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.< >
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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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 a forklift end-effector. The original control system only allowed single joint motion control via a set of joysticks in the cab. A new controller was developed to automatically coordinate all joints in the system and allow the operator to directly control the motions of the end-effector with constant orientation via a single joystick. In addition, a stability monitor was developed that prevents the operator from tipping over the vehicle when manipulating heavy loads of uncertain weight, or warns him of approaching stability limits when driving. Finally, a load-compensation function was developed that automatically tips back the fork tines when a heavy load is lifted.< >
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