Engineering topics
Publications and source records attributed to Li, Larry C..
A proposed safety system would effect an inhibitory action whenever a power tool was aimed in a direction outside a prescribed range of allowable directions. The power tool could be a welding torch, blowtorch, laser, drill, or gun, for example. The inhibitory action could be turning off the supply of gas or electric power to the tool; in the case of a gun, the inhibitory action could be actuation of a mechanical trigger stop.
A laser-directed ranging system for use in telerobotics applications and other applications involving physically handicapped individuals. The ranging system includes a left and right video camera mounted on a camera platform, and a remotely positioned operator. The position of the camera platform is controlled by three servo motors to orient the roll axis, pitch axis and yaw axis of the video cameras, based upon an operator input such as head motion. A laser is provided between the left and right video camera and is directed by the user to point to a target device. The images produced by the left and right video cameras are processed to eliminate all background images except for the spot created by the laser. This processing is performed by creating a digital image of the target prior to illumination by the laser, and then eliminating common pixels from the subsequent digital image which includes the laser spot. The horizontal disparity between the two processed images is calculated for use in a stereometric ranging analysis from which range is determined.
A laser-directed ranging system has utility for use in various fields, such as telerobotics applications and other applications involving physically handicapped individuals. The ranging system includes a single video camera and a directional light source such as a laser mounted on a camera platform, and a remotely positioned operator. In one embodiment, the position of the camera platform is controlled by three servo motors to orient the roll axis, pitch axis and yaw axis of the video cameras, based upon an operator input such as head motion. The laser is offset vertically and horizontally from the camera, and the laser/camera platform is directed by the user to point the laser and the camera toward a target device. The image produced by the video camera is processed to eliminate all background images except for the spot created by the laser. This processing is performed by creating a digital image of the target prior to illumination by the laser, and then eliminating common pixels from the subsequent digital image which includes the laser spot. A reference point is defined at a point in the video frame, which may be located outside of the image area of the camera. The disparity between the digital image of the laser spot and the reference point is calculated for use in a ranging analysis to determine range to the target.
The invention relates generally to systems for determining the range of an object from a reference point and, in one embodiment, to laser-directed ranging systems useful in telerobotics applications. Digital processing techniques are employed which minimize the complexity and cost of the hardware and software for processing range calculations, thereby enhancing the commercial attractiveness of the system for use in relatively low-cost robotic systems. The system includes a video camera for generating images of the target, image digitizing circuitry, and an associated frame grabber circuit. The circuit first captures one of the pairs of stereo video images of the target, and then captures a second video image of the target as it is partly illuminated by the light beam, suitably generated by a laser. The two video images, taken sufficiently close together in time to minimize camera and scene motion, are converted to digital images and then compared. Common pixels are eliminated, leaving only a digital image of the laser-illuminated spot on the target. Mw centroid of the laser illuminated spot is dm obtained and compared with a predetermined reference point, predetermined by design or calibration, which represents the coordinate at the focal plane of the laser illumination at infinite range. Preferably, the laser and camera are mounted on a servo-driven platform which can be oriented to direct the camera and the laser toward the target. In one embodiment the platform is positioned in response to movement of the operator's head. Position and orientation sensors are used to monitor head movement. The disparity between the digital image of the laser spot and the reference point is calculated for determining range to the target. Commercial applications for the system relate to active range-determination systems, such as those used with robotic systems in which it is necessary to determine the, range to a workpiece or object to be grasped or acted upon by a robot arm end-effector in response to commands generated by an operator. In one embodiment, the system provides a real-time image of the target for the operator as the robot approaches the object. The system is also adapted for use in virtual reality systems in which a remote object or workpiece is to be acted upon by a remote robot arm or other mechanism controlled by an operator.
An integrated dexterous robotic system was developed as a testbed to evaluate various robotics technologies for advanced space applications. The system configuration consisted of a Utah/MIT Dexterous Hand, a PUMA 562 arm, a stereo vision system, and a multiprocessing computer control system. In addition to these major subsystems, a proximity sensing system was integrated with the Utah/MIT Hand to provide capability for non-contact sensing of a nearby object. A high-speed fiber-optic link was used to transmit digitized proximity sensor signals back to the multiprocessing control system. The hardware system was designed to satisfy the requirements for both teleoperated and autonomous operations. The software system was designed to exploit parallel processing capability, pursue functional modularity, incorporate artificial intelligence for robot control, allow high-level symbolic robot commands, maximize reusable code, minimize compilation requirements, and provide an interactive application development and debugging environment for the end users. An overview is presented of the system hardware and software configurations, and implementation is discussed of subsystem functions.
Dexterous, robotic hands are required for the extravehicular activity retriever (EVAR) system being developed by the NASA Johnson Space Center (JSC). These hands, as part of the EVAR system, must be able to grasp objects autonomously and securely which inadvertently separate from the Space Station. Development of the required hands was initiated in 1987. Outlined here are the hand development activities, including design considerations, progress to date, and future plans. Several types of dexterous hands that were evaluated, along with a proximity-sensing capability that was developed to initiate a reflexive, adaptive grasp, are described. The evaluations resulted in the design and fabrication of a 6-degree-of-freedom (DOF) hand that has two fingers and a thumb arranged in an anthropomorphic configuration. Finger joint force and position sensors are included in the design, as well as infrared proximity sensors which allow initiation of the grasp sequence when an object is detected within the grasp envelope.