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IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Raviv Ozery Robotics Center and Department of Electrical Engineering Florida Atlantic University Boca Raton FL USA Robot Systems Division National Institute for Standards and Technology Gaithersburg MD USA Florida Atlantic University Boca Raton FL US Robotics Center Florida Atlantic Univ. Boca Raton FL USA

The paper deals with a visual-motion fixation invariant. We show that during fixation there is a measurable nonlinear function of optical flow that produces the same value for all points of a stationary environment, regardless of the 3D shape of the environment. During fixated camera motion relative to a rigid object, e.g., a stationary environment, the projection of the fixated point remains (by definition) at the same location in the image, and all other points located on the 3D rigid object can only rotate relative to the 3D fixation point. This rotation rate of the points is invariant for all points that lie on the particular environment, and it is measurable from a sequence of images. This new invariant is obtained from a set of monocular images, and is expressed explicitly as a closed form solution. We show how to extract this invariant analytically from a sequence of images using optical flow information, and we present results obtained from real data experiments.< >

关键词： Image motion analysis Robots, vision systems Cameras Image sequence analysis

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An adaptive approach in production scheduling based on the mixed graph model

An adaptive approach in production scheduling based on the m...

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Second International Conference on Intelligent Systems engineering, 1994

作者： Yu.N. Sotskov N.V. Shakhlevich Republic of Belarus Institute of Engineering Cybernetics of the National Academy of Sciences of Belarus Belarus Inst. of Eng. Cybern. & Robotics Sofia Bulgaria

Proposes computer-aided heuristic approach for production planning and scheduling based on the ideas of adaptation. The objective is to make the scheduling theory more useful for operations management and production research workers. The methodology proposed bridges exact algorithms developed in the frameworks of scheduling theory, and methods of production scheduling. It is devised to combine merits of the enumerative algorithms based on the mixed graph model and heuristic algorithms oriented on the real-life problems. The former ones may, in principle, ensure high quality of the solution via exhausting enumeration. However, it is the case for problems of limited dimension only. The latter ones may be rather efficient since they are developed for practical problems of large dimension taking into account the peculiarities of such a problem. The main idea of the adaptive approach is to produce for the given class of similar problems effective (in sense of good performance measure) and efficient (in computational sense) heuristics by computer-aided adaptation (tuning). It is realized automatically at the learning stage while solving sample problems of the class in consideration using scheduling theory apparatus, accumulating knowledge, simplifying and structuring it. This experience is applied further on for solving problems of the same class at the examination stage.< >

关键词： Manufacturing automation software Production control

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A tactile sensing system for dexterous manipulation

A tactile sensing system for dexterous manipulation

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： B.L. Gery S.N. Gottschlich New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

One factor that limits the range of tasks that robots can perform robustly is the scarcity of useful sensors available to provide feedback to the robot control system. While much progress has been made with vision sensors and force/torque sensors, tactile sensing systems have fallen behind, and so general-purpose tactile sensing systems are not commercially available. The aim of this work is therefore to produce a tactile sensing system that could be manufactured inexpensively, could be used on a wide variety of robotic systems, and would provide the kind of output typically required in dexterous manipulation applications. Such a tactile sensing system will be presented in this paper. The tactile transducers used in this system are based on semiconductive ink technology that allows transducers of any size, shape, and resistance range to be produced merely by altering the ink printing process and substrate geometry. Each sensor outputs three pieces of information that are useful in robotic manipulation-two parameters indicating the location of a contact point on the transducer and one parameter specifying the amount of force being exerted at the contact point. So that the sensing system could support transducers of different shapes and sizes, the analog interface circuitry of this system has been designed to be fully programmable, and also includes circuitry to enable self-calibration with appropriate software.< >

关键词： Transducers Robot sensing systems Sensor systems Tactile sensors Force sensors Ink Shape Circuits Robust control Feedback

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Variably-autonomous manipulation

Variably-autonomous manipulation

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Singh A. Silverthorne S. Gottschlich H. Stephanou New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

