Intelligent Material Handling Systems: Autonomous Retrieval of Buried Objects

智能物料搬运系统：自主检索埋藏物体

• 批准号: 9114674
• 负责人: William Whittaker
• 金额: $ 30万
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1991
• 资助国家: 美国
• 起止时间: 1991-12-01 至 1994-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9114674&HistoricalAwards=false
• 关键词: Intelligent; Material; Handling; Systems; Autonomous

The objective of this research is to develop and integrate the perception, planning, and manipulation technologies necessary for autonomously detecting, uncovering, and retrieving fragile buried objects. Such technology has application in the retrieval of waste containers from landfills, recovery of munitions from shallow burial, exposure of cables beneath the ocean floor, and acquisition of extraterrestrial soil/rock samples. The proposed work will advance current knowledge in the fields of software architectures and reasoning systems for autonomous robots working with geomaterials, perception for building three- dimensional representations of buried objects, and manipulation for extricating objects from geo or diffuse material.

本研究的目的是开发和整合 感知、规划和操纵技术 自动检测、发现和 找回易碎的被埋物这种技术已经 应用于回收废物容器， 垃圾填埋场，从浅埋处回收弹药， 海底电缆的暴露和获取 地球外的土壤/岩石样本。拟议工作 将推进软件领域的现有知识 自主机器人的体系结构和推理系统 与地质材料一起工作，对三号楼的感知- 地下物体的三维表示，以及 用于从几何或漫反射中提取对象的操作 材料