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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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Building an accurate range finder with off the shelf components

Building an accurate range finder with off the shelf compone...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： J.-L. Jezouin P. Saint-Marc G. Medioni Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors present an active triangulation range finding system composed of an independent laser system generating a plane of light projected on an object placed on a rotary table driven by a personal computer. This computer includes a video digitizer board connected to a camera looking at the scene. Besides its low cost, this system has other advantages over the comparable existing systems. First, the authors have designed a simple, fast and accurate calibration procedure which does not require any knowledge about the camera parameters or the relative position of the camera with the laser plane. Furthermore, this calibration procedure is performed only once, ensuring stable and accurate results. The result of the scanning of a given object is given in cylindrical coordinates. Choosing different viewpoints, Cartesian range images of the same object are computed in order to show, with shaded and perspective views of the scanned object, the quality of the results.< >

关键词： Calibration Cameras intelligent robots Costs computer vision Robot kinematics intelligent systems Laser theory Microcomputers Layout

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Useful geometric properties of the generalized cone

Useful geometric properties of the generalized cone

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： K. Rao G. Medioni Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors present results on geometric properties of the generalized cone, in an effort to utilize it for a shape description system. They first derive the relationship between the generalized cone description and the surface description given by differential geometry. Then they derive expressions for the Gaussian and mean curvatures of a generalized cone, in general, and obtain expressions for some special cases like the torus, the solid of revolution etc. They study the planarity property of the contour generators of a generalized cone, in particular, one with a planar axis. They find that homogeneous generalized cones with planar axes and circular cross sections or constant-size cross sections have planar contour generators in an orthographic side view. An example of such a generalized cone is the torus. However, the contour generators are not planar in a general view. They also study symmetry properties of some generalized cones and find, in particular, that in orthographic projection the contour of the solid of revolution is symmetric about the projection of its axis from any point of view.< >

关键词： Shape intelligent robots Solids intelligent systems Geometry computer vision Robustness Contracts Monitoring Laboratories

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SROMA: an adaptive scheduler for robotic assembly systems

SROMA: an adaptive scheduler for robotic assembly systems

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IEEE International Conference on robotics and Automation (ICRA)

作者： X. Xia G.A. Bekey Department of Compter Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

The authors present a program, SROMA, which is an adaptive scheduler for robots functioning in a mechanical assembly domain. In particular, they describe: (1) the underlying scheme for representing an assembly task and the assembly plan for that task; and (2) the underlying control scheme for combining goal-directed and data-driven mechanisms into a coherent process. The feasibility of the authors' approach to the online scheduling for assembly robots based on the schemes is demonstrated by some preliminary simulation results.< >

关键词： Adaptive scheduling Robotic assembly Monitoring Assembly systems robotics and automation intelligent robots Switches Data structures Automatic control intelligent structures

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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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Building a generic architecture for robot hand control

Building a generic architecture for robot hand control

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International Conference on Neural Networks

作者： Liu Huan Iberall Bekey Institute of Robotics and Intelligence Systems Department of Computer Science University of Southern California Los Angeles CA USA

As various dextrous robot hands are designed and built, a major question is how to develop device-independent robot hand controllers. This would allow the low-level control problems to be separated from high level functionality. GeSAM is a generic robot hand controller that is based on a model of human prehensile function. It focuses on the relationship between geometric object primitives and the ways a hand can perform prehensile behaviors. The authors show how the relationship between object primitives and a useful set of grasp modes can be learned by an adaptive neural network. By adding training points as necessary, system performance can be improved, avoiding the tedious job of computing every relationship by hand.< >

关键词： Learning systems Neural networks Robots

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Robot hand-eye coordination: shape description and grasping

Robot hand-eye coordination: shape description and grasping

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IEEE International Conference on robotics and Automation (ICRA)

作者： K. Rao G. Medioni H. Liu G.A. Bekey Departments of Electrical Engineering and Computer Science Institute for Robotics and Intelligent Systems Powell Hall 204 MC-0273 University of Southern California Los Angeles CA USA

The successful execution of grasps by a robot hand requires a translation of visual information into control signals to the hand which produce the desired spatial orientation and preshape for an arbitrary object. An approach to this problem, based on separation of the task into two modules, is presented. A vision module is used to transform an image into a volumetric shape description using generalized cones. The data structure containing this geometric information becomes an input to the grasping module, which obtains a list of feasible grasp modes and a set of control signals for the robot hand. Various features of both modules are discussed.< >

关键词： Robot kinematics Shape Grasping intelligent robots Robot sensing systems Humans intelligent systems Data structures Motion control Robot control

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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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