This paper describes a hierarchical robot action planning system for automatic assembly. Input to the system is a geometrical model of the parts to be assembled. The system provides a graphical editor to model the geo...
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Machine learning has been studied for more than 20 years. Most of the recent research contributions are basic and come from the areas of Cognitive Science and Artificial Intelligence. The classical domain of machine l...
Machine learning has been studied for more than 20 years. Most of the recent research contributions are basic and come from the areas of Cognitive Science and Artificial Intelligence. The classical domain of machine learning is related to vision and image analysis and image description. Since about five years there has been encreased activity to apply and to extend these general learning methods to really complex systems such as autonomous robots. The purpose of applied machine learning methods is to facilitate and to aid automatic construction and generation of knowledge based systems and to increase the system performance with time. Autonomous robot systems will operate in an unknown real environment and are based on the interaction of the basic system components such as action planner, plan executive and action monitor which need knowledge about the real world and knowledge about how to behave to reach a given goal. A robot system can learn if it is able to make changes and extensions in its behavioural control structure that enables it to better perform a given task. This includes acquisition of declarative procedural knowledge, the developement of manipulative and cognitive skills through instruction and practice as well as the organisation of knowledge into efficient representations. The purpose of automatic self-configurating or self-modifying representations is to make experience based knowledge available for possible future use in the context of increasing robot system performance. This paper reviews some general methods of machine learning application and some first results achieved to date.
It is shown how structural information from Hough space representations of 2-D images from 3-D scenes can be derived and used to match polyhedra-like objects topologically to 3-D wire-frame models. The matching is per...
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It is shown how structural information from Hough space representations of 2-D images from 3-D scenes can be derived and used to match polyhedra-like objects topologically to 3-D wire-frame models. The matching is performed by an attributed subgraph isomorphism detection algorithm. A subsequent algorithm match can be used to verify the topological match, yielding simultaneously pose information. Simulation results show the method to be a practicable approach for 3-D object recognition.< >
The Karlsruhe Hand is a non-anthropomorphic three finger dextrous gripper with 9 degrees of freedom, which is being developed at the institute for Real-Time computercontrol Systems and robotics of the University of K...
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The Karlsruhe Hand is a non-anthropomorphic three finger dextrous gripper with 9 degrees of freedom, which is being developed at the institute for Real-Time computercontrol Systems and robotics of the University of Karlsruhe.
This paper describes a method to simulate vision for use in robot applications. Our approach shows the physical modeling of the camera, the light sources and the objects within the scene based on a geometric model. Ma...
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This paper describes a method to simulate vision for use in robot applications. Our approach shows the physical modeling of the camera, the light sources and the objects within the scene based on a geometric model. Many parameters of the physical model may be adjusted to obtain simulation results close to reality. For processing of the picture data the SPIDER program is added to the simulation of the camera. Though a complete vision system is created. An example shows the simulation of a CCD-camera and a scene with workpieces taken from the ‘European Benchmark’ [COL85].
作者：
M. HagemannFaculty for Informatics
Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe Germany
A formal language for specifying and analyzing requirements is introduced. An integrated set of tools support the transition from ideas to a requirements specification. The system is implemented on an IBM PC. The spec...
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ISBN:
(纸本)0897912586
A formal language for specifying and analyzing requirements is introduced. An integrated set of tools support the transition from ideas to a requirements specification. The system is implemented on an IBM PC. The special characteristics of the language and the tools are their suitability for the description of embedded real-time systems. The most useful feature of the system is the possibility of graphical input and output as an alternative of the mere textual specification. Transformation between textual and graphical representation is done by the PROREC system.< >
A simulation system is presented, which supports the programming of a robot based manufacturing process. A CAD system is used for the geometric modeling. The system allows modeling of different object classes like rob...
A simulation system is presented, which supports the programming of a robot based manufacturing process. A CAD system is used for the geometric modeling. The system allows modeling of different object classes like robots, endeffectors, sensors, workpieces 88 well 88 the robot's environment. The control functions of different control hierarchies of the manufacturing system can be emulated. The results of the emulation of the virtual robot can be displayed graphically. Analysis and evaluation methods are applied to detect errors and conflicts which may occur in the simulated manufacturing process. The simulation system allows optimization of the manufacturing processes
This volume gathers the peer reviewed papers presented at the 11th edition of the International Workshop on Service-oriented, Holonic and Multi-Agent Manufacturing Systems for the Industry of the Future, SOHOMA’21, o...
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ISBN:
(数字)9783030991081
ISBN:
(纸本)9783030991074;9783030991104
This volume gathers the peer reviewed papers presented at the 11th edition of the International Workshop on Service-oriented, Holonic and Multi-Agent Manufacturing Systems for the Industry of the Future, SOHOMA’21, organized on 18-19 November, 2021 by the Arts et Métiers institute of Technology of Cluny, France in collaboration with University Politehnica of Bucharest (the CIMR Research Centre in computer Integrated Manufacturing and robotics), Polytechnic University Hauts-de-France (the LAMIH Laboratory of Industrial and Human Automation control, Mechanical Engineering and computer Science) and Polytechnic institute of Bragança (the CeDRI Research Centre in Digitalization and Intelligent robotics).
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