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Conference on computer Vision and Pattern Recognition (CVPR)

作者： X.D. Yang Robotics Research Laboratory Computer Science Department Courant Institute of Mathematical Sciences New York University New York NY USA

The intensive use of the connected components algorithms in image analysis and robot vision calls for a very fast implementation of such algorithms suitable for real-time applications. A hardware design is presented which implements the algorithm due to J.T. Schwartz, M. Sharir, and A. Siegel (1985). A prototype board, which does not use special VLSI chips, had been constructed previously that can compute the connected components in a 512*512 binary image in few video frame times (about 300 ms). A real-time version (video speed) in VLSI is proposed.< >

关键词： Hardware Very large scale integration Robot vision systems Image analysis Algorithm design and analysis Prototypes Pixel Laboratories computer science Application software

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INSTRUCTION LEVEL TIMING MECHANISMS FOR ACCURATE REAL-TIME TASK-SCHEDULING

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IEEE TRANSACTIONS ON computerS 1987年第8期36卷 988-992页

作者： VOLZ, RA MUDGE, TN The Robotics Research Laboratory Department of Electrical and Computer Science University of Michigan Ann Arbor MI USA

The scheduling of timed tasks is generally based, at the hardware level, upon the use of time intervals. For example, most microprocessor families provide their only hardware support for timing control in the form of a programmable interval timer chip accessible as an I/O device over the system bus. In this paper we will argue that a more natural and elegant solution bases timing on a local (to a particular CPU) absolute timer. Furthermore, we will show that the desired timing functions can be provided by simple extensions to existing CPU architectures. The widespread use of the ``time interval'' view has also influenced, in a negative way, the design of many programming languages. An important example is Ada, a language designed with real-time multitasking explicitly in mind. We will describe the difficulty with the current timing methods used in Ada, and present a method for overcoming the timing weakness by using the proposed timing mechanisms, while still remaining within the definition of the Ada language.

关键词： Timing Clocks Real time systems Registers Processor scheduling Hardware Synchronization

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PAR - A CSG-BASED UNIQUE REPRESENTATION SCHEME FOR ROTATIONAL PARTS

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IEEE TRANSACTIONS ON systems MAN AND CYBERNETICS 1987年第6期17卷 1039-1049页

作者： LEE, YC JEA, KFJ Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI 48109

PAR (principal axis representation) for rotational parts (i.e., solids of revolution) is proposed as an internal representation scheme for constructive solid geometry (CSG). They key idea of PAR is to represent an object uniquely by its principal axis and a set of boundary curves. Since PAR is in an evaluated form, geometrical properties of parts can be computed more directly and efficiently from this evaluated representation than from the original CSG tree. The scheme is described, and operations (e.g. union) on PARs are defined. The uniqueness of the scheme is proved. An algorithm that converts a CSG representation into PAR is presented along with examples. The equivalence of PAR to the CSG scheme for rotational parts is proved.

关键词： Feature extraction Solids Geometry Syntactics Task analysis Solid modeling Pattern recognition

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New concepts in tele-autonomous systems

New concepts in tele-autonomous systems

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AIAA/NASA/USAF 2nd Symposium on Automation, robotics and Advanced Computing for the National Space Program,1987

作者： Conway, Lynn Volz, Richard Walker, Michael Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48109 United States

We have taken up the challenge of integrating telemanipulation technology and autonomous system technology. We are seeking methods for integration at a fundamental rather than an ad-hoc level. We believe that success in this effort can open up new space and defense applications now beyond reach of either technology alone. In our presentation at this symposium, we introduce a series of concepts for "tele-autonomous" systems. The concepts involve new system architectures and associated new system interface controls including "time clutches", "position clutches" and "time brakes". Taken, together, the concepts enable effective, efficient intermingling of real-time cognition and manipulation tasks performed by either humans or machines. The concepts also yield simple mechanisms and protocols for handoffs of such tasks between multiple agents. In this presentation we focus primarily on the tutorial introduction of the basic tele-automation concepts. We then briefly describe our environment for exploring this new technology and the results of our initial experiments. Further details concerning tele-autonomous system architecture and our initial experimental results can be found in an attached reference [CON87]. © 1987 by the American institute of Aeronautics and Astronautics, Inc.

关键词： computer architecture

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Tele-autonomous systems: Methods and architectures for intermingling autonomous and telerobotic technology

Tele-autonomous systems: Methods and architectures for inter...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Conway R. Volz M. Walker Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Michigan

As a result of recent advances in artificial intelligence, human cognitive modelling, autonomous systems and telerobotics, there is an opportunity to broaden our concepts of technology for projecting action at a distance. We draw on these advances to develop a conceptual and architectural framework that enables efficient projection in time and space of intermingled manipulation and cognition tasks. Where AI-based autonomous systems have previously been concerned with human supervisory intervention primarily at a cognitive level, we add methods for rendezvous, capture and rehandoff of embedded manipulation tasks. Where telerobotics has been concerned with the projection of sensory-motor manipulation, we add the projection of cognitive processing. Thus extended, the two technologies mirror one another and merge into one of "tele-autonomous systems". We introduce notions of how the sensory, cognitive and motor functions of tele-autonomous systems can be factored and transferred back and forth between human and machine. We illustrate how the times to complete tele-autonomous tasks can be reduced through time and space constraint relaxations effected through simple controls: We employ the concepts of forward simulation and predictor display, augmented by "time and position clutches", "time ratio controls" and "time brakes", to control the resulting manipulation paths and event transitions. We sketch some generic architectural and human interface implications of these methods. Finally, we describe our environment for exploring these methods and the results of some recent experiments.

