapid implementation are required.

关键词： Prototypes Collision mitigation robotics and automation Robot sensing systems Manipulators Fasteners Parallel robots Control systems Orbital robotics Manufacturing automation

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Tetrobot family tree: modular synthesis of kinematic structures for parallel robotics

Tetrobot family tree: modular synthesis of kinematic structu...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： A.B. Neville A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing and Department Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Parallel robots can be built by linking together unit cells in configurations which retain the static determinacy of the overall structure. In the Tetrobot system, the kinematics of these concatenated structures can be solved by propagation of solutions through connected graphs of linked modules. In this paper, we examine the synthesis of unit cells which could be used in creating these structures and retain the ability to compute the kinematics for control of the actuated system. Admissible unit cells are shown to form families in two- and three-dimensions, and a set of synthesis rules is described which generates the members of these families recursively for each generations. The resulting set of modules comprises a broad set of useful cells which can be used to design parallel robots and guarantee the computability of their kinematics on a cell-by-cell basis.

关键词： Kinematics Parallel robots robotics and automation Control system synthesis Manufacturing automation computer aided manufacturing Concurrent computing systems engineering and theory Joining processes Concatenated codes

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Application of feature-based multi-view servoing for lamp filament alignment

Application of feature-based multi-view servoing for lamp fi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

This paper presents an application of feature-based visual servoing to achieve accurate and robust 3D filament alignment. Two orthogonal cameras are used to localize the five degrees of freedom of an axi-symmetric filament. An algorithm for precisely estimating the center and orientation features of a filament in a camera view is described. The use of feature-based servoing overcomes the difficulty of 3D camera calibration in a factory environment. These features drive a PID control loop for each view. The two views are coupled in one degree of freedom, and the multiple-view controller switches between two single-view controllers to achieve 3D servoing. The overall accuracy achieved is in thousandths of an inch. Experimental results on the performance of the control algorithm are discussed. Models explaining the system behavior are presented. The use of visual servoing in this application far exceeds the positioning accuracy and the repeatability of human operators.

关键词： Lamps Cameras Visual servoing robotics and automation Manufacturing automation Robot vision systems Robustness Application software computer aided manufacturing Calibration

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Real-time robot motion control with circulatory fields

Real-time robot motion control with circulatory fields

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Singh H. Stephanou J. Wen NYS Center for Advanced Technology in Robotics Automation and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces a new feedback algorithm for steering a point robot through an obstacle field. The key innovation is the use of a circulatory field to rotate the robot path around the obstacles instead of the common potential field which repels the robot. This idea is motivated by a charged particle in a magnetic field generated by a current flowing around the obstacle. In constrast, the potential field approach is associated with a repulsive static electric field generated by charges of the same polarity as the robot, on the obstacle. The circulatory field does not generate any spurious local minimum as it does not change the total energy of the system. By combining with an attractive potential field associated with the desired destination, this method achieves global convergence while avoiding collisions with obstacles.

关键词： Robot motion Motion control Robot control robotics and automation Feedback Manufacturing automation computer aided manufacturing Orbital robotics Electrostatics Navigation

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Novel active-vision-based visual-threat-cue for autonomous navigation tasks

Novel active-vision-based visual-threat-cue for autonomous n...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： S.R. Kundur D. Raviv Robotics Center and Department of Electrical Engineering Florida Atlantic University Boca Raton FL USA Intelligent Systems Division National Institute for Standards and Technology Gaithersburg MD USA

This paper presents a new visual motion cue, we call the Visual Threat Cue (VTC) that provides some measure for a relative change in range as well as clearance between a 3D surface and a fixing observer in motion. The VTC corresponds to visual fields surrounding a moving observer. The fields are time-based imaginary 3-D surfaces that move with the observer. They are analogous to equi-potential fields of an electric dipole. A practical method to extract the VTC is presented. The approach is independent of the 3D surface texture and needs no optical flow information, 3D reconstruction, segmentation, feature tracking or pre-processing. This algorithm to extract the VTC was applied to several indoor as well as outdoor real images of textures, where we observed a similar behavior for most of the textures employed.

关键词： Navigation Data mining Surface texture Cameras Surface reconstruction NIST Motion measurement Image reconstruction Image segmentation Electric variables measurement

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