Enhancing Robotics and Intelligent Systems Laboratory in Computer Vision

该项目改进了现有的机器人和智能系统实验室（RISL），目前由PUMA 562机械手，两个RTX教育机器人和广泛的基于vme的硬件组成。该实验室用于课堂演示、编程作业、学期项目和本科课程研究，涵盖机器人、人工智能、计算机控制、神经计算和计算机体系结构。RISL的改进由机器人视觉系统提供，该系统由以下主要组件组成：帧采集模块（DIGIMAX和FRAMESTORE板）、视频卷积模块（VFIR板）、特征提取和直方图绘制模块（FEATUREMAX板）和支持视频软件库（IMAGEFLOW）。所有这些组件都是一组Datacube的兼容板，可插入现有的MPC-200工作站。新设备由带镜头的标准CCD相机、支架和单色监视器组成，正在用于一系列试点项目，从2D识别和定位简单的已知物体开始，然后继续使用3D视觉。这些项目为本科生进一步研究机器人（路径规划、对象处理、简单装配任务等）和人工智能（图像理解、表示和块世界规划）提供了基本工具。该项目扩展了现有机器人的应用领域，特别是在人工智能领域，并使机器人和人工智能的本科课程更加现代化，对寻求机器人和机器视觉系统等高科技仪器实践经验的学生更具吸引力。

This project improves the existing Robotics and Intelligent Systems Laboratory (RISL), currently consisting of a PUMA 562 manipulator, two RTX educational robots and extensive VME-based hardware. The lab is used for class demonstrations, programming assignments, term projects, and research in undergraduate courses which cover robotics, artificial intelligence, computer control, neural computing and computer architectures. Improvement of the RISL is provided by a robot vision system with the following major components: frame grabber (DIGIMAX and FRAMESTORE boards), video convolution module (VFIR board), feature extraction and histogramming module (FEATUREMAX board) and supporting video software library (IMAGEFLOW). All these components are a set of Datacube's compatible boards which are be plugged into existing MPC-200 workstation. New equipment consisting of a standard CCD cameras with lenses, stands and monochrome monitor is being used in a sequence of pilot projects which starts with 2D recognition and locating simple known objects, and continues with 3D vision. These projects provide basic tools for further undergraduate research in robotics (path planning, object handling, simple assembly tasks, etc.) and artificial intelligence (image understanding, representation and planning in blocks world). This project expands the application areas of existing robots, especially in the area of artificial intelligence, and makes undergraduate courses in robotics and AI more modern and attractive to students seeking practical experience with high-tech instruments, such as robots and machine vision systems.