The measurement of weld penetration using a front-face sensor has been an important issue in welding automation. The fundamental problem is to find a measurable front-face parameter that can adequately represent the w...
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The measurement of weld penetration using a front-face sensor has been an important issue in welding automation. The fundamental problem is to find a measurable front-face parameter that can adequately represent the weld penetration. In this paper, both the front-face average weld depression depth (a novel weld geometrical parameter) and the weld width are selected as possible representations of full penetration in GTA welding. Two types of sensitivities of front-face weld geometry, with respect to variations in welding conditions and with respect to control variables, are proposed as criteria for determination of promising parameters. Sensitivity calculation of experimental data shows that the front-face weld width is not promising while the average front-face weld depression depth is. This conclusion is also confirmed by a specific experiment and statistic models.
Knowledge of the distance between a robot and its surrounding environment is vital for any robotic system. The robot must obtain this information rapidly in order to plan and react in real-time. Our technique first su...
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This paper presents a transputer-based laser scanner. This is to be integrated into an existing transputer-based manufacturing environment to allow rapid construction of 3-D models. The approach allows Z-gradient info...
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Lateral control of a simulated vehicle in a simulated highway driving environment is explored. Three modules are used: A driving simulator, a visual preprocessor, and a neural network. Once trained, the networks contr...
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We propose a new interprocessor communication network, named the Segmented Bus, for multiprocessor message passing computer architectures executing groups of processes with localized communication patterns and time va...
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作者：
Bangs, A.L.Pin, F.G.Killough, S.M.
Engineering Physics and Mathematics Division Oak Ridge National Laboratory P.O. Box 2008 Oak RidgeTN37831-6364 United States Telerobotics Systems Section
Robotics and Process Systems Division Oak Ridge National Laboratory P.O. Box 2008 Oak RidgeTN37831-6304 United States
The ATLAS (All-Terrain Lifter Articulated System) vehicle is a prototype for the next-generation Army material handling vehicle. The vehicle features a redundant manipulator with five degrees of freedom in a plane and...
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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 ...
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A method for robot program synthesis is developed. The conceptual graph-based approach is proposed for the development of a robot programming support system. The system provides a means toward automated conversion of ...
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A method for robot program synthesis is developed. The conceptual graph-based approach is proposed for the development of a robot programming support system. The system provides a means toward automated conversion of a user's request expressed in natural language to the appropriate conceptual model of the required task. This approximate model of the dynamically changing real world of robotic assembly incorporates the information necessary for understanding, planning, and sensory-guided performance of the required robotic task. The overall framework of the system is defined, and the authors present the first phase of an assembly program synthesis: request specification, planning of valid assembly sequences, and required resources determination. A case study illustrates the approach on a large family of multi-axisymmetric components.< >
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 refl...
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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.< >
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