Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external &quo...
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Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external ". Examples of the first group are position or velocity, while the second group includes proximity, touch, or vision to name a few. The other important problem in manufacturing is interfacing with the environment within a cell. The object of this tutorial paper is to survey the two issues of "sensing" and "interfacing" in robotics and manufacturing.
In this paper, a novel approach to solve the mobile robot path planning problem in an unknown environment is presented. Inherently, the obstacle information from robot perception is contaminated with uncertainties, an...
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Surface reconstruction from cross-sectional contours has become increasingly important in medical image applications. In this paper, a method of reconstructing the surface of an object based on the descriptions of cro...
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To improve the performance of autonomous vehicles operating in a factory environment, it is important to develop an intelligent planning system to avoic. vehicle collisions as well as to design a good path network whi...
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The objective of this paper is to present a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor...
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An approach to intelligent PID (proportional integral derivative) control of industrial systems which is based on the application of fuzzy logic is presented. This approach assumes that one has available nominal contr...
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An approach to intelligent PID (proportional integral derivative) control of industrial systems which is based on the application of fuzzy logic is presented. This approach assumes that one has available nominal controller parameter settings through some classical tuning technique (Ziegler-Nichols, Kalman, etc.). By using an appropriate fuzzy matrix (similar to Macvicar-Whelan matrix), it is possible to determine small changes on these values during the system operation, and these lead to improved performance of the transient and steady behavior of the closed-loop system. This is achieved at the expense of some small extra computational effort, which can be very easily undertaken by a microprocessor. Several experimental results illustrate the improvements achieved.< >
If database management systems are to play an important role in CAD/CAM technologies, building engineering indices must be a primary task even though it is beyond conventional database practice. Information regarding ...
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If database management systems are to play an important role in CAD/CAM technologies, building engineering indices must be a primary task even though it is beyond conventional database practice. Information regarding design semantics or functionalities is often embedded in the geometric description of design objects, and is therefore not directly available for indexing. Presented in this paper is an efficient and flexible indexing mechanism for retrieving design objects that possess similar design features as described by the user. The underlying database is composed of rotational objects represented by constructive solid geometry (CSG). Although domain-specific representation schemes and algorithms are involved, the main objective of this paper is to emphasize the importance of engineering indices and to illustrate the effort required to build as well as to use such indices.
A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligent systems is defined in terms of the unique type ...
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A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligent systems is defined in terms of the unique type of information multiple sensors can provide. Multisensor integration is discussed in terms of basic integration functions and multisensor fusion in terms of the different levels at which fusion can take place. Numerical examples are given to illustrate a variety of different fusion methods. Speculations concerning possible research future directions and a guide to survey and review papers in the area of multisensor integration and fusion are presented.< >
Presents a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented...
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Presents a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented and described. The authors use a triangulation type laser of range finder in which a CCD based imaging device is utilized to view a plane of laser light bounced from a sweeping mirror. The sensor characteristics are described and modeled. A set of criteria for use in constraining the possible sensor site location for future scans is presented. These constraint conditions are essential to drive the actual sensor placement algorithm for 3D object recognition.< >
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