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)，该实验室目前由一个PUMA 562机械手、两个RTX教育机器人和大量基于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的研究，这些课程涵盖机器人学、人工智能、计算机控制、神经计算和计算机体系结构。RISL的改进是由机器人视觉系统提供的，主要部件包括：帧采集卡(DigiMax和Framestore板)、视频卷积模块(VFIR板)、特征提取和组织图模块(FEATUREMAX板)和支持视频软件库(IMAGEFLOW)。所有这些组件都是一套DataCube的兼容板，可以插入现有的MPC-200工作站。一系列试点项目正在使用新设备，这些设备包括带透镜、支架和单色监视器的标准CCD摄像机，这些试点项目从2D识别和定位简单的已知物体开始，一直到3D视觉。这些项目为进一步的本科生机器人研究(路径规划、物体搬运、简单装配任务等)提供了基本工具。和人工智能(块世界中的图像理解、表示和规划)。该项目扩大了现有机器人的应用领域，特别是在人工智能领域，并使机器人学和人工智能本科课程更加现代化，对寻求与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.