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  • 1
    Electronic Resource
    Electronic Resource
    Gesture Recognition: The Gesture Segmentation Problem (2000)
    Springer
    Journal of intelligent and robotic systems 28 (2000), S. 151-158 
    Details
    ISSN: 1573-0409
    Keywords: gesture recognition ; active contours
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract The gesture segmentation problem is introduced as the first step towards visual gesture recognition i.e. with the detection, analysis and recognition of gestures from sequences of real images. Our gesture segmentation scheme is composed of two steps: accurate gesture contour tracking in space domain, and continuous tracking in time domain. Experimental results and implementations issues are presented.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008101200733
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    Paper (German National Licenses)
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  • 2
    Electronic Resource
    Electronic Resource
    Ultrasonic navigation for a wheeled nonholonomic vehicle (1995)
    Springer
    Journal of intelligent and robotic systems 12 (1995), S. 239-258 
    Details
    ISSN: 1573-0409
    Keywords: Mobile robot ; ultrasonic navigation
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract In this paper, we demonstrate a reliable and robust system for localization of mobile robots in indoors environments which are relatively consistent to a priori known maps. Through the use of an Extended Kalman Filter combining dead-reckoning, ultrasonic, and infrared sensor data, estimation of the position and orientation of the robot is achieved. Based on a thresholding approach, unexpected obstacles can be detected and their motion predicted. Experimental results from implementation on our mobile robot, Nomad-200, are also presented.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF01262963
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    Paper (German National Licenses)
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  • 3
    Electronic Resource
    Electronic Resource
    Optimal and suboptimal motion planning for collision avoidance of mobile robots in non-stationary environments (1994)
    Springer
    Journal of intelligent and robotic systems 11 (1994), S. 223-267 
    Details
    ISSN: 1573-0409
    Keywords: Mobile robots ; motion planning ; collision avoidance ; moving obstacles
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract An optimal control formulation of the problem of collision avoidance of mobile robots moving in terrains containingmoving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. Two solutions are obtained: (1) A numerical solution of the optimization problem and a perturbation type of control to update the optimal plan and (2) A computationally efficient method giving near optimal solutions. Simulation results verify the value of the proposed strategies and allow for comparisons.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF01254013
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    Paper (German National Licenses)
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  • 4
    Electronic Resource
    Electronic Resource
    A Geometric Calibration Methodology for Single-Head Cone-Beam X-Ray Systems (1999)
    Springer
    Journal of intelligent and robotic systems 24 (1999), S. 151-174 
    Details
    ISSN: 1573-0409
    Keywords: X-ray inspection ; radiography ; geometric calibration ; camera calibration ; extrinsic parameters
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract During X-ray based quality inspection, accurate reconstruction of a 3D object model from a set of its 2D X-ray projections requires efficient geometric calibration, i.e., accurate estimation of the geometric parameters of the setup. We present a calibration methodology for the estimation of the geometric parameters of single-head cone-beam X-ray radiography systems. Our method is related to known approaches regarding camera calibration and geometric calibration of tomography/radiography systems, but performs better in terms of computational efficiency.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008024611699
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  • 5
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    Distance estimation and collision prediction for on-line robotic motion planning (1991)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem has been incorporated in the framework of an in-line motion planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning the deterministic problem, where the information about the objects is assumed to be certain is examined. If instead of the Euclidean norm, L(sub 1) or L(sub infinity) norms are used to represent distance, the problem becomes a linear programming problem. The stochastic problem is formulated, where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: (1) filtering of the minimum distance between the robot and the moving object, at the present time; and (2) prediction of the minimum distance in the future, in order to predict possible collisions with the moving obstacles and estimate the collision time.
    Keywords: CYBERNETICS
    Type: NASA-CR-192737 , NAS 1.26:192737 , RPI-CIRSSE-25
    Format: application/pdf
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  • 6
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    An optimal control strategy for collision avoidance of mobile robots in non-stationary environments (1991)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy.
    Keywords: CYBERNETICS
    Type: NASA-CR-191868 , NAS 1.26:191868 , RPI-CIRSSE-83
    Format: application/pdf
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  • 7
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    A practical approach for minimum time control of the Spacecraft Control Laboratory Experiment (SCOLE), appendix A (1989)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The Space COntrol Laboratory Experiment (SCOLE) is a challenge for control engineering applications. This is a result of the system dynamics, the available measurement information, the actuator capabilities and finally the specified performance requirements set. Results on the use of Model Reference Adaptive Control were reported. In view of the necessity for rapid response, this work deals with an optimal control formulation, with a minimum time requirement and constrained input. A mathematical statement of the problem is presented. The time optimal control formulation is presented and the reasons that make such an approach not promising are discussed. As a result, a pseudo time-optimal control algorithm is discussed. The proposed approach is tested to see if it satisfies the design specifications, and finally a discussion and suggestions for further research are provided.
    Keywords: SPACECRAFT DESIGN, TESTING AND PERFORMANCE
    Type: NASA-CR-186008 , NAS 1.26:186008
    Format: application/pdf
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  • 8
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    Distance estimation and collision prediction for on-line robotic motion planning (1992)
    In:  Other Sources
    Details
    Publication Date: 2019-08-14
    Description: An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem is incorporated into the framework of an in-line motion-planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning, the deterministic problem where the information about the objects is assumed to be certain is examined. L(1) or L(infinity) norms are used to represent distance and the problem becomes a linear programming problem. The stochastic problem is formulated where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: First, filtering of the distance between the robot and the moving object at the present time. Second, prediction of the minimum distance in the future in order to predict the collision time.
    Keywords: CYBERNETICS
    Type: Automatica (ISSN 0005-1098); 28; 2 Ma
    Format: text
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  • 9
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    An integrated collision prediction and avoidance scheme for mobile robots in non-stationary environments (1993)
    In:  Other Sources
    Details
    Publication Date: 2019-08-28
    Description: A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the distance between the robot and a moving obstacle is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. A feedback control is developed and local asymptotic stability is proved if the velocity of the moving obstacle is bounded. Furthermore, a solution to the problem of inverse dynamics for the mobile robot is given. Simulation results verify the value of the proposed strategy.
    Keywords: CYBERNETICS
    Type: Automatica (ISSN 0005-1098); 29; 2; p. 309-322.
    Format: text
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  • 10
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    Minimum jerk trajectory planning for robotic manipulators (1991)
    In:  Other Sources
    Details
    Publication Date: 2019-08-28
    Description: It has been experimentally verified that the jerk of the desired trajectory adversely affects the performance of the tracking control algorithms for robotic manipulators. In this paper, the reasons behind this effect are investigated, and an optimization problem that minimizes joint jerk over a prespecified Cartesian space trajectory is stated. The necessary conditions are derived, and a numerical algorithm is presented.
    Keywords: CYBERNETICS
    Type: Cooperative Intelligent Robotics in Space; Nov 06, 1990 - Nov 07, 1990; Boston, MA; United States
    Format: text
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