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 ma...
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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.
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 uniquel...
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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.
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 co...
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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.
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....
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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.
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 ec...
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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.
The Ada research Group of the roboticsresearchlaboratory at The University of Michigan is currently developing a real-time distributed computing capability based upon the premises that real-time distributed language...
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The problem of simplifying the Lagrange dynamic equation of PUMA 600 robot manipulators is considered. By applying the numeric significance evaluation procedure to the symbolically expressed dynamic projection functio...
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After two decades, data processing has finally, and probably forever, found its niche among civil engineering and construction (CEC) professionnals, through word processors, digitizing tables, management software, and...
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ISBN:
(数字)9781468474046
ISBN:
(纸本)9781850912538
After two decades, data processing has finally, and probably forever, found its niche among civil engineering and construction (CEC) professionnals, through word processors, digitizing tables, management software, and increasingly via drawing software and computer-aided design (CAD), recently, robots have even started invading work sites. What are the main trends of CAD and robotics in the field of architecture and civil enginee ring? What type of R&D effort do university and industrial laboratories undertake to devise the professional software that will be on the market in the next three to five years? These are the issues which will be addressed during this symposium. To this effect, we have planned concurrently an equipment and software show, as well as a twofold conference. Robotic is just starting in the field of civil engineering and construction. A pioneer, the Civil Engineering Departement of Carnegie-Mellon University, in the United States, organized the first two international symposia, in 1984 and 1985 in Pittsburgh. This is the third meeting on the subject (this year, however, we have also included CAD). It constitutes the first large international symposium where CAD experts, specialists in architecture and CEC robotics will meet. From this standpoint, it should be an ideal forum for exchanging views and expe riences on a wide range of topics, and we hope it will give rise to novel applications and new syntheses. This symposium is intented for scientists, teachers, students and also for manufacturers and all CEC professionals.
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