A fast adaptive Hough transform (FAHT) approach is developed for detecting shapes which can be characterized by two parameters. This class of shapes includes both linear and circular image features. The method is base...
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A fast adaptive Hough transform (FAHT) approach is developed for detecting shapes which can be characterized by two parameters. This class of shapes includes both linear and circular image features. The method is based on identifying linear and circular segments in images by searching for clusters of evidence in two-dimensional parameter spaces. The FAHT differs from HT in the degree of freedom allowed in the placement and choice of shape of the window which defines the range of parameters under study at each resolution. This method is superior to that of HT implementation in both storage and computational requirements. The ideas of the FAHT are illustrated by tackling the problem of identifying linear segments in images by searching for clusters of evidence in two-dimensional parameter spaces. It is shown that the method is robust to the addition of extraneous noise and can be used to analyze complex images containing more than one shape.< >
A joint-trajectory-generation scheme for redundant robots is proposed which uses the redundancy to improve motion performance according to certain objective functions. The objective function can be either analytical o...
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A joint-trajectory-generation scheme for redundant robots is proposed which uses the redundancy to improve motion performance according to certain objective functions. The objective function can be either analytical or nonanalytical. For nonanalytical objective functions, a least-squares scheme is proposed to estimate the gradient vector. In addition, an approximation scheme is developed to compute the pseudoinverse of the Jacobian. Application of the scheme to a 4-link revolute planar robot manipulator is demonstrated through simulation. Several motion performance criteria are considered and their results analyzed.< >
A structure for sensory information organization and robot task planning is introduced, and HMP, a hierarchical multiprocessor computer architecture, is developed to support the real-time execution of the defined info...
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A structure for sensory information organization and robot task planning is introduced, and HMP, a hierarchical multiprocessor computer architecture, is developed to support the real-time execution of the defined information structure. Queuing network analysis indicates that this hierarchical multiprocessor computer architecture, at least for the sets of loads defined, performs better than currently proposed systems based on single buses. All classes of data, except for large video data that have longer interarrival times, are transferred within 10 milliseconds, and most data are transferred at rates that are very close to their theoretical maximum speed. The gates, used for partitioning the buses, have also been successful; data transfers among processors inside the segment isolated by the gate have been speeded up while the transfer between clusters has either stayed the same or has been reduced slightly, compared to a system without gates.< >
An approach to the problem of finding the minimum number of inertial parameters of the robot manipulator dynamic equations of motion is presented. Based on the energy difference equation, it is equally applicable to s...
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An approach to the problem of finding the minimum number of inertial parameters of the robot manipulator dynamic equations of motion is presented. Based on the energy difference equation, it is equally applicable to serial-link graph-structured manipulators. The authors prove that the minimum number of parameters can be obtained directly from an energy difference equation rather than the dynamic equations of motion. They present a method for the identification of the minimum number of basis vectors which span the vector space containing the components of inertial parameters present in the equations of motion. Simulations are presented and the method is evaluated. The method is conceptually simple, computationally efficient and easy to implement. In particular, the manipulator kinematics and the joint positions and velocities are the only inputs to the algorithm.< >
A robotic system that can visually track and intercept an arbitrary object which is traveling in 2‐D at an unknown velocity on a conveyor is to be presented. An eye‐in‐hand vision system developed by the robotics a...
The problem of obtaining reliable estimates of the optic flow field and its variation is discussed. It is argued that circuitry in the middle temporal (MT) visual area is arranged to provide mean field approximations ...
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The problem of obtaining reliable estimates of the optic flow field and its variation is discussed. It is argued that circuitry in the middle temporal (MT) visual area is arranged to provide mean field approximations of the optical flow field, that is, the maximal neighborhood over which the local field can be well-approximated as uniform, parallel translation. In addition, the way the mean field approximation varies with neighborhood size and position is informative about the variation of the flow field. It is shown how receptive fields can be synthesized to represent the first-order differential information about the flow field. The same ideas are applicable to the binocular disparity vector field, and lead one to predict the existence of extrastriate neurons that are specialized for the local shear and stretch of the disparity and motion vector fields.< >
It is suggested that the disparity between the knowledge and background of the individuals who develop software and those who use the developed software should be filled during the requirements engineering process thr...
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It is suggested that the disparity between the knowledge and background of the individuals who develop software and those who use the developed software should be filled during the requirements engineering process through the use of appropriate techniques and software tools that incorporate a conceptual model of the area of application. The authors describe an experimental requirements engineering environment that has been created to support the rapid prototyping of real-time systems and provides tools for the description of the objects that participate in the conceptual model of a real-time application. Objects have visual representations that resemble their appearance in real life. Animation capabilities support the validation of system behavior by end-users through an interactive, direct-manipulation simulator.< >
A patient data management system (PDMS) based on a local area network linking fourteen bedside instrument monitors to a personal computer is presented. The PDMS acquires real-time data and graphically displays their t...
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A patient data management system (PDMS) based on a local area network linking fourteen bedside instrument monitors to a personal computer is presented. The PDMS acquires real-time data and graphically displays their trends using interactive menus. Fluid balance data, medical dosage calculations based on the patient data, and medical observations are also managed by the PDMS. It provides this information for online use by the medical personnel, produces the special forms and summary reports, and archives this data for storage and retrieval. The PDMS is designed and developed for an IBM PS/2 running under the OS/2 multitasking operating system and equipped with an 8514/A high-resolution color video display. The design of the PDMS is described here, with added emphasis on its software structure. Sample results are presented.< >
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