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CISE Postdoc Research Associates in Experimental Computer Science: Manipulation of Rigid and Deformable Objects with Applications in Manufacturing and Computer-Assisted Surgery

CISE 实验计算机科学博士后研究员：刚性和可变形物体的操纵及其在制造和计算机辅助手术中的应用

基本信息

批准号：
0072743
负责人：
Lydia Kavraki
金额：
$ 6.6万
依托单位：
William Marsh Rice University
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2000
资助国家：
美国
起止时间：
2000-09-01 至 2004-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=0072743&HistoricalAwards=false
关键词：
CISE Postdoc Research Associates Experimental

项目摘要

EIA-0072743Kavraki, LydiaRice UniversityCISE Postdoctoral Associates in Experimental Computer Science: Manipulationof Rigid and Deformable Objects with Applications in Manufacturing andComputer-Aided SurgeryObject manipulation has been a central theme in robotics over the lastdecade. Efficient techniques have been proposed for positioning,orienting, sorting, etc., rigid objects under a variety of constraints andsensory input. Although several problems concerning rigid parts deservefurther attention, recent advances in manufacturing also require themanipulation of deformable objects such as cables, pipes, paper, etc.,needed for producing compact assemblies. Building on the theory ofmanipulation of rigid objects, the postdoctoral associate will investigatethe manipulation of deformable objects and selected problems involvingrigid object manipulation. The goal is for the associate to assist in (a)developing appropriate computational models for deformable objects, (b)studying fundamental notions such as stable grasping and fixturing ofdeformable objects, and (c) providing efficient procedures to compute theexpected deformations of objects under manipulation constraints. Oneimportant and challenging application of the proposed work is thesimulation of deformable human tissues. Such a simulation can lead to thedevelopment of virtual training environments for surgical procedures.

kavraki， lydiice大学cise实验计算机科学博士后助理：在制造和计算机辅助手术中应用刚性和可变形物体的操纵在过去十年中，物体操纵一直是机器人技术的中心主题。已经提出了有效的技术来定位，定向，分类等，在各种约束和感官输入下的刚性物体。尽管有关刚性部件的几个问题值得进一步关注，但制造业的最新进展也需要对可变形物体（如电缆、管道、纸张等）进行操作，以生产紧凑的组件。在刚性物体操纵理论的基础上，该博士后将研究可变形物体的操纵和涉及刚性物体操纵的选定问题。目标是协助(a)为可变形对象开发适当的计算模型，(b)研究基本概念，例如可变形对象的稳定抓取和固定，以及(c)提供有效的程序来计算操作约束下对象的预期变形。所提出的工作的一个重要和具有挑战性的应用是模拟可变形的人体组织。这样的模拟可以导致外科手术虚拟训练环境的发展。