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Conference on computer Vision and Pattern Recognition (CVPR)

作者： A.M. Waxman J. Wu F. Bergholm Laboratory for Sensory Robotics College of Engineering Boston University Boston MA USA Computer Vision and Graphics Laboratory Department of Numerical Analysis and Computing Science Royal Institute of Technology Stockholm Sweden

A method is developed for the measurement of short-range visual motion in image sequences, making use of the motion of image features such as edges and points. Each feature generates a Gaussian activation profile in a spatiotemporal neighborhood of specified scale around the feature itself; this profile is then convected with motion of the feature. The authors show that image velocity estimates can be obtained from such dynamic activation profiles using a modification of familiar gradient techniques. The resulting estimators can be formulated in terms of simple ratios of spatiotemporal filters (i.e. receptive fields) convolved with image feature maps. A family of activation profiles of varying scale must be utilized to cover a range of possible image velocities. They suggest a characteristic speed normalization of the estimate obtained from each filter in order to decide which estimate is to be accepted. They formulate the velocity estimators for dynamic edges in 1-D and 2-D image sequences, as well as that for dynamic feature points in 2-D image sequences.< >

关键词： Motion measurement Image sequences Motion analysis Filters Laboratories computer vision Robot sensing systems Educational institutions computer graphics Numerical analysis

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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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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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Inverse kinematics solutions for general spatial linkages

Inverse kinematics solutions for general spatial linkages

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ASME 1987 Design Technology Conferences, DETC 1987

作者： Tucker, M. Perreira, N.D. Computer Science and Electrical Engineering Department Mechanical Engineering and Mechanics Department Institute for Robotics Lehigh University BethlehemPA United States

ISBN: (纸本)9780791897744

A procedure for obtaining solutions to the general inverse kinematics problem for both position and velocity is presented. Solutions to this problem are require~ for improved robot control and linkage synthesis. The procedure requires obtaining the inverse of the actual robot linkage Jacobian. A procedure to detect the presence of singularities in the Jacobians and their causes are given. Inverse solution techniques applicable to robots with less than, equal to, or greater than six degrees of freedom and their implementation to robots with various types of singularities is outlined. For each case, the implementation of both the complete Moore-Penrose inverse and a robot specific pseudo inverse are included. Although it is not necessary to use the complete Moore-Penrose inverse on any particular robot, it can be used to obtain generic inverse routines for general purpose applications. © 1987 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Robots

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Fourier optics and pattern recognition

Fourier optics and pattern recognition

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1986 International Optical Computing Conference

作者： Kandel, Abraham Langholz, Gideon Computer Science Department Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States Department of Electrical Engineering Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States

In Fourier optics, the Fourier transformation is performed on the amplitude of the electromagnetic wave, whereas in the computational method the transformation is usually applied to the grayness of its image which is ...

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The use of fuzzy information retrieval techniques in construction of multi-centre knowledge-based systems

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International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems, 1986

作者： Kohout, Ladislav J. Bandler, Wyllis Department of Computer Science Brunel University of West London UxbridgeMiddx. United Kingdom Institute for Expert Systems and Robotics Department of Computer Science Florida State University TallahasseeFL32306 United States

ISBN: (纸本)9783540185796

The paper outlines the role of Information Retrieval techniques in the construction of Knowledge-Based Systems. A Functional Communication Structure selects and communicates the relevant information by means of fuzzy logical and fuzzy relational requests between the individual knowledge acceptors and knowledge donors. The theory of fuzzy relational products developed by Bandler and Kohout qualifies as an especially adequate tool to handle fuzziness of selection as well as fuzziness of information contents. © 1987, Springer-Verlag.

关键词： Knowledge based systems

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Segmented Descriptions of 3-D Surfaces

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IEEE Journal on robotics and Automation 1987年第6期3卷 527-538页

作者： Fan, Ting-Jun Medioni, Gerard Nevatia, Ramakant Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles MC0273 CA 90089-0273 United States

A method to segment and describe visible surfaces of three-dimensional (3-D) objects is presented by first segmenting the surfaces into simple surface patches and then using these patches and their boundaries to describe the 3-D surfaces. First, distinguished points are extracted which will comprise the edges of segmented surface patches, using the zero-crossings and extrema of curvature along a given direction. Two different methods are used: if the sensor provides relatively noise-free range images, the principal curvatures are computed at only one resolution, otherwise, a multiple scale approach is used and curvature is computed in four directions 45° apart to facilitate interscale tracking. These points are then grouped into curves and these curves are classified into different classes which correspond to significant physical properties such as jump boundaries, folds, and ridge lines (or smooth extrema). Then jump boundaries and folds are used to segment the surfaces into surface patches, and a simple surface is fitted to each patch to reconstruct the original objects. These descriptions not only make explicit most of the salient properties present in the original input, but are more suited to further processing, such as matching with a given model. The generality and robustness of this approach is illustrated on scene images with different available range sensors. Copyright © 1987 by The institute of Electrical and Electronics Engineers, Inc.

关键词： Object recognition Engine cylinders Surface reconstruction Image sensors Intelligent robots Image segmentation Image resolution Image reconstruction Robustness Layout

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Modeling impact dynamics for robotic operations

Modeling impact dynamics for robotic operations

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yu Wang M. Mason Department of Mechanical Engineering and The Robotics Institute Carnegie-Mellon University Department of Computer Science and The Robotics Institute Carnegie-Mellon University

The motion of an object to be manipulated is determined by the forces applied to the object. During a collision, impulsive forces may dominate all other forces, and determine the ultimate success or failure of a task. More effective planning and control of manipulators should be possible if the impact process, including the effects of friction and elasticity, is better understood. This paper explores the planar impact of two objects, and develops simple graphical methods for predicting the mode of contact, the total impulse, and the resultant motions of the objects. In the special case of a perfectly plastic collision, the fundamental motion of the object-whether an angular acceleration will occur, and if so in what direction-is the same as predicted in earlier work on quasi-static pushing.

关键词： Robots Elasticity Manipulator dynamics Friction Angular velocity Mechanical engineering Motion planning Process planning Plastics Acceleration

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Conditions for symmetric running in single- and double-support

Conditions for symmetric running in single- and double-suppo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K. Goldberg M. Raibert Department of Computer Science and the Robotics Institute Carnegie-Mellon University Pittsburgh PA

Even and odd functions of time - symmetric functions - have been used to simplify the control of running robots and have been observed in the body and leg motion of running animals. This paper explores the relationship between symmetric motion of the body and symmetric use of the legs in three planar models. The algebra of symmetric functions is applied to the equations of motion to show that symmetric leg actuation is required for symmetric body motion in the single-support case, but not in the double-support case unless additional constraints are imposed.

关键词： Leg Acceleration Motion control Legged locomotion Steady-state Hip computer science Robot control Animals Algebra

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