Engineering Research Equipment Grant: A Range Finder and Manipulator for Empirical Verification of Sensor-Based Decision Making

工程研究设备补助金：用于对基于传感器的决策进行实证验证的测距仪和操纵器

• 批准号: 9112458
• 负责人: David Kriegman
• 金额: $ 4万
• 依托单位: Yale University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1991
• 资助国家: 美国
• 起止时间: 1991-09-01 至 1993-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9112458&HistoricalAwards=false
• 关键词: Engineering; Research; Equipment; Grant; Range

The objective of this research equipment effort is to support a broad, aggressive research program in sensor-based robotics and automation. Purchase of a laser range scanner and a robot arm will support several research projects, including: sensor data fusion, object recognition, sensor-based reasoning in controlled and uncontrolled environments, and combined manipulation and mobility. This research methodology is firmly grounded in theory. Results from elimination theory provide a general basis for relating sensor observations to geometric models of curved objects. Constraint solving systems are used to recover the parameters of these and other parametric models. Decision theory provides a framework for developing task-directed sensor control and data processing algorithms. The solution techniques advance two computational models, specifically symbolic equation rewriting and interval-based constraint solving. To validate these theoretical advances, they must be tested under realistic conditions. Range sensing, providing a direct source of real-world geometry, and a robot arm, providing sensor mobility and object manipulation capabilities, will be employed to support the endeavors. This equipment will provide the nucleus of a laboratory devoted to the construction of integrated automated systems with the potential for a broad range of future applications.

这项研究设备工作的目标是支持基于传感器的机器人和自动化的广泛，积极的研究计划。购买激光距离扫描仪和机械臂将支持几个研究项目，包括：传感器数据融合、物体识别、受控和非受控环境中基于传感器的推理，以及组合操作和移动性。这种研究方法有坚实的理论基础。消去理论的结果为将传感器观测与弯曲物体的几何模型联系起来提供了一般依据。约束求解系统用于恢复这些参数模型和其他参数模型的参数。决策理论为开发任务导向的传感器控制和数据处理算法提供了一个框架。求解技术提出了两种计算模型，即符号方程重写和基于区间的约束求解。为了验证这些理论进展，它们必须在现实条件下进行测试。提供真实几何图形的直接来源的距离传感，以及提供传感器移动性和物体操纵能力的机械臂，将被用于支持这些努力。该设备将提供一个实验室的核心，致力于建设具有广泛应用潜力的综合自动化系统。