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IEEE Workshop on Applications of Computer Vision (WACV)

作者： Y. Takagi G. Medioni Production Engineering Research Laboratory Hitachi and Limited Yokohama Japan Institute for Robotics and Intellgent Systems University of Southern California Los Angeles CA USA

Dip solder joints exhibit a variety of complex shapes, making inspection by traditional representation methods difficult. Traditional approaches use various features of 2D images to represent joint shape; however, correct 3-D representation is essential when analyzing joint shape for visual inspection. We present a method of using generalized cylinders (GCs) to obtain a 3-D representation of a solder joint from the joint's range image. This method is based on symmetry detection. B-spline contour representation allows analytical detection of a symmetry axis that is used as a basis for the GC axis. In addition, we present a B-spline fitting method that uses an initial line fitting procedure. The contour of the cross section is expressed as an ellipse using an ellipse-specified conic fitting method. Correct representations for over 53 test sample range images were obtained.

关键词： Electronics packaging Soldering Lead Shape Inspection Surface fitting Spline Flowcharts Production engineering Image analysis

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Interval model based control of gas metal arc welding

Interval model based control of gas metal arc welding

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American Control Conference (ACC)

作者： Y.M. Zhang E. Liguo B.L. Walcott Center for Robotics and Manufacturing Systems Welding Research and Development Laboratory University of Kentucky Lexington KY US Department of Electrical Engineering University of Kentucky Lexington KY USA

A control system is developed to control pulsed gas metal arc welding process. To guarantee the desired metal transfer mode, i.e., one drop per pulse, the welding current is switched from the peak level to the background level so that an oscillation of the droplet is excited up. When the droplet moves downwards, the welding current is switched back to the peak level. The combination of the downward momentum of the oscillating droplet and the increased electromagnetic force guarantees that the droplet be detached. Instead of the duration of the background current, the waveform of the welding current is adjusted to control the melting rate of the electrode wire so that the metal transfer frequency can keep constant during welding. To simplify the control system, the ranges of the welding operational parameters are used to quantify the uncertainty in the dynamic model of the welding process. Based on the uncertainty range of the dynamic model, a single control algorithm has been developed to handle different operational parameters. Experiments confirmed effectiveness of the developed system.

关键词： Welding Electrodes Control systems Wire Feeds Electromagnetic forces Frequency Uncertainty Heat transfer Process control

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Plant/controller optimization with applications to integrated surface sizing and feedback controller design for autonomous underwater vehicles (AUVs)

Plant/controller optimization with applications to integrate...

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American Control Conference (ACC)

作者： C. Silvestre A. Pascoal I. Kaminer A. Healey Institute for Systems and Robotics and Department of Electrical Engineering Instituto Superior Technico Lisboa Portugal Department of Aeronautics and Astronautics Naval Postgraduate School Monterrey CA USA Autonomous Underwater Vehicles Laboratory and Department of Mechanical Engineering Naval Postgraduate School Monterrey CA USA

This paper describes a solution to the following plant-controller optimization (PCO) problem: given an autonomous underwater vehicle (AUV)-with a fixed baseline body configuration-that is required to operate over a finite number of representative trimming conditions in the vertical plane, determine the optimal size of the bow and stern control surfaces so that a weighted average J of the power required at trimming is minimized, subject to the conditions that: (i) a given set of open loop requirements are met, and (ii) stabilizing feedback controllers can be designed to meet desired time and frequency closed loop performance requirements about each trimming point. The solution proposed is rooted in the theory of linear matrix inequalities (LMIs) and leads to efficient PCO algorithms that build on a recently released LMI Toolbox.

关键词： Adaptive control Size control Open loop systems Underwater vehicles Optimal control Control systems Linear matrix inequalities Optimization methods Constraint optimization Robots

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Light Following Vehicle Control System

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IFAC Proceedings Volumes 1998年第3期31卷 339-343页

作者： Darko Stipaničev Mirjana Bonković LaRIS - Laboratory for Robotics & lntelligent Systems Department of Electronics FESB-Faculty of Electrical Engineering Machine Engineering and Naval Architecture University of Split R.Boškovića bb 21000 Split CROATIA tel.+385 21 305 813 305 816 fax. +385 21 563 877

Sensory based control, particulary vision based control has become quite important in autonomous vehicle applications. For certain simple control tasks, as for exmnple light source position detection and tracking, vision based control using video cameras is rather complicated. The paper describes simple vision sensor called "fuzzy eye" which is quite appropriate for such control tasks. The fuzzy eye principles, the control algorithm and the experimental setup are described as well.

