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检索条件"机构=New York State Center for Advanced Technology in Automation Robotics and Manufacturing"

共 58 条记录，以下是31-40 订阅

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Registration of dissimilar featureless models for inspection

Registration of dissimilar featureless models for inspection

引用

IEEE International Conference on robotics and automation (ICRA)

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

General-purpose CAD-based inspection of a manufactured workpiece often involves comparing a part model created using intensity or range images of the part to a toleranced reference model of the part. Before this comparison can be made, however, the sensed object model must be registered to the reference object model. Most registration approaches assume that it is possible to identify and match features in the models and that the object models represent very similar geometries. A registration approach that deals with featureless dissimilar models is presented, and experimental results are demonstrated. Although the need for such an approach was motivated by needs in inspection, the approach is very general and can be used in a variety of other applications.< >

关键词： Inspection Casting robotics and automation Solid modeling Data structures Systems engineering and theory Geometry Valves manufacturing processes Surface morphology

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Nonholonomic path planning with inequality constraints

Nonholonomic path planning with inequality constraints

引用

IEEE Conference on Decision and Control

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

A class of newton-type algorithms is effective in solving the kinematic path planning problem for a system with nonholonomic equality constraints. A key result in this approach has been the generic full rank condition of a certain gradient operator. We have extended this method to path planning problems with inequality constraints and shown its efficacy in solving some challenging problems, but a similar genericity result is not currently available. In this paper, we present some extension of our algorithm for nonholonomic path planning with equality and inequality constraints and show the generic full rank condition for a special case. Simulation examples involving a steerable tractor-trailer vehicle and experiment results of a quarter-scale car with a trailer are presented.< >

关键词： Path planning Control systems Nonlinear control systems Controllability robotics and automation Systems engineering and theory Kinematics Space vehicles Velocity control Nonlinear systems

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Automatic synthesis and verification of compliance mappings

Automatic synthesis and verification of compliance mappings

引用

IEEE International Conference on robotics and automation (ICRA)

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

When the uncertainty is large compared to clearances between objects, some form of compliance is required for a robot to manipulate these objects. Such situations include, but are not restricted to, assembly operations. Compliance can be thought of as a task-dependent mapping from sensed forces to corrective motions which bring the robot closer to its goal. A methodology for the automated synthesis of this mapping is described. The possible erroneous configurations of the robot together with their resulting contact forces are computed, and a corrective motion is identified for each configuration. The validity of the mapping is checked to ensure that the sensed forces will provide unambiguous information during the actual execution of the planned compliant motion.< >

关键词： robotics and automation Robot sensing systems Uncertainty Robotic assembly Path planning Motion planning Damping Systems engineering and theory technology planning Sensor systems

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On computing a distance measure for path planning

On computing a distance measure for path planning

引用

IEEE International Conference on robotics and automation (ICRA)

作者： K. Sridharan H.E. Stephanou S.S. Keerthi New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA Department of Computer Science and Automation Indian Institute of Science Bangalore India

Given two objects, A and B, such that A intersection B not= theta , the authors define a measure to characterize the penetration between A and B. They present fast algorithms for computing the measure for planar and p... 详细信息

关键词： Path planning robotics and automation Computer science Object detection Motion measurement Robot motion Euclidean distance Linear programming

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FINDING A SEQUENCE OF SENSOR OPERATIONS FOR VOLUMETRIC INSPECTION

FINDING A SEQUENCE OF SENSOR OPERATIONS FOR VOLUMETRIC INSPE...

引用

1992 IEEE International Conference on Systems, Man, and Cybernetics

作者： TARBOX, GH GOTTSCHLICH, SN GERHARDT, LA New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy 12180-3590 NY United States

ISBN: (纸本)0780307208

A system for exhaustively inspecting a workpiece, not merely certain features, is presented. The system is based on comparing a volumetric representation of a reference object to a volumetric representation of an actual object iteratively created from sensor data. The use of volumetric representations gives this approach a number of distinct advantages over the more traditional boundary-based inspection methods: the method is capable of handling arbitrarily complex geometries and does not rely on the identification of features, it lends itself naturally to a multi-sensor environment, and it facilitates true 3D inspection as opposed to methods that require dimensional reductions of data by projection onto a 2D plane. This paper focuses on an important aspect of volumetric inspection - the automatic generation of a sequence of sensor operations that will acquire the complete geometry of the object being inspected. © 1992 IEEE.