关键词： Telerobotics Humans Space technology Artificial intelligence Cognition Mirrors Time factors Predictive models Discrete event simulation Displays

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Range image segmentation and surface parameter extraction for 3-D object recognition of industrial parts

Range image segmentation and surface parameter extraction fo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joonhee Han R. Volz T. Mudge Department of Electrical Engineering and Computer Science Robotics Research Laboratory The University of Michigan Ann Arbor MI

This paper addresses the problem of extracting certain types of surfaces for 3-dimensional object recognition in the presence of partial occlusion and noise using range information. We restrict consideration to man made industrial parts. In this case, we need only work with a small set of surface shapes such as planes, cylinders, and spheres since such shapes are common in industrial parts and it is only necessary to recognize and locate a sufficient set of surface regions to uniquely distinguish the part being observed from all others that might be present. We describe a way of extracting the parameters of these types of surfaces using normal analysis. The use of surface parameters then allows efficient and robust use of a matching process for object recognition and pose determination even though there are many undefined or occluded surface regions.

关键词： Image segmentation Parameter extraction Object recognition Shape Surface reconstruction Noise shaping Eigenvalues and eigenfunctions computer industry Equations Image analysis

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PAR: A representation scheme for rotational parts

PAR: A representation scheme for rotational parts

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yung-Chia Lee K. Jea The Robotics Research Laboratory Department of Electrical Engineering and Computer Science The University of Michigan Ann Arbor MI

A new representation scheme PAR (Principal Axis Representation) for rotational parts is proposed as an internal representation scheme for Constructive Solid Geometry (CSG). The main idea of PAR is to represent uniquely an object by its principal axis and a set of boundary curves so that geometrical properties of the part can be easily computed. In his paper, the PAR scheme is first described and followed by a proof of its equivalence to the CSG scheme. Also proved is the uniqueness of the PAR scheme. Finally, an algorithm that converts a CGS representation into PAR is briefly discussed along with examples.

关键词： Feature extraction Shape Lifting equipment Robots Laboratories Computational geometry Virtual manufacturing Solid modeling computer displays Pattern recognition

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Motor schema based navigation for a mobile robot: An approach to programming by behavior

Motor schema based navigation for a mobile robot: An approac...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Arkin VISIONS/Laboratory for Perceptual Robotics Computer and Information Science Department Graduate Research Center University of Massachusetts Amherst MA

Motor schemas are proposed as a basic unit of behavior specification for the navigation of a mobile robot. These are multiple concurrent processes which operate in conjunction with associated perceptual schemas and contribute independently to the overall concerted action of the vehicle. The motivation behind the use of schemas for this domain is drawn from neuroscientific, psychological and robotic sources. A variant of the potential field method is used to produce the appropriate velocity and steering commands for the robot. An implementation strategy based on available tools at UMASS is described. Simulation results show the feasibility of this approach.

关键词： Navigation Mobile robots Robot programming Robot sensing systems Control systems Cognitive robotics Vehicles Brain modeling Psychology Laboratories

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PROGRESS--A graphical robot programming system

PROGRESS--A graphical robot programming system

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Naylor Lejun Shao R. Volz R. Jungclas P. Bixel K. Lloyd Robotics Research Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI General Electric Company Bell Lab. of AT&T company

A graphical off-line robot programming system should not only be able to simulate various types of robot movement graphically, it should also be able to use graphics to interact with binary sensors, actuators and etc., in order to simulate logic-related and other functions of robot languages, such as testing and branching, looping, communication and external event handling graphically. We present a graphical off-line robot programming system which has some of these additional features. In particular, it incorporates a geometrical representation of logical conditions into the geometrical representation of the robot and workspace and it allows conditional statements to be programmed in a geometric setting.

关键词： Robot programming Graphics Displays Actuators Shape Robot sensing systems Grippers Sensor systems Control systems Temperature

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Tagged potential fields: An approach to specification of complex manipulator configurations

Tagged potential fields: An approach to specification of com...

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Lyons Laboratory for Perceptual Robotics Department of Computer and Information Science Graduate Research Center University of Massachusetts Amherst MA

This paper suggests a solution to the specification problem inherent in writing programs for manipulators with many degrees of freedom. It introduces a mechanism called tagged potential fields, which can be used to economically specify a complex manipulator configuration. Some examples are demonstrated for preshaping a dextrous hand, and some of the possible future applications previewed.

关键词： Kinematics Manipulator dynamics Laboratories Grasping Information science Writing Robot programming Fingers Position control Graphics

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