Motion coordination and programmable teleoperation between two industrial robots

Tasks for two coordinated industrial robots always bring the robots in contact with a same object. The motion coordination among the robots and the object must be maintained all the time. To plan the coordinated tasks, only one robot's motion is planned according to the required motion of the object. The motion of the second robot is to follow the first one as specified by a set of holonomic equality constraints at every time instant. If any modification of the object's motion is needed in real-time, only the first robot's motion has to be modified accordingly in real-time. The modification for the second robot is done implicitly through the constraint conditions. Thus the operation is simplified. If the object is physically removed, the second robot still continually follows the first one through the constraint conditions. If the first robot is maneuvered through either the teach pendant or the keyboard, the second one moves accordingly to form the teleoperation which is linked through the software programming. Obviously, the second robot does not need to duplicate the first robot's motion. The programming of the constraints specifies their relative motions

Finding lumbar vertebrae by evidence gathering

Low back pain is a very common problem and lumbar segmental instability is one of the causes. It is essential to investigate lumbar spine movement in order to understand instability better and as an aid to diagnosis. Digital videofluoroscopy (DVF) provides a method of quantifying the motion of individual vertebra. In this paper, we apply a new version of the Hough transform (HT) to locate the lumbar vertebra automatically in DVF image sequences. At present, this algorithm has been applied to a calibration model and to the vertebra L3 in DVF images, and has shown to provide satisfactory results. Further work will concentrate on reducing the computational time for realtime application, on developing a spatiotemporal sequences method and on determining the spinal kinematics based on the extracted parameters