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Workshop on Cybernetic Vision

作者： H. Araujo J. Dias J. Batista P. Peixoto Dept. of Electr. Eng. Coimbra Univ. Portugal ISR-Institute of Systems and Robotics Department of Electrical EngineeringFCTUC Institute for Systems and Robotic Coimbra Portugal

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.

关键词： Control systems Machine vision Real time systems Robot vision systems Layout Magnetic heads Mobile robots Visual system Shape Cameras

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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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Modular robotics: design and examples

Modular robotics: design and examples

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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Trajectory Tracking Controllers for AUVS: An Integrated Approach to Guidance and Control System Design

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IFAC Proceedings Volumes 1996年第1期29卷 8041-8046页

作者： C. Silvestre A. Pascoal I. Kaminer E. Hallberg Institute for Systems and Robotics and Department of Electrical Engineering Institute Superior Técnico Av. Rovisco Pais 1096 Lisboa Codex Portugal Department of Aeronautics and Astronautics Naval Postgraduate School Monterey California 93943 USA

This paper describes a solution to the problem of 3-D trajectory tracking for Autonomous Underwater Vehicles (AUVs). The trajectories considered consist of segments of trimming helices, which are parameterized by the vehicle's linear speed, yaw rate and flight path angle. Motivated by recent developments in robotics, the linear position of an AUV is given in terms of its location with respect to the closest point on a desired trajectory, together with the length of an imaginary curve traced along that trajectory. Tracking of a trimming trajectory by the vehicle at a fixed speed is then converted into the problem of driving a generalized error vector - that implicitly includes the distance to the trajectory - to zero. By showing that the linearization of the generalized error dynamics about trimming trajectories is time-invariant, the problem of trajectory tracking is posed and solved in the framework of gain scheduled control theory. This leads to a new method for the integrated design of guidance and control systems for AUVs.

关键词： Autonomous vehicles Tracking systems Guidance H-infinity Control

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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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Wavelet image processing for wear and erosion mapping using an ultrasonic gauging technique

Wavelet image processing for wear and erosion mapping using ...

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IEEE Symposium (IUS) Ultrasonics

作者： A. Abbate J. Frankel R.W. Reed P. Das Benet Laboratories AMSTA-AR-CCB-TA. U.S. Army Tank-Automotive and Armaments Command Watervliet NY USA Physics Department East Stroudsburg University East Stroudsburg PA USA Electrical Computers and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

A wavelet transform image decomposition technique was developed for compression and analysis of the ultrasonic images resulting in a great decrease in time and resources. The data is generated by a Computerized Ultrasonic Gauging System (CUGS) recently developed which using time delay measurements generates very precise topographical maps of the outer and inner surfaces of tubes during the various stages of manufacture. The dimensions of the part are displayed as images. The wavelet technique here presented is utilized to evaluate wear and erosion patterns measured before and after exposure to environments involving extreme temperature, pressure, corrosive gases and mechanical forces.

关键词： Image processing Computer aided manufacturing Wavelet analysis Wavelet transforms Image decomposition Image coding Image analysis Delay effects Time measurement Ultrasonic variables measurement

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An integrated approach to the design and analysis of navigation, guidance and control systems for autonomous underwater vehicles

An integrated approach to the design and analysis of navigat...

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IEE Colloquium on Control and Guidance of Remotely Operated Vehicles

作者： D. Fryxell P. Oliveira A. Pascoal C. Silvestre Institute for Systems and Robotics and Department of Electrical Engineering Instituto Superior Technico Lisboa Portugal

This paper addresses the problem of designing guidance, navigation and control systems for Autonomous Unmanned-Underwater Vehicles (AUVs) to achieve accurate tracking of reference paths defined in a universal reference frame. The theoretical framework adopted is illustrated with a design example in which recent developments in multivariable control theory and classical results in navigation and guidance were applied to the design of a trajectory following system for the AUV MARIUS (Marine Utility Vehicle System). The key ideas in the design methodology are to clearly state performance specifications in the frequency domain and to use design tools that explicitly address these types of specifications. Thus, the natural constraint that the navigation, control and guidance systems have decreasing bandwidths, can be directly incorporated in the initial phase of the project. Analysis of the integrated system is performed using a simulation package that allows the user to assess the impact of the navigation. Guidance, and control algorithms on the dynamic behaviour of the vehicle.< >

关键词： Mobile robots Multivariable systems

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Mission reachability for extraterrestrial rovers

Mission reachability for extraterrestrial rovers

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.S. Sukhatme M.A. Lewis G.A. Bekey Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Department of Electrical Engineering Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

A methodology for the mobility evaluation and mission oriented performance assessment of an autonomous mobile robot is developed. The evaluation strategy uses both time and energy based measures resulting in the development of isochronal/isoenergy contours which characterize the expected mobility of the robot over novel terrain using sample trials on patches of land prior to the mission. This work has a basis in the evaluation of a robot for extraterrestrial exploration and demonstrates the feasibility of the evaluation methodology proposed using simulations. Simulation results are reported for two designs of micro-rovers viz. legged and wheeled on a simulated Martian terrain. Future work is discussed in the context of increased complexity due to hardware implementations, better terrain models and statistical simulations all of which are currently under development.

关键词： Mobile robots Path planning Intelligent robots Context modeling Mars Testing Performance evaluation robotics and automation Computer science Intelligent systems

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Task planning and project management using Petri nets

Task planning and project management using Petri nets

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： Jongwook Kim A.A. Desrochers A.C. Sanderson Center for Advanced Technology in Automation and Robotics and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The demand for effective project management increases as the complexity and cost of a project grown. This paper introduces an interactive project management approach based on the Petri net to overcome the limitations of network diagrams. In the Petri net based approach, the project manager does fine tuning of the planning and scheduling with the resource constraints embedded in the plan representation. The Petri net controller maintains three plan representations. The reference, monitor and predictor Petri nets. These three nets are configured with the resource database to form a feedback loop such that the controller can monitor and control the project online. This structure is applicable to the control of more general discrete event dynamic systems as well as the project management problem. In case no admissible control action can be found, the manager turns to the rescheduling/replanning mode to generate a new plan and schedule.

关键词： Project management Petri nets Monitoring robotics and automation Costs Resource management Building materials Scheduling Visualization Roads

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