The authors describe the staged evolution of a complex motor pattern generator (MPG) for the control of a walking robot. The experiments were carried out on a six-legged, Brooks-style insect robot. The MPG was compose...
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The authors describe the staged evolution of a complex motor pattern generator (MPG) for the control of a walking robot. The experiments were carried out on a six-legged, Brooks-style insect robot. The MPG was composed of a network of neurons with weights determined by genetic algorithm optimization. Staged evolution was used to improve the convergence rate of the algorithm. First, an oscillator for the individual leg movements was evolved. Then, a network of these oscillators was evolved to coordinate the movements of the different legs. By introducing a staged set of manageable challenges, the algorithm's performance was improved.< >
In automated feature-based motion analysis of multiple frames, correspondence data are usually noisy and fragmented. A technique that gradually refines the initial noisy correspondence data and links fragments of a si...
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In automated feature-based motion analysis of multiple frames, correspondence data are usually noisy and fragmented. A technique that gradually refines the initial noisy correspondence data and links fragments of a single trajectory using feedback from 3D motion estimation is presented. First, 3D motion parameters are estimated using the initial correspondence data. Then, each noisy trajectory is partitioned into subsets of points, each of which conforms to the estimated motion. The best set is used as the input to the next motion estimation. This process is repeated, and the gaps in the refined correspondence data are filled by guidance from the predicted motion. Test results for a standard real image sequence are presented.< >
作者：
S.S. KrishnanA.C. SandersonElectrical
Computer and Systems Engineering Department Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA
The feasible path problem is solved for planning a collision-free path to translate an arbitrary polyhedral robot from an initial position to some goal position in a polyhedral environment. The shortest path problem e...
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The feasible path problem is solved for planning a collision-free path to translate an arbitrary polyhedral robot from an initial position to some goal position in a polyhedral environment. The shortest path problem entails finding the shortest feasible path. The authors present two versions of the window corner (WC) algorithm, which is a novel solution to the problems for the case of single and multistep translational paths for two dimensions, and then summarize the extension to the three-dimensional WC algorithm, for feasible paths. The concept of window corners in the polyhedral cone representation (PCR) is introduced, which reduces the search space. The PCR cones store constraints between boundary elements. The PCO representation has O(m) vertices compared to O(m/sup 2/) in a C-space representation. The WC algorithm was tested and an example from assembly path planning is presented.< >
Quality demands under the pressure of international competition can be satisfied only specific for small and medium sized enterprizes with respect to the standards ISO 9000 to ISO 9004. The descriped and self develope...
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Quality demands under the pressure of international competition can be satisfied only specific for small and medium sized enterprizes with respect to the standards ISO 9000 to ISO 9004. The descriped and self developed CAQ system consists of 20 modules. All of them are integrated in an existing CIM concept. The CAQ system has been considered at creation time of the existing CIM system. Therefore a relational CIM data base in addition to the PPS database are connected to the CAQ data base. The modular software is arranged in layers and supports the client/server principle. A network (ethernet) with MS-DOS PC’s and Unix- Workstations are the main hardware components.
The company under investigation is divided into three strategical units (profit center’s): “bank-, sawmill- and industry automation”. On the other hand of the matrix- organisation of this company there exist the se...
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The company under investigation is divided into three strategical units (profit center’s): “bank-, sawmill- and industry automation”. On the other hand of the matrix- organisation of this company there exist the sections marketing, finance and system- technology. It is intended to find an operating characteristics acquisation system (OCA) which is embedded in a computer integrated manufacturing (CIM) solution. To reach this goal the project will be realised in two steps, first of all to introduce the personnel time acquisition and afterwards to develop the order related data acquisition system. The concept of this OCA solution has to take into account several frame conditions. On the one hand an existing LAN has to be used to transport the OCA data. On the other hand the data management will be realised by means of a relational database management system under SQL, in order to obtain an open interface to ensure an expandability of the data base for the second level and the integration of the order related data acquisition in the non production areas. The complexity of the project should be reduced by using standard software packages in separated modules.
K.Y. Goldberg (1990) described an algorithm for orienting planar polygonal parts using a modified parallel-jaw gripper. The authors extend this algorithm to handle parts with curved edges. They define a generalized po...
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K.Y. Goldberg (1990) described an algorithm for orienting planar polygonal parts using a modified parallel-jaw gripper. The authors extend this algorithm to handle parts with curved edges. They define a generalized polygon as a planar figure made up of piecewise linear and circular edges, and a generalized polygonal part as one of constant cross section, the convex hull of which is a generalized polygon. For this class of parts a complete algorithm for determining an optimal parts-orienting strategy is presented.< >
The authors describe a technique for inference of 3-D shape from 2-D contours that utilizes not only the shapes of individual surfaces but also the interactions between them. The analysis applies to objects made of ze...
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The authors describe a technique for inference of 3-D shape from 2-D contours that utilizes not only the shapes of individual surfaces but also the interactions between them. The analysis applies to objects made of zero-Gaussian curvature surfaces viewed under orthographic projection.< >
Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, ide...
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Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, identified sources of fuzziness, and proposed a fuzzy algorithm for multifingered prehension. These ideas are extended by assuming fuzziness in the object location and geometric hand configuration, computing information on proximity of the hand and object, analyzing the computational efficiencies, and indicating how geometric information can be used in the process of prehension. The implementation details are outlined. The computation is useful in grasp planning and in analyzing the local behavior of the robot hand in the vicinity of the object.< >
A system for exhaustively inspecting a workpiece, not merely certain features, is presented. The system is based on comparing a volumetric representation of a reference object to a volumetric representation of an actu...
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A system for exhaustively inspecting a workpiece, not merely certain features, is presented. The system is based on comparing a volumetric representation of a reference object to a volumetric representation of an actual object iteratively created from sensor data. The use of volumetric representations gives this approach a number of distinct advantages over the more traditional boundary-based inspection methods. The method is capable of handling arbitrarily complex geometries and does not rely on the identification of features. It lends itself naturally to a multisensor environment, and facilitates true 3-D inspection as opposed to methods that require dimensional reductions of data by projection onto a 2-D plane. The authors focus on an important aspect of volumetric inspection which is the automatic generation of a sequence of sensor operations that will acquire the complete geometry of the object being inspected.< >
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