There are numerous applications in which robots are needed to assist rather than replace human operators. These applications typically involve either work in a dangerous environment or performing tasks that are physically impossible for humans to accomplish by themselves. Robots used in this mode do not need to be autonomous because they can essentially be controlled by the operator. Nonetheless, it is difficult for an operator to flawlessly control a robot with a large number of degrees of freedom. Therefore, an intelligent control system is needed to correct and improve the operator's input to the robot. In this paper the authors discuss a central component in this control system known as the variably-autonomous trajectory generator (VATG). The VATG combines input from the operator with input from one or more autonomous control modules (CM) to generate the robot trajectory. The amount of impact the autonomous CMs will have on the overall trajectory will depend on a number of factors such as the task being performed and the sensing modalities available, hence the authors refer to this type of control as being variably-autonomous.< >

关键词： Robot sensing systems robotics and automation Humans Control systems Application software Wrist Tactile sensors Force sensors Grasping Systems engineering and theory

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Nonholonomic path planning with inequality constraints

Nonholonomic path planning with inequality constraints

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IEEE International Conference on robotics and Automation (ICRA)

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper presents an algorithm for finding a kinematically feasible path which satisfies a given set of nonholonomic constraints while enforcing both equality and inequality constraints on the configuration vector. The path planning problem is transformed from a finite time nonlinear control problem into a static root finding problem which is iteratively solved. By using an exterior penalty function method, the constrained root finding problem is converted to an unconstrained problem. Convergence of the algorithm depends upon a certain gradient operator being full rank. It has recently been shown that, in the absence of any configuration inequality constraints, the full rank condition is generic. In this paper, we show the full rank condition for a special inequality constraint case. An experiment in which the algorithm is applied to an actual double tractor-trailer vehicle is presented.< >

关键词： Path planning Control systems Controllability Motion control Velocity control Nonlinear control systems robotics and automation Systems engineering and theory Iterative algorithms Convergence

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Model-based multisensor data fusion: a minimal representation approach

Model-based multisensor data fusion: a minimal representatio...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Joshi A.C. Sanderson New York State Center for Advanced Technology in Automation and Robotics Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

A general approach to model-based multisensor data fusion using a minimal representation size criterion is described. Each sensor is modeled by a general constraint equation which defines a data constraint manifold (DCM), and observed sensor data populate the measurement space according to these constraints. The choice of multisensor interpretations is based on a minimal representation size criterion which evaluates the complexity through correspondence and encoded errors weighted by relative sensor accuracy and precision. This general framework automatically selects subsets of data features called constraining data feature sets (CDFS) and chooses the CDFS corresponding to a minimal representation interpretation of the observed data. The resulting procedure fuses heterogeneous sensor readings into a single estimation method. The method is illustrated for a visual and tactile data fusion example. The approach generalizes to problems with non-geometric models, and can be used for multisensor system identification in other domains such as process control.< >

关键词： robotics and automation Sensor fusion Robot sensing systems Sensor systems Probability distribution Data engineering Systems engineering and theory Equations Manifolds Fuses

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Passive assembly of non-axisymmetric rigid parts

Passive assembly of non-axisymmetric rigid parts

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： R.H. Sturges S. Laowattana Department of Mechanical Engineering Camegie Mellon University Pittsburgh PA USA Center of Operation for Field roBOtics Development FIBO King Mongkut''s Institute of Technology Thonburi Bangkok Thailand

This paper addresses automatic assembly with passive rather than active compliant devices. Previous work has shown that in an ideal manufacturing environment three assembly primitives (prismatic insertions, threaded fits and general path insertions) exhibit a high level of difficulty. None of these are reliably assemblable under sensor-based force control or with an ordinary remote center compliance (RCC) device. In this paper, the authors extend the science of part mating and apply dexterity theory to synthesize a passive assembly device for precision fits of three-dimensional prismatic parts. This spatial remote center compliance (SRCC) obviates sensor-based and force control approaches to precision assembly of non-axisymmetric parts.< >

关键词： Jamming Robotic assembly Force control Assembly systems Birth disorders Open loop systems Contacts Mechanical engineering Flexible manufacturing systems Product design

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Hybrid systems: models, simulation, and testing [military]