关键词： vision based control fuzzy control light following fuzzy eye vehicle control

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Generalizing over aspect and location for rooftop detection

Generalizing over aspect and location for rooftop detection

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IEEE Workshop on Applications of Computer Vision (WACV)

作者： M.A. Maloof P. Langley T.O. Binford R. Nevatia Department of Computer Science George town University Washington D.C. DC USA Institute for the Study of Learning and Expertise Palo Alto CA USA Robotics Laboratory Department of Computer Science University of Stanford Stanford CA USA Institute for Robotics and Intelligent Systems School of Engineering University of Southern California Los Angeles CA USA

We present the results of an empirical study in which we evaluated cost-sensitive learning algorithms on a rooftop detection task, which is one level of processing in a building detection system. Specifically, we investigated how well machine learning methods generalized to unseen images that differed in location and in aspect. For the purpose of comparison, we included in our evaluation a handcrafted linear classifier, which is the selection heuristic currently used in the building detection system. ROC analysis showed that, when generalizing to unseen images that differed in location and aspect, a naive Bayesian classifier outperformed nearest neighbor and the handcrafted solution.

关键词： Machine vision Buildings Machine learning Computer science Intelligent robots Learning systems Image analysis Nearest neighbor searches Robustness Head

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Combined Plant/Controller Optimization with Applications to Autonomous Underwater Vehicles (AUVS)

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IFAC Proceedings Volumes 1998年第30期31卷 321-326页

作者： C. Silvestre A. Pascoal I. Kaminer A.J. Healey Dept. Electrical Engineering / Inst. for Systems and Robotics Instituto Superior Técnico Av. Rovisco Pais 1 1096 Lisboa Codex Portugal Autonomous Underwater Vehicles Laboratory Dept. Mechanical Engineering Naval Postgraduate School (NPS) Monterey California 93943 USA Dept. of Aeronautics and Astronautics NPS Monterey California 93943 USA

This paper describes a solution to the following plant-controller optimization (PCO) problem: given an autonomous underwater vehicle (AUV) - with a fixed baseline body configuration - that is required to operate over a finite number of representative trimming conditions in the vertical plane, determine the optimal size of the bow and stern control surfaces so that a weighted average J of the power required at trimming is minimized, subject to the conditions that: i) a given set of open loop requirements are met, and ii) stabilizing feedback controllers can be designed to meet desired time and frequency closed loop performance requirements about each trimming point. The solution proposed is rooted in the theory of Linear Matrix Inequalities (LMIs) and leads to efficient PCO algorithms that build on a recently released LMI Toolbox.

关键词： underwater vehicles plant optimization controller design linear matrix inequalities

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Minimum-weight design of flexible arms for specified fundamental frequency

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Journal of Field robotics 1998年第1期14卷

作者： Fei-Yue Wang Jeffery L. Russell Zhen Liu Robotics and Automation Laboratory Department of Systems and Industrial Engineering The University of Arizona Tucson Arizona 85721 SINOPEC USA Inc. New York NY 10048

The problem of designing a minimum-weight one-link flexible arm for a specified fundamental frequency of vibration has been investigated. The optimum design problem is formulated as a nonlinear eigenvalue problem using the variational method. Two iteration schemes are developed to find the optimum solution in the normal and degenerated cases. Numerical results have indicated that a significant reduction in link weight can be achieved by the proposed method. For example, for a geometrically similar cross section and a specified fundamental frequency ranging from 1 Hz to 10 Hz, the weight of an optimum link is 400% to 600% lighter than that of an uniform link. © 1997 John Wiley & Sons, Inc.

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Minimum-weight design of flexible arms for specified fundamental frequency

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JOURNAL OF ROBOTIC systems 1997年第1期14卷 49-57页

作者： Wang, FY Russell, JL Liu, Z Robotics and Automation Laboratory Department of Systems and Industrial Engineering The University of Arizona Tucson Arizona 85721 SINOPEC USA Inc. New York NY 10048 [*]Robotics and Automation Laboratory Department of Systems and Industrial Engineering The University of Arizona Tucson Arizona 85721

关键词： Robotic arms

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Calibrating a multi-manipulator robotic system (vol 4, pg 20, 1997)

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IEEE robotics & AUTOMATION MAGAZINE 1997年第2期4卷 44-44页

作者： Bonitz, RG Hsia, TC Jet Propulation Laboratory Pasadena CA USA Systems.Control and Robotics Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is tested on a dual-arm system which resulted in an order of magnitude reduction in the pose error. Coordinated dual-arm manipulation experiments are conducted using the calibrated kinematic model to validate the usefulness of the calibration process

关键词： Calibration Robot kinematics Manipulators robotics and automation Force control End effectors Acoustic measurements Testing Coordinate measuring machines Position measurement

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Criteria based analysis and design of three degree of freedom planar robotic manipulators

Criteria based analysis and design of three degree of freedo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Gao F. Guy W.A. Gruver Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

Three degree of freedom planar mechanisms occur in nature and are fundamental to many robotic devices. This paper concerns the use of evaluation criteria, developed by the authors, to select the link lengths of 3 DOF planar manipulators and analyze their operational performance. The technique has wide application to the design of serial and parallel robots.

关键词： Manipulators Intelligent robots Orbital robotics Legged locomotion Humans Animals Biological system modeling Service robots Manufacturing systems Parallel robots

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