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1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 1992

作者： Young, G.-S. Hong, T.-H. Herman, M. Yang, J.C.S. GaithersburgMD20899 United States Robotics Laboratory Department of Mechanical Engineering University of Maryland College ParkMD20742 United States Department of Computer Science and Information Systems American University WashingtonDC20016 United States

ISBN: (纸本)0818628553

A technique for the calibration of an active camera system is presented. The calibration of manipulator, camera-to-manipulator, camera, and base-to-world is treated in a unified and elegant way. In this approach, the camera frames and manipulator link frames are all related to the world frame, therefore the camera-to-manipulator and base-to-world calibration is very straightforward. The approach is simple, since it uses the form of one equation solving one parameter. Two experiments that verify the accuracy of the technique are reported. © 1992 IEEE.

关键词： Manipulators

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Efficient distance computation using best ellipsoid fit

Efficient distance computation using best ellipsoid fit

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IEEE International Symposium on Intelligent Control (ISIC)

作者： E. Rimon S.P. Boyd Robotics Laboratory Department of Computer Science University of Stanford USA Information Systems Laboratory Department of Electrical Engineering University of Stanford USA

The effectiveness of the ellipsoid representation for geometrical reasoning is demonstrated in the context of robotics. Specifically, a robot collision-detection problem that consists of computing a quantity that reflects, as a function of the geometrical data, the amount of clearance between the robot and its environment is discussed. The method consists of two algorithms. The first computes the optimal ellipsoid surrounding a convex polyhedron. The second computes an analytic formula for the free margin about one ellipsoid with respect to another, as a standard eigenvalue problem. An efficient incremental version of the latter algorithm is proposed. This system has been implemented, and preliminary simulation results are provided.< >

关键词： Ellipsoids Robots Shape measurement Laboratories Computational modeling Application software Computer science Information systems Data structures Eigenvalues and eigenfunctions

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Kinematic calibration of an active camera system

Kinematic calibration of an active camera system

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： G.-S. Young T.-H. Hong M. Herman J.C.S. Yang Robotics Laboratory Department of Mechanical Engineering University of Maryland College Park MD USA National Institute for Standards and Technology Gaithersburg MD USA Department of Computer Science and Information Systems American University DC USA

关键词： Kinematics Calibration Cameras Robot vision systems Helium Manipulators Equations NIST Laboratories Mechanical engineering

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Obstacle detection for a vehicle using optical flow

Obstacle detection for a vehicle using optical flow

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IEEE Symposium on Intelligent Vehicle

作者： G.-S. Young T.-H. Hong M. Herman J.C.S. Yang Robotics Laboratory Department of Mechanical Engineering University of Maryland College park MD USA National Institute for Standards and Technology Gaithersburg MD USA Department of Computer Science and Information Systems American University Washington D.C. DC USA

A novel approach to obstacle detection using optical flow without recovering range information has been developed. This method can be used for ground vehicles to navigate through man-made roadways or natural outdoor terrain or for air vehicles to land on known or unknown terrain. A linear relationship, plotted as a line and called a reference flow line, has been found. This reference flow line can be used to detect discrete obstacles above or below the reference terrain. Slopes of surface regions are also computed. The approach is simple, fast, and robust because: (1) the only required information is one component of the optical flow, (2) each image line can be processed in parallel, and (3) the error sources involved are reduced to a minimum. An initial experiment using noisy synthetic data is also included to demonstrate the applicability and robustness of the method.< >

关键词： Vehicle detection Image motion analysis Optical sensors Biomedical optical imaging Navigation Land vehicles Cameras Road vehicles Robustness Remotely operated vehicles

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Motion planning using binary space partitioning

Motion planning using binary space partitioning

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： A.O. Tokuta Robotics and Visual Systems Laboratory Department of Computer Science and Engineering University of South Florida Tampa FL USA

This work explores a method for path planning for a robot in an environment that consists of stationary and moving obstacles. The technique uses binary partitioning of the environment by the obstacles to establish and analyze the spatial relationship between robot and obstacles. Hyperplanes are used to obtain recursively a disjoint set of D-dimensional cells, with each cell designated as belonging to either the interior or the exterior of the set. An overt idea of binary space partitioning as a representation of polytopes is given. Thus, the space-time configuration of free space is viewed as disjoint polytopes; each point in space-time is considered a map into a unique polytope. A traversal of the tree is used to obtain a linear order which gives the collision probability with the environment. Adjacent polytopes between the start and goal polytopes are then utilized to obtain a trajectory. Current implementation for a 2D static environment is discussed.< >

关键词： Path planning Orbital robotics Motion planning Robot motion robotics and automation Shape Visual system Computer science Computational efficiency Tree graphs

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Improving hierarchical architecture performance with dynamic segmentation

Improving hierarchical architecture performance with dynamic...

