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 desi...
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.
The segmentation of medical images like CT or MRI scans represents a great challenge to researchers in computer vision, due to the variability of the individual anatomy and the different characteristics of the scannin...
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ISBN:
(纸本)9051993862
The segmentation of medical images like CT or MRI scans represents a great challenge to researchers in computer vision, due to the variability of the individual anatomy and the different characteristics of the scanning systems. As an anatomical knowledge base improves the recognition of structures in CT or MRI scans, we chose a knowledge based segmentation in our approach, which will be explained in the following.
In maxillofacial surgery the quality of the surgical outcome mainly depends on the experience of the operating surgeon. Thus we intend to support the surgeon before and during surgery in order to enhance the surgical ...
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ISBN:
(纸本)9051993862
In maxillofacial surgery the quality of the surgical outcome mainly depends on the experience of the operating surgeon. Thus we intend to support the surgeon before and during surgery in order to enhance the surgical results. On the one hand this implies the use of image processing, three dimensional modelling techniques and visualization techniques of medical image data, on the other hand planning systems, intraoperative navigation devices and surgical robots are needed. In this paper a complex expert system is presented, which uses a planner for generating treatment plans, an infrared navigation for monitoring both patient, robot, and surgical tool, and a surgical robotic system in order to work on bone. Special stress is laid on the architecture of the planning system, the structure of the treatment plans, and the intraopertative communication protocols.
In this paper we show how the uncertainty within a 3d recognition process can be modeled using Bayesian nets. Reliable object features in terms of object rims are introduced to allow a robust recognition of industrial...
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A curvature based technique for fast range image registration is described in this work. With this technique the rotation and the displacement of a surface with respect to another one is calculated. The proposed algor...
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A curvature based technique for fast range image registration is described in this work. With this technique the rotation and the displacement of a surface with respect to another one is calculated. The proposed algorithm uses Gaussian curvature information from each image point to extract a number of feature points. Two bounds are applied to the curvature values. Points with these bound curvature value are classified into two classes of feature points. In order to calculate the rotation angle between the two range images, the feature points are paired. That means the angle and the distance of the point pairs have to be transformed into a general view coordinate system. In the orientation matching procedure, we compare each pairing in the first image with each possible in the second one. This process is independent of the translation calculation which is calculated in a sequencing step. This pipelining principle speeds up the registration process if correspondences are calculated constantly.
Currently, an inportant topic in robotic reasearch systems is the design and development of learning Multi-Agent Systems ( MAS ). One major advantage of these systems is the fact that several agent work towards a comm...
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Currently, an inportant topic in robotic reasearch systems is the design and development of learning Multi-Agent Systems ( MAS ). One major advantage of these systems is the fact that several agent work towards a common goal, having different specializations for specific subtasks. Especially learning MAS in cooperation with a human teacher seem to be a very promising approach for complex manipulation and production tasks. Since agents can join and leave the system at any time, it is important that knowledge acquired by single agents can be transferred or propagated between agents, to ensure that knowledge is not lost, if agents leave the system. Therefore, techniques will be presented to represent extentable action knowledge for task solutions in an agent's knowledge base and additionally, algorithms for propagating this knowledge between agents efficiently and with minimum communication effort.
This paper presents a method for vision navigation of an autonomous vehicle based on fuzzy reasoning. Autonomous vehicles operating in real world require fast image processing and robustness with respect to noisy sens...
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This paper presents a method for vision navigation of an autonomous vehicle based on fuzzy reasoning. Autonomous vehicles operating in real world require fast image processing and robustness with respect to noisy sensor readings and with respect to environment changes. The key subject of this paper is the integration of some special domain knowledge into a fuzzy rule base in order to enhance image segmentation performance. The proposed method is applied to navigate the THMR-III autonomous vehicle in out-door environments.
Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described...
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Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described. Remote 3D stereoscopic visual inspection is outlined and algorithms developed for crack detection and surface and subsurface corrosion detection are described. Future development trends are also outlined.
This paper proposes a general framework to build 3D object recognition systems from a set of CAD object definitions. Reliable features from object corners, edges and 3D rim curves are introduced; they provide sufficie...
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This paper proposes a general framework to build 3D object recognition systems from a set of CAD object definitions. Reliable features from object corners, edges and 3D rim curves are introduced; they provide sufficient information to allow identification and pose estimation of CAD designed industrial parts. The statistical properties of the data, caused by noise, is modeled by means of Bayesian nets, representing the relations between objects and observable features. This allows to identify objects by a combination of several features considering the significance of each single feature with respect to the object model base. On this basis robust and powerful 3D CAD based object recognition systems can be built.
Micromanipulation by microrobots has become an issue of primary importance in industry and biomedicine, since human manual capabilities are restricted to certain tolerances. The manipulation of biological cells or the...
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Micromanipulation by microrobots has become an issue of primary importance in industry and biomedicine, since human manual capabilities are restricted to certain tolerances. The manipulation of biological cells or the assembly of a microsystem composed of several microcomponents are good examples. An automated microrobot-based micromanipulation desktop station has been developed at the University of Karlsruhe. The process of assembly takes place in the field of view of a light optical microscope. This paper focuses on motion control problems of the piezo-driven microrobots employed by the station. The ability to adapt itself to the process requirements is of great importance for micromanipulation robots. They must be able to operate in a partially defined environment and to ensure reasonable behaviour in unpredicted situations. A neural control concept based on a reference model is proposed as a solution. It is shown, that the neural controller is able to learn the desired behaviour. It considerably outperforms an analytically designed linear controller in the real environment.
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