An active vision system has to enable the implementation of reactive visual processes and of elementary visual behaviors in real time. In this paper we describe the real-time implementation of several visual behaviors...
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An active vision system has to enable the implementation of reactive visual processes and of elementary visual behaviors in real time. In this paper we describe the real-time implementation of several visual behaviors in an active vision system. Issues related to the real-time implementation are discussed, namely in what concerns the modelling of the measurements made in the image. Even though in most applications a fully calibrated system is not required, we also describe a methodology for calibrating the camera head, taking advantage of its degrees of freedom. These calibration parameters are used to evaluate the performance of the system. Another important issue of the operation of active vision binocular heads is their integration into more complex robotic systems. We claim that higher levels of autonomy and integration can be obtained by designing the system architecture based on the concept of purposive behavior. At the lower levels we consider vision as a sensor and integrate it in control systems (both feedforward and servo loops) and several visual processes are implemented in parallel, computing relevant measures for the control process. At higher levels the architecture is modeled as a state transition system. Finally we show how this architecture can be used to implement a pursuit behavior using optical flow. Simultaneously vergence control can also be performed using the same visual processes.
This paper describes an optoelectronic proximity and orientation sensor. We present the sensor modelling and real and simulated results. The sensor is composed by a light emitter and an array of photodetectors that me...
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This paper describes an optoelectronic proximity and orientation sensor. We present the sensor modelling and real and simulated results. The sensor is composed by a light emitter and an array of photodetectors that measure the intensity of reflected light on a surface. In this paper we describe the application of this sensor in object prehension tasks performed by a robotic gripper.
An active vision system has to enable the implementation of reactive visual processes and of elementary visual behaviors in real time. Therefore the control architecture is extremely important. In this paper we discus...
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An active vision system has to enable the implementation of reactive visual processes and of elementary visual behaviors in real time. Therefore the control architecture is extremely important. In this paper we discuss a number of issues related with the implementation of a real-time control architecture and describe the architecture we are using with our "binocular heads". Another important issue of the operation of active vision binocular heads is their integration into more complex robotic systems. We claim that higher levels of autonomy and integration can be obtained by designing the system architecture based on the concept of purposive behavior. Finally we describe a system where the integration of an active vision stereo head in a mobile robot has been performed, with real-time performance.
This paper introduces a new methodology for integrated design of guidance and control systems for autonomous vehicles. An application of this methodology to the design of a guidance and control system for a a fixed wi...
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This paper introduces a new methodology for integrated design of guidance and control systems for autonomous vehicles. An application of this methodology to the design of a guidance and control system for a a fixed wing unmanned air vehicle is presented.
The paper presents the analysis and design of a distance and orientation sensor based on the triangulation principle, using three laser diodes and a position sensitive detector (PSD). A 16-bit microcontroller controls...
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The paper presents the analysis and design of a distance and orientation sensor based on the triangulation principle, using three laser diodes and a position sensitive detector (PSD). A 16-bit microcontroller controls the acquisition and the lasers, processes the data and integrates the sensor in a distributed sensor network (DSN). A DSP based processing system gathers the multisensor data, for real-time control of a PUMA 560 robot manipulator through the DSN network. A sensor model based on theoretical and experimental results is emphasized.< >
This paper describes the initial design phase of the software control architecture for the AUV MARIUS. This research effort is part of a long term project that aims to enable the prototype vehicle to carry out environ...
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This paper describes the initial design phase of the software control architecture for the AUV MARIUS. This research effort is part of a long term project that aims to enable the prototype vehicle to carry out environmental surveying missions in coastal waters, in a completely autonomous mode. Throughout the project, MARIUS will be used as an advanced testbed to test developments in the areas of mission planning and real-time mission execution systems for AUVs.
The problem of control of a robot manipulator performing compliant tasks is addressed. The force and position control is based on the Smith predictor design. For the overall control we are pursuing a behaviour-based a...
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The problem of control of a robot manipulator performing compliant tasks is addressed. The force and position control is based on the Smith predictor design. For the overall control we are pursuing a behaviour-based architecture approach. The paper describes a 3D surface tracking behaviour controller. The tracking operation is performed in real-time using contact force feedback. Surface tracking is an important operation for self-teaching and exploratory tasks in unknown environments. It can be seen as a first step to the more general and important problem of surface following in contact. A method for tool tip contact frame calibration is presented. Results of simulations and real-time implementation are presented and discussed.< >
Adaptive-control experiments with the PUMA 560 robot manipulator are addressed. We analyse the effectiveness of the application of robust indirect adaptive-control schemes in controlling the force-position of a robot ...
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Adaptive-control experiments with the PUMA 560 robot manipulator are addressed. We analyse the effectiveness of the application of robust indirect adaptive-control schemes in controlling the force-position of a robot manipulator in the task coordinates system. The adaptive control scheme comprises a modified recursive least squares (MRLS) parameter estimation algorithm and a pole-placement controller. Results of real-time implementations are presented and discussed.< >
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