The objective of this paper is to present a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor...
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A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligentsystems is defined in terms of the unique type ...
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A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligentsystems is defined in terms of the unique type of information multiple sensors can provide. Multisensor integration is discussed in terms of basic integration functions and multisensor fusion in terms of the different levels at which fusion can take place. Numerical examples are given to illustrate a variety of different fusion methods. Speculations concerning possible research future directions and a guide to survey and review papers in the area of multisensor integration and fusion are presented.< >
Presents a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented...
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Presents a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented and described. The authors use a triangulation type laser of range finder in which a CCD based imaging device is utilized to view a plane of laser light bounced from a sweeping mirror. The sensor characteristics are described and modeled. A set of criteria for use in constraining the possible sensor site location for future scans is presented. These constraint conditions are essential to drive the actual sensor placement algorithm for 3D object recognition.< >
An intelligent externally powered orthotic system (exoskeleton) for the treatment of motor dysfunctions of the upper extremities of stroke patients is described. IROS is an interactive and cooperative human-machine sy...
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An intelligent externally powered orthotic system (exoskeleton) for the treatment of motor dysfunctions of the upper extremities of stroke patients is described. IROS is an interactive and cooperative human-machine system, with both controlling the human arm. Initially, the machine is the main controller of the arm. As the patient improves, the human control of the arm increases, and the machine control of the arm decreases. The system combines the skills of professional therapists with a sensor-integrated orthosis and a real-time graphics system to ensure proper interaction and cooperation with the patient in order to achieve the goals of therapy. It uses the expertise of the therapists, which is incorporated into its knowledge system, while monitoring the sensory information from the patient, including the force, motion, and electromyogram (EMG) signals. The treatment-related tasks are displayed on the real-time graphic system to increase the interest and enhance the motivation of the patient. Such a system can be used to improve the rehabilitation process for stroke patients.< >
The issue of structural formulation of task plan generation for intelligent machines is investigated from the perspective of artificial intelligence. The knowledge base of the machines is represented by a relational d...
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The issue of structural formulation of task plan generation for intelligent machines is investigated from the perspective of artificial intelligence. The knowledge base of the machines is represented by a relational database, and the task-planning process is modeled by a condition/event net. It is shown that the task plans generated by the formulation proposed are Petri net languages and that any task-planning strategy can be achieved by a supervisory task planner. The objective of such a structural formulation is to establish a formal framework for the task plan generation of intelligent machines in terms of concepts in mathematical logic. This framework can serve as the foundation of analytical task plan generation at different levels of the hierarchical structure of intelligent machines. In other words, the framework may play the role of domain space upon which various analytical design approaches, such as the probabilistic method and neural network computing, can be integrated to specify the task plan generation in both architectural and computational aspects.< >
The objective of this study is to develop a method for mobile robot motion planning in the presence of moving obstacles. The concept of traversability vectors is used to analyze the spatial relationship between the ro...
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The objective of this study is to develop a method for mobile robot motion planning in the presence of moving obstacles. The concept of traversability vectors is used to analyze the spatial relationship between the robot and moving obstacles. Given a predefined path, the occupancy of the path by moving obstacles can be detected and registered on the constraint map. Obstacles on this map represent time constraints on the robot motion along the path. A search algorithm is then developed to coordinate the robot motion. Simulation results for this approach are discussed.< >
This paper describes a reliable localisation system based on ultrasonic sound, that has been designed for an autonomous robot. The robot position and orientation within a 10 meter square room can be obtained to an acc...
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An intelligent robotic system for multi-sensor based tracking and interception of moving objects which travel at unknown velocities is presented. The capability for multi-sensor assisted object tracking has been achie...
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ISBN:
(纸本)9780819400383
An intelligent robotic system for multi-sensor based tracking and interception of moving objects which travel at unknown velocities is presented. The capability for multi-sensor assisted object tracking has been achieved through the development of techniques to track in multiple dimensions for both the static and dynamic cases. These methods are realized via the fusion of the best attributes of visual and acoustic sensing into an effective configuration that is ideal for real time tracking purposes. The kinematic information for a moving object is extracted via end effector mounted vision and ultrasonic sensors. A hybrid position/force servo-controlled gripper developed at NCSU has been used for the system implementation. One parallel actuation gripper finger houses a fiber optics based Eye-in-Hand vision sensor, while the other accommodates an ultrasonic range sensor. The primary intent of this work is to develop approaches for performing the tasks of: generalized visual/ultrasonic tracking of known rectangular entities;3-D tracking of arbitrary pseudo-planar objects that can change orientation about the optical axis;and a real time paradigm for the tracking of motion in 3-D with variable orientation about the optical axis. This discussion includes both a description of the underlying principles and the initial experimental results.
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