Hybrid systems: models, simulation, and testing [military]

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Annual Conference of AI, Simulation, and Planning in High Autonomy Syslems

作者： N. Coleman S. Banks J. James A. Nerode W. kohn US Army Armaments Research Dvelopment and Engineering Center Robotics and Automation Laboratory NJ USA Intermetrics Inc. McLean USA Mathematical Sciences Institute Whiehall Cornell University Ithaca NY USA Intermetrics Inc. Bellevue WA USA

Realization of the vision of a synthetic theater of war (STOW) fully depends on the creation of interoperable simulators, simulations, and fielded systems that realistically represent warfighting concepts, doctrine, forces and weapon systems of friendly, neutral and opposing forces. Distributed interactive simulations (DIS) cannot be relied upon to create the STOW because of problems with synchronization, interoperability and scalability. We provide preliminary ideas concerning how a detailed model being develop as part of the Automation and robotics program of the US Army Armaments Research, Development and engineering center can be applied to address current problems in DIS by providing a timely approach to simulation implementation. Such an approach can be used to provide standard design guidance for linking models into seamless simulation exercises. Existing models can be incorporated by creating the appropriate simulation agents, thereby providing backward compatibility. We will provide an overview of the architecture being developed and details concerning how such low-level, detailed models can be integrated into distributed, agent-based architectures to support early development of flexible test products. Such test products can be made to mature with the engineering design to provide a more realistic set of test products for verification, validation and accreditation of new systems.< >

关键词： System testing Logic robotics and automation Weapons Accreditation Communication system control Buildings Automata Laboratories Analytical models

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STOCHASTIC MODELING OF SURFACE TEXTURE GENERATED BY HIGH-ENERGY JETS

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART B-JOURNAL OF engineering MANUFACTURE 1993年第2期207卷 129-140页

作者： KOVACEVIC, R MOHAN, R ZHANG, YM Center for Robotics and Manufacturing Systems and Department of Mechanical Engineering University of Kentucky Lexington Kentucky USA Harbin Institute of Technology Harbin People's Republic of China

The surfaces produced by two different jet cutting processes, namely abrasive waterjet (AWJ) cutting and laser machining, are characterized for a comparative study. The surface profile measurements from experiments are modelled using auto regressive moving average (ARMA) models. The characteristics of the different profiles are identified by analysing these models. To describe the surface adequately, a sufficiently large sized sample is utilized for modelling. A novel method for identifying ARMA models based on the concept of model distance, which is ideal for large size samples, is adopted here. The relative advantages of this method are quantified in terms of the accuracy ratio. The profile characteristics (both dynamic as well as static) reveal more information about the nature of these processes. Scanning electron microscope (SEM) photographs of the surfaces generated by laser and AWJ are analysed to obtain more insight into the physics of these processes.

关键词： Metal cutting

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Planning robotic trajectories for thermal spray shape deposition

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Journal of Thermal Spray Technology 1993年第1期2卷 45-57页

作者： Fasching, M.M. Prinz, F.B. Weiss, L.E. Institut fur Allgemeine Electrotechnik und Industrielle Elektronik University of Technology Vienne Austria The Robotics Institute and The Engineering Design Research Center Carnegie Mellon University Pittsburgh Pennsylvania United States

Thermal spray shape deposition is a new process for fabricating net-shape parts by incremental material buildup of cross-sectional layers. This article presents an approach for spraying thin, flat layers using a robotic thermal spray system. Asymmetries of the spray distribution are first corrected by tilting the spray torch based on a computer model of the measured spray distribution. The path of the torch is then found using heuristics that are based on the estimated standard deviation of the corrected distribution. For example, thick arc-sprayed coatings of approximately 4.0 mm thickness have been deposited using this method, with the resulting standard deviation from the mean thickness ranging from 20.0 to 30.0 μm. To demonstrate the shape deposition process, a prototype turbine blade shape was built using these optimized trajectories. © 1993 ASM International.

关键词： deposition symmetry dimensional uniformity electric arc process manufacturing technology net-shape manufacture recursive mask deposition

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