关键词： Inspection

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FUZZY PROXIMITY-MEASURES FOR ROBOT GRASP PLANNING

FUZZY PROXIMITY-MEASURES FOR ROBOT GRASP PLANNING

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1992 IEEE INTERNATIONAL SYMP ON INTELLIGENT CONTROL

作者： SRIDHARAN, K STEPHANOU, HE New York State Center for Advanced Technology in Automation and Robotics Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy 12180-3590 NY United States

Faat procedures for computing fuzzy prozimity meaaurea between a multifingered robot hand and an object to be grasped are presented in this paper. The computation useful in graap planning and in analyzing the local be... 详细信息

ISBN: (纸本)0780305469

关键词： Robot programming

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On the derivation of geometric constraints in stereo

On the derivation of geometric constraints in stereo

引用

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

作者： Stewart, C.V. Department of Computer Science New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0818628553

Probability density functions (PDFs) are derived for many of the geometric measurements upon which stereo matching techniques are based, including orientation differences between matching line segments or curves, the gradient of disparity, the directional derivative of disparity, and disparity differences between matches. The PDFs resulting from the transformations are used to critically examine many existing stereo techniques. Several techniques based on these PDFs are proposed. © 1992 IEEE.

关键词： Probability density function

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The window corner algorithm for planning translational paths among polyhedral subassemblies

The window corner algorithm for planning translational paths...

引用

1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Krishnan, S.S. Sanderson, A.C. New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180 United States

ISBN: (纸本)0780307372

In this paper, we present a complete and exact algorithm for planning a geometrically feasible path for a polyhedral subassembly (robot) translating amongst polyhedral obstacles. Our algorithm can be used to determine whether a pair of non-convex subassemblies can be separated by a sequence of fine-motions and, possibly, contact-motions, when the amount of free space tends to be severly limited. We present the three-dimensional Window Corner algorithm to plan feasible paths. The algorithm solves the FeosiblePath problem, in worst-case time O(m5) where m is the product of the number of vertices describing the robot and obstacles respectively. A Feasiblepath solution hierarchy, for assembly sequence planning, is described for incremental, straight-line and multi-step paths. The Polyhedral Cone Representation (PCR) is introduced to efficiently represent the geometrical constraints on translation and as a basis for fast collision avoidance checks. We introduce the concept of Window Corners in the PCR and this results in a finite search space. The Polyhedral Cone Obstacle Representation (PCUR), which is a constructive representation of all boundary contact configurations, transforms the problem into that of a point moving amongst a collection, O(m), of convex obstacles. In comparison, the worstcase space complexity of the C-space boundary is O(m3). Certain contact-constrained, feasible motions, which lie on surfaces without interior points can be inaccessible in a typ i d C-space representation. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Robot programming

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An Information Theoretic Approach to Approximate Reasoning

An Information Theoretic Approach to Approximate Reasoning

引用

1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Gottschlich, S.N. Stephanou, H.E. New York State Center for Advanced Technology in Automation and Robotics Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0780307372

In traditional geometric modeling, it is common to assume that models of objects created are complete and correct. Unfortunately in real life robots and other autonomous machines may have only uncertain knowledge of only a portion of an object's geometry and therefore we need to be able to create object models that are incomplete and uncertain. Towards this end we have developed mechanisms for representing geometric entities in terms of Dempster-Shafer belief functions. To do this we have extended the notion of belief functions to include continuous frames of discernment. A fractal model of the belief functions is developed and information theory concepts are applied for reasoning about a sensor data model vis-a-vis reference object models. An implementation of these concepts and experiments involving them are discussed. © 1992 IEEE.

关键词： Uncertainty analysis

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Volumetric Based Inspection

Volumetric Based Inspection

引用

1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Tarbox, G.H. Gottschlich, S.N. Gerhardt, L.A. New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0780307372

A novel approach to inspection is presented based on comparing a volumetric representation of a reference object to a volumetric representation of an actual object iteratively created from sensor data. The use of volumetric representations gives this approach a number of distinct advantages over the more traditional surface-based inspection methods. One significant advantage of volumetric inspection is that there is no need to identify geometric "features", particularly important when inspecting objects such as castings and forgings whose features are often difficult to identify. Secondly, the volumetric representation lends itself naturally to a multi-sensor environment. By this we mean that a volumetric model of the sensed object can be synthesized utilizing information from multiple sensors of varying types, accuracy, location, etc. This allows a choice of the most appropriate sensor for acquiring information about the different regions of the object. Finally, the volumetric representation allows us to carry out true three-dimensional inspection as opposed to the typical approach where renderings of the reference model are compared to two-dimensional images of the actual object. © 1992 IEEE.

关键词： Inspection

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