Issues concerning the effective integration of multiple sensors into the operation of intelligentsystems are presented, and a description of some of the general paradigms and methodologies that address this problem i...
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In this paper, the usefulness of applying the complex as well as ordinary moment features for similar object recognition using a tactile array sensor has been explored. Some complex moment invariants have been derived...
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A robotic system that can visually track and intercept an arbitrary object which is traveling at an unknown velocity on a conveyor has been presented. A fiber-optic eye-in-hand vision system developed at NCSU is used ...
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A robotic system that can visually track and intercept an arbitrary object which is traveling at an unknown velocity on a conveyor has been presented. A fiber-optic eye-in-hand vision system developed at NCSU is used as an integral part of the entire tracking system. The eye-in-hand system is used to characterize the object trajectory in real time, using a modified optical flow approach. A control strategy has been developed which utilizes the kinematic data that are extracted by the tracking algorithm to intercept the moving object. An overall system configuration and its basic principles are described. The demonstration of the initial results is presented.< >
The authors present an active triangulation range finding system composed of an independent laser system generating a plane of light projected on an object placed on a rotary table driven by a personal computer. This ...
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The authors present an active triangulation range finding system composed of an independent laser system generating a plane of light projected on an object placed on a rotary table driven by a personal computer. This computer includes a video digitizer board connected to a camera looking at the scene. Besides its low cost, this system has other advantages over the comparable existing systems. First, the authors have designed a simple, fast and accurate calibration procedure which does not require any knowledge about the camera parameters or the relative position of the camera with the laser plane. Furthermore, this calibration procedure is performed only once, ensuring stable and accurate results. The result of the scanning of a given object is given in cylindrical coordinates. Choosing different viewpoints, Cartesian range images of the same object are computed in order to show, with shaded and perspective views of the scanned object, the quality of the results.< >
The authors address the problem of robot multisensor fusion and integration with special emphasis on optimal estimation of fused sensor data. The investigation is based on a Unimation PUMA 560 robot and various extern...
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The authors address the problem of robot multisensor fusion and integration with special emphasis on optimal estimation of fused sensor data. The investigation is based on a Unimation PUMA 560 robot and various external sensors. These include overhead vision, eye-in-hand vision, proximity, tactile array, position, force/torque, crossfire, overload, and slip sensing devices. The efficient fusion of data from different sources will enable the machine to respond promptly in dealing with the real world. Towards this goal, the general paradigm of a sensor data fusion system has been developed, and some simulation results as well as results from the actual implementation of certain concepts of sensor data fusion have been demonstrated.< >
The authors present results on geometric properties of the generalized cone, in an effort to utilize it for a shape description system. They first derive the relationship between the generalized cone description and t...
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The authors present results on geometric properties of the generalized cone, in an effort to utilize it for a shape description system. They first derive the relationship between the generalized cone description and the surface description given by differential geometry. Then they derive expressions for the Gaussian and mean curvatures of a generalized cone, in general, and obtain expressions for some special cases like the torus, the solid of revolution etc. They study the planarity property of the contour generators of a generalized cone, in particular, one with a planar axis. They find that homogeneous generalized cones with planar axes and circular cross sections or constant-size cross sections have planar contour generators in an orthographic side view. An example of such a generalized cone is the torus. However, the contour generators are not planar in a general view. They also study symmetry properties of some generalized cones and find, in particular, that in orthographic projection the contour of the solid of revolution is symmetric about the projection of its axis from any point of view.< >
A memory-based robotic control paradigm which learns relationships between a control effort and a change of state is introduced. It has been used to develop a learning control system which implements step responses in...
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A memory-based robotic control paradigm which learns relationships between a control effort and a change of state is introduced. It has been used to develop a learning control system which implements step responses in one dimension on a robotic gripper, with partial success. It was found that velocity as well as positional feedback were required to complete even simple movements. It is believed that aspects of this approach would readily extend to a tactile sensing system.< >
The successful execution of grasps by a robot hand requires a translation of visual information into control signals to the hand which produce the desired spatial orientation and preshape for an arbitrary object. An a...
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The successful execution of grasps by a robot hand requires a translation of visual information into control signals to the hand which produce the desired spatial orientation and preshape for an arbitrary object. An approach to this problem, based on separation of the task into two modules, is presented. A vision module is used to transform an image into a volumetric shape description using generalized cones. The data structure containing this geometric information becomes an input to the grasping module, which obtains a list of feasible grasp modes and a set of control signals for the robot hand. Various features of both modules are discussed.< >
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