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IEEE International Conference on systems, Man and Cybernetics

作者： C.M. Aras R.C. Luo D.S. Reeves Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA Robotics and Intelligent Systems Laboratory Department of Computer Science North Carolina State University Raleigh NC USA

Dynamic segmentation is a method for improving the performance of cooperating tasks executed on loosely coupled multiprocessors. Four different data transfer techniques that can be used for intersegment data transfers in dynamically segmented buses are analyzed. Preemptive data transfers are considered for uniform message latencies and results are provided for message latency comparisons using various locality factors. These results indicate dynamic segmentation improves performance considerably, at a fraction of the cost of more complex interconnection networks such as multiple buses.< >

关键词： Mobile robots Intelligent robots Computer architecture Control systems Communication system control Communication channels Communication networks Bandwidth Robot control Delay

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Learning Control System Design - A Case Study for EBR-II Nuclear Reactor

Learning Control System Design - A Case Study for EBR-II Nuc...

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American Control Conference (ACC)

作者： Zheng Geng Robert Carroll Mo Jamshidi Department of Electrical Engineering and Computer Science George Washington University Washington D.C. DC USA CAD Laboratory for Systems/Robotics University of New Mexico Albuquerque NM USA

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Dissertation abstracts

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Machine Vision and Applications 1989年第2期2卷 117-120页

作者： Tanimoto, Steven L. Srihari, Sargur N. Levine, Martin D. Seering, Warren P. Nevatia, R. Department of Computer Science FR-35 University of Washington Seattle USA Technical Report 88-08 Department of Computer Science SUNY at Buffalo Buffalo USA Technical Report 88-22 Department of Computer Science SUNY at Buffalo Buffalo USA Research Centre for Intelligent Machines McGill University Montréal Canada Publications Department Technical Report 932 MIT Artificial Intelligence Laboratory Cambridge USA Institute for Robotics and Intelligent Systems University of Southern California School of Engineering Los Angeles USA

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Expert self-learning controller for robot manipulator

Expert self-learning controller for robot manipulator

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IEEE Conference on Decision and Control

作者： Z. Geng M. Jamshidi Department of Electrical Engineering and Computer Science George Washington University Washington D.C. DC USA CAD Laboratory of Systems / Robotics Department of ECE University of New Mexico Albuquerque NM USA

Real-time expert system techniques and applications to robot manipulator control systems are discussed. A novel type of intelligent controller structure, the expert learning controller prototype ELEC (expert learning controller), is developed for the trajectory tracking control in repeat operations. ELEC, acting as an intelligent real-time controller in a closed-loop system, can modify the control series in a human-expert-like manner using the experience of previous operations in order to force the system output to converge to the prespecified desired trajectory. ELEC does not require the knowledge of system models, so it can be used in a fairly wide range of control problems. A numerical example for a two-link robot manipulator is given which shows the satisfactory performance of ELEC.< >

关键词： Robot control Manipulators Control systems Real time systems Intelligent robots Force control Expert systems Intelligent structures Prototypes Trajectory

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ROBOTIC AND ARTIFICIAL-INTELLIGENCE systems FOR THE NAVAL OPERATIONAL ENVIRONMENT

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NAVAL ENGINEERS JOURNAL 1987年第4期99卷 74-86页

作者： HOGGE, SM The author earned her bachelor's of science degree in industrial engineering and operations research from Virginia Polytechnic Institute and State University. While at Virginia Tech she worked in the Robotics Laboratory supporting robotics research sponsored by the National Bureau of Standards. She completed her master's of science in computer science at The Johns Hopkins University. Until this past March Miss Hogge worked at the Naval Surface Weapons Center in Silver Spring Maryland. Her duties included the application of robotics and artificial intelligence to explosive ordnance disassembly mobile robotics remote controlled fire fighting vehicles human factors expert systems computer enhanced decision-making aids and hardware security. She published a two-volume study discussing shipboard operational applications of robotics and AI. In addition her publications include nine recent journal articles on robotics and computer security. Miss Hogge is currently employed with Automaker Inc. in Houston Texas. Her current role is manager of all government related robotic operations and vision systems. Miss Hogge's projects at Automaker include: an explosive ordnance disassembly gantry robot system a vision inspection system to examine bearings 3-part camouflage spray painting an investigation of the use of robotic welding in Navy shipyards and rework facilities and epoxy spray painting of missile radomes.

Due to demographical factors, there will be a 25% decline in the national labor pool of eligible 17 to 21 year old men by 1992. As the Navy faces fierce competition with other services and private industry for the dwindling personnel resources of the nation, efforts must be made to consider automating certain tasks, especially those that are hazardous, boring, and labor intensive onboard ships at sea. The Surface Ship Continuing Concept Formulation (CONFORM) Program (SEA-5014) sponsored the Naval Surface Weapons Center's robotics laboratory to identify potential applications of robotic and artificial intelligence systems to operation and mission activities for shipboard use. The results of the investigation concerning applications of robotics to automate the aforementioned tasks are presented. Changes in current manning levels for selected tasks and ship classes, i.e., CVs, CVNs, LPDs, LPNs, and auxiliaries are examined. Future ship designs incorporating robotics, such as the advance based repair (ABR) ship are discussed. Twenty-four applications were cited in the study which include a remote controlled vehicle for flight deck operations, limited tasks in biological, chemical, and radiation environments, computer aided command decision aids, ordnance handling, undersea search, recovery, and salvage, and ventilation duct cleaning. Four of the applications and their subsequent hardware fruition will be discussed.

关键词： robotics

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