Study and development of techniques for automatic control of remote manipulators

An overall conceptual design for an autonomous control system of remote manipulators which utilizes feedback was constructed. The system consists of a description of the high-level capabilities of a model from which design algorithms are constructed. The autonomous capability is achieved through automatic planning and locally controlled execution of the plans. The operator gives his commands in high level task-oriented terms. The system transforms these commands into a plan. It uses built-in procedural knowledge of the problem domain and an internal model of the current state of the world

On Computer Stereo Vision with Wire Frame Models

Coordinated Science Laboratory changed its name from Control Systems LaboratoryShould have been numbered UILU-ENG 77-2252, and that number may have been distributed on some copies.Joint Services Electronics Program / DAAB-07-72-C-0259Ope

EDGE FINDING, SEGMENTATION OF EDGES AND RECOGNITION OF COMPLEX OBJECTS

This paper describes an approach to the recognition of real-world objects such as books or a telephone on a desk. The system consists of (l) edge finding process which extracts edges of curved objects from light intensity data, (2) segmentation of the edges into straight lines or elliptic curves, (3) recognition of objects by matching the liner, to the models, and (4) simple supervisor. The module (1), (2) and ( 3) interact with each other through a simple supervisor so that the system can locate given objects quickly-First, most reliable edges are found and segmented, and then recognition i r. attempted using segmented lines. If recognition is not successful, less reliable edges are searched for, arid recognition is retried. An example of locating a lamp, a book stand and a telephone is shown. 1