A hardware and software methodology for the design of the three interactive levels of intelligent robotic systems is proposed. The organization level is modeled as an expert system, the coordination level as a loosely...
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This paper describes a reliable localisation system based on ultrasonic sound, that has been designed for an autonomous robot. The robot position and orientation within a 10 meter square room can be obtained to an acc...
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This paper presents a new algorithm for determining the position and orientation of objects. The problem is formulated as an optimization problem using dual number quaternions. It is shown that this reduces to an eige...
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Mathematical morphology, "algebra of shape", is used in many image processing applications including machine vision recognition, visually guided robot vision systems, biomedical image processing, and low-lev...
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Mathematical morphology, "algebra of shape", is used in many image processing applications including machine vision recognition, visually guided robot vision systems, biomedical image processing, and low-level vision problems. The fact that mathematical morphology deals with shape characteristics of an image makes it a tool for object recognition, defect detection, and feature extraction. The analogy between the morphological operations for shape and the convolution operations for signals suggests the dominance of mathematical morphology in the image processing applications related to shape, especially in machine vision.
In this article, we describe a new framework for developing real-time intelligent control systems. An integrated intelligent system is a large knowledge integration environment that consists of several symbolic reason...
The problem of automatically generating the possible 3-D sensor locations for observing a scene is defined, and an approach to its solution is presented. The approach taken assumes that the sensor characteristics are ...
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The problem of automatically generating the possible 3-D sensor locations for observing a scene is defined, and an approach to its solution is presented. The approach taken assumes that the sensor characteristics are well understood and that objects expected in the scene are known and modeled. Then, given a set of constraints, a set of actions is specified directing a robot arm to position itself in such a manner that an attached 3-D sensor located in the robot gripper yields the maximum information content with minimum effort with respect to the constraints. Techniques that yield solutions for placement of a triangulation-type 3-D laser range finder are presented.< >
An adaptive controller is presented for the coordinated motion control of two manipulators handling an object of unknown mass. Global convergence in tracking of both position and internal force trajectories of the obj...
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An adaptive controller is presented for the coordinated motion control of two manipulators handling an object of unknown mass. Global convergence in tracking of both position and internal force trajectories of the object is proved, assuming perfect models for both manipulators. The computational algorithm is similar to the Newton-Euler inverse dynamics algorithm with complexity linear in the number of links in the manipulators. A significant feature of the control method is that both manipulators use the identical computational algorithm. Thus, the concept of master/slave relationship between the two manipulators is avoided. Two simulations are presented. The first assumes an ideal model for each manipulator. As expected, the controller is stable and provides excellent tracking ability of the manipulator. The second simulation investigates the effects of modeling errors in the mass properties of each arm. The position trajectories track very close to their desired values; however, they never completely converge.< >
The design of a special-purpose systolic image convolution processor for use in a robot vision system is described. It presents a high-speed two-dimensional hardware convolution architecture based on VSLI systolic arr...
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The design of a special-purpose systolic image convolution processor for use in a robot vision system is described. It presents a high-speed two-dimensional hardware convolution architecture based on VSLI systolic arrays for image processing applications. An architecture for the parallel processing of the generalized two-dimensional convolution is summarized. A VLSI convolution chip was designed to accommodate various convolution window sizes. The number of coefficients being handled is directly proportional to the number of systolic computing elements (processors) used. In the present design three such processors are configured on one VLSI chip. Signed coefficients and unsigned data of eight bits are supported. All processing and interprocessor communications are performed bit-serially. The chip design incorporates error detection during convolution, and overflow avoidance techniques are possible for maximum system autonomy. The chip is estimated to operate at a maximum frequency of 16 MHz.< >
A representation and a computational model for deriving three-dimensional articulated volumetric descriptions of objects from laser range-finder data are described. What differentiates this work from other approaches ...
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A representation and a computational model for deriving three-dimensional articulated volumetric descriptions of objects from laser range-finder data are described. What differentiates this work from other approaches is that it is purely bottom up, relying on general assumptions cast in terms of differential geometry. Darboux frames, snakes, and superquadrics form the basis of this representation, and curvature consistency provides the computational framework. The organization is hierarchical. Darboux frames are used to describe the local surface, while snakes are used to interpolate between features, particularly those that serve to partition a surface into its constituent parts. Superquadrics are subsequently used to characterize the 3-D shape of each surface partition. The result is a set of connected volumetric primitives which serve to describe the overall shape of an object. A set of examples showing how the approach performs on data acquired with a laser range finder is included.< >
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