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

这项研究设备的目的是支持 一个广泛的，积极的研究计划，在传感器为基础的机器人和 自动化. 购买激光测距扫描仪和机械臂将 支持多个研究项目，包括：传感器数据融合， 对象识别，基于传感器的推理， 不受控制的环境，以及组合的操纵和移动性。 这种研究方法有坚实的理论基础。 结果 从消元理论出发，为相关传感器提供了一般依据 观察弯曲物体的几何模型。 约束 求解系统用于恢复这些参数， 其他参数模型。 决策理论提供了一个框架， 开发任务导向的传感器控制和数据处理 算法 该解决方案的技术提出了两个计算 模型，特别是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步，他们 必须在现实条件下进行测试。 距离传感， 提供真实世界几何形状的直接来源，以及机器人手臂， 提供传感器移动性和对象操纵能力， 将被用来支持这些努力。 这台设备将成为实验室的核心 致力于建设综合自动化系统， 未来广泛应用的潜力。

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.