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5th European Conference on computer Vision, ECCV 1998

作者： Krebs, B. Burkhardt, M. Korn, B. Institute for Robotics and Computer Control Technical University Braunschweig Hamburger Str. 267 BraunschweigD-38114 Germany

ISBN: (纸本)3540646132

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 free-form objects. Dependencies between observed features and the objects are modeled within the Bayesian net. An algorithm to build the Bayesian net from a set of CAD models is introduced. In the recognition, entering evidence into the Bayesian net reduces the set of possible object hypotheses. Furthermore, the expected change of the joint probability distribution allows an integration of decision reasoning in the Bayesian propagation. The selection of the optimal, next action is incorporated into the Bayesian nets to reduce the uncertainty. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Bayesian networks

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Range image registration for free-form surfaces using curvature information as invariance 9

Range image registration for free-form surfaces using curvat...

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9th European Signal Processing Conference, EUSIPCO 1998

作者： Rieder, Markus Guir, Nicolas Dillmann, R. Department for Computer Science Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe76128 Germany Department of Computer Architecture University of Malaga Malaga Spain

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.

关键词： Image registration

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Propagation of Action Knowledge in Multi-Agent Systems

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IFAC Proceedings Volumes 1998年第15期31卷 601-606页

作者： H. Friedrich O. Rogalla R. Dillmann Institute for Process-Control and Robotics Department for Computer Science University of Karlsruhe

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.

关键词： Multi-Agent Systems Learning Knowledge-Representation

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Vision navigation of an autonomous vehicle by fuzzy reasoning 9

Vision navigation of an autonomous vehicle by fuzzy reasonin...

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9th European Signal Processing Conference, EUSIPCO 1998

作者： Li, W. Wahl, F.M. Department of Computer Science and Technology Tsinghua University Beijing100084 China Institute for Robotics and Computer Control Technical University of Braunchweig Hamburger Str. 267 Braunschweig38114 Germany

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.

关键词： Image enhancement

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Robotic assistants for aircraft inspectors

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IEEE Instrumentation and Measurement Magazine 1998年第1期1卷 16-30页

作者： Siegel, Mel Gunatilake, Priyan Podnar, Gregg Intelligent Sensor Msrmt. C. Robotics Institute Carnegie Mellon University University of Colorado JILA University of Virginia SUNY Buffalo NY United States Extranuclear Laboratories ABB-Extrel Aircraft Diagnostics Corporation University of Alaska Fairbanks AK United States Elec. and Comp. Eng. Department Carnegie Mellon University CMU Vis. Lab. of the Robotics Institute CMU Mobile Robot Laboratory Engineering Design Research Center CMU Computer Science Department JiangXi University Robotics Institute Measurement and Control Laboratory

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.

关键词： Robots Aircraft Aerospace electronics Instruments

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Automatic generation of Bayesian nets for 3D object recognition

Automatic generation of Bayesian nets for 3D object recognit...

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International Conference on Pattern Recognition

作者： B. Krebs F.M. Wahl Institute for Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

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.

关键词： Bayesian methods Object recognition Electrical capacitance tomography Design automation Application software Postal services robotics and automation Automatic control Robot control Read only memory

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Development of a neural controller for motion control of a piezoelectric three-legged micromanipulation robot

Development of a neural controller for motion control of a p...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： K. Santa S. Fatikow Department for Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

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.

关键词： Motion control Automatic control Mobile robots Service robots Process control Optical microscopy Glass Robot sensing systems Leg computer science

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Dynamically shared control in human-robot teams through physical interactions

Dynamically shared control in human-robot teams through phys...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： T. Hoeniger Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

An intelligent robot control scheme is presented which enables a cooperative work of humans and robots through direct contact interaction in a partially known environment. The control of the degrees of freedom of the manipulator is shared through a hybrid controller between the operator and the intelligent control system. The allocation of the control among human and robot occurs dynamically according to the state of the task execution and the capabilities of the human and the robot. Experiments were conducted to prove the effectiveness of our concept.

关键词： Intelligent robots Service robots Human robot interaction Medical robotics control systems Manipulators Intelligent control Robot sensing systems Cognitive robotics Uncertainty

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Sensor system for controlling a multifingered gripper on a robot arm

Sensor system for controlling a multifingered gripper on a r...

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Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

作者： Th. Fischer Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

In the last few years different multifingered grippers have been developed and a lot of research work has been done in the field of grasping and manipulating objects with such grippers. With the help of fingers it is possible to grasp different objects with different shapes without having to change the gripper. To use a multifingered gripper in industrial applications it has to be mounted on another robot to enhance the working space. In the paper the requirements of a multifingered gripper on a robot arm in a manipulation station are discussed, with particular attention given to one part of the sensor system: the object state sensor. This sensor provides the control system with information about the object to be grasped.

关键词： Sensor systems control systems Grippers Robot sensing systems Fingers Orbital robotics Service robots Shape Aerospace industry computer science

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6 DOF path planning in dynamic environments-a parallel online approach

6 DOF path planning in dynamic environments-a parallel onlin...

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of karlsruhe Karlsruhe Germany

Presents an approach to parallel path planning for industrial robot arms with six degrees of freedom in an online given 3D environment. The method is based a best-first search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on polyhedral models of the robot and the obstacles. By decomposing the 6D configuration space into hypercubes and cyclically mapping them onto multiple processing units, a good load distribution can be achieved. We have implemented the parallel path planner on a workstation cluster with 9 PCs and tested the planner for several benchmark environments. With optimal discretisation, the new approach usually shows very good speedups. In online provided environments with static obstacles, the parallel planning times are only a few seconds.

关键词： Path planning Orbital robotics Defense industry Service robots Parallel robots Manipulators Hypercubes Workstations Personal communication networks Testing

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