Data-Driven Grasp Synthesis - A Survey

We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar or unknown objects. This structure allows us to identify common object representations and perceptual processes that facilitate the employed data-driven grasp synthesis technique. In the case of known objects, we concentrate on the approaches that are based on object recognition and pose estimation. In the case of familiar objects, the techniques use some form of a similarity matching to a set of previously encountered objects. Finally for the approaches dealing with unknown objects, the core part is the extraction of specific features that are indicative of good grasps. Our survey provides an overview of the different methodologies and discusses open problems in the area of robot grasping. We also draw a parallel to the classical approaches that rely on analytic formulations.Comment: 20 pages, 30 Figures, submitted to IEEE Transactions on Robotic

Taking time to understand: articulating relationships between technologies and organizations

Dynamic relationships between technologies and organizations are investigated through research on digital visualization technologies and their use in the construction sector. Theoretical work highlights mutual adaptation between technologies and organizations but does not explain instances of sustained, sudden, or increasing maladaptation. By focusing on the technological field, I draw attention to hierarchical structuring around inter-dependent levels of technology; technological priorities of diverse groups; power asymmetries and disjunctures between contexts of development and use. For complex technologies, such as digital technologies, I argue these field-level features explain why organizations peripheral to the field may experience difficulty using emerging technology

Building an interactive 3D animation system

The continued improvement and proliferation of graphics hardware for workstations and personal computers has brought increasing prominence to a newer style of software application program. This style relies on fast, high quality graphics displays coupled with expressive input devices to achieve real-time animation and direct-manipulation interaction metaphors. Such applications impose a rather different conceptual approach, on both the user and the programmer, than more traditional software. The application program can be thought of increasingly as a virtual machine, with a tangible two or three dimensional appearance, behavior and tactile response. Dynamic graphics techniques are now considered essential for making computers easier to use, and interactive and graphical interfaces that allow the presentation and the direct manipulation of information in a pictorial form is now an important part of most of modern graphics software tools211-24

Authoring interactive multimedia: problems and prospects

The creation of a multimedia presentation is a non-trivial task. It involves skills that are not readily available to users and it requires support not generally available from authoring software. In order to understand the basic problems of multimedia authoring, this article considers the requirements for defining interactive, dynamic presentations. When contrasted against the facilities available in current-generation commercial authoring systems, we can see that their focus is often on low-level details rather than high-level structure. The prospects for future editing systems are somewhat brighter: support for high level editing can be provided. As an example, we describe the CMIFed authoring environment; CMIFed not only supports authoring at a high level but also incorporates most low-level features found in current systems

Digital Image Access & Retrieval

The 33th Annual Clinic on Library Applications of Data Processing, held at the University of Illinois at Urbana-Champaign in March of 1996, addressed the theme of "Digital Image Access & Retrieval." The papers from this conference cover a wide range of topics concerning digital imaging technology for visual resource collections. Papers covered three general areas: (1) systems, planning, and implementation; (2) automatic and semi-automatic indexing; and (3) preservation with the bulk of the conference focusing on indexing and retrieval.published or submitted for publicatio