Ebook: Robotics and Artificial Intelligence

Dr. Lester A. Gerhardt Professor and Chairman Electrical, Computer, and Systems Engineering Rensselaer Polytechnic Institute Troy, New York 12180 This book is a collection of papers on the subject of Robotics and Artificial Intelligence. Most of the papers contained herein were presented as part of the program of the NATO Advanced Study Institute held in June 1983 at Castel vecchio Pascoli, Italy on the same subject. Attendance at this two week Institute was by invitation only, drawing people internationally representing industry, government and the academic community worldwide. Many of the people in attendance, as well as those presenting papers, are recognized leaders in the field. In addition to the formal paper presentations, there were several informal work­ shops. These included a workshop on sensing, a workshop on educational methodology in the subject area, as examples. This book is an outgrowth and direct result of that Institute and includes the papers presented as well as a few others which were stimulated by that meeting. A special note is the paper entitled "State-of-the-Art and Predictions for Artificial Intelligence and Robotics" by Dr. R. Nagel which appears in the Introduction and Overview chapter of this book. This paper was originally developed as part of a study for the United States Army performed by the National Research Council of the National Academy of Science and published as part of a report entitled "Applications of Robotics and Artificial Intelligence to Reduce Risk and Improve Effectiveness" by National Academy Press in 1983.

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Content:
Front Matter....Pages I-XVII
Front Matter....Pages 1-1
State of the Art and Predictions for Artificial Intelligence and Robotics....Pages 3-45
Artificial Intelligence and Robotics....Pages 47-63
Robotics....Pages 65-93
Front Matter....Pages 95-95
Methods for Choosing Actuators and Transmission Components for High Performance Manipulators....Pages 97-108
Tactile Sensing For Robots....Pages 109-157
Automatic Recognition of Low Resolution Tactile Sensing Data Using Rapid Transformation....Pages 159-170
On Patterns and Pattern Recognition....Pages 171-179
Segmentation of Digital Arcs....Pages 181-195
Front Matter....Pages 197-197
Automatic Synthesis of Robot Programs from CAD Specifications....Pages 199-217
Languages for Programming Robots....Pages 219-227
CAD, Robot Programming and Ada....Pages 229-246
New Directions in Computer-Aided Design/Computer-Aided Manufacturing (CAD/CAM) Systems....Pages 247-252
Front Matter....Pages 253-253
Object Representation, Identification and Positioning from Range Data....Pages 255-277
Representing Shape....Pages 279-300
Two Multi-Processor Systems for Low-Level Real-Time Vision....Pages 301-308
Tracking Robot Motion in Three-Dimensional Space: a Laser Scanning Approach....Pages 309-318
Front Matter....Pages 319-319
Nonlinear Control with Hierarchy for Coordinated Operation of Robots....Pages 321-344
Machines That Walk....Pages 345-364
Mobile Robots....Pages 365-393
Sensor Programming — a New Way for Teaching a Robot Paths and Sensory Patterns Simultaneously....Pages 395-410
Front Matter....Pages 319-319
Application of Variable Structure Systems Theory in Manipulator Control....Pages 411-418
Robotic Mechanics and Animal Morphology....Pages 419-443
Front Matter....Pages 445-445
Applications and Requirements for Industrial Robotics....Pages 447-467
Applications of Industrial Robots....Pages 469-517
Applications of Industrial Robots. Technical and Economical Constraints....Pages 519-541
Robot Applications Within General Motors....Pages 543-557
The IBM European Robotic Applications Laboratory....Pages 559-565
The Organizational Impacts of Computer Based Manufacturing....Pages 567-578
Recovering from Failures: A New Challenge for Industrial Robotics....Pages 579-588
Introduction to Robotics in Medicine....Pages 591-592
Expert Systems and the Concept of Knowledge....Pages 593-609
Robotics at a Biomedical Cyclotron Facility....Pages 611-631
Medical Laboratory Automation Using Robotics....Pages 633-643
The Application of Robotics to the Patient with High Spinal Cord Injury (Quadriplegia): The Robotic Arm/Work Table....Pages 645-664
Front Matter....Pages 665-665
Industrial Robots: Present and Future....Pages 667-678
Social Implications of Automation....Pages 679-686
Back Matter....Pages 687-696

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Content:
Front Matter....Pages I-XVII
Front Matter....Pages 1-1
State of the Art and Predictions for Artificial Intelligence and Robotics....Pages 3-45
Artificial Intelligence and Robotics....Pages 47-63
Robotics....Pages 65-93
Front Matter....Pages 95-95
Methods for Choosing Actuators and Transmission Components for High Performance Manipulators....Pages 97-108
Tactile Sensing For Robots....Pages 109-157
Automatic Recognition of Low Resolution Tactile Sensing Data Using Rapid Transformation....Pages 159-170
On Patterns and Pattern Recognition....Pages 171-179
Segmentation of Digital Arcs....Pages 181-195
Front Matter....Pages 197-197
Automatic Synthesis of Robot Programs from CAD Specifications....Pages 199-217
Languages for Programming Robots....Pages 219-227
CAD, Robot Programming and Ada....Pages 229-246
New Directions in Computer-Aided Design/Computer-Aided Manufacturing (CAD/CAM) Systems....Pages 247-252
Front Matter....Pages 253-253
Object Representation, Identification and Positioning from Range Data....Pages 255-277
Representing Shape....Pages 279-300
Two Multi-Processor Systems for Low-Level Real-Time Vision....Pages 301-308
Tracking Robot Motion in Three-Dimensional Space: a Laser Scanning Approach....Pages 309-318
Front Matter....Pages 319-319
Nonlinear Control with Hierarchy for Coordinated Operation of Robots....Pages 321-344
Machines That Walk....Pages 345-364
Mobile Robots....Pages 365-393
Sensor Programming — a New Way for Teaching a Robot Paths and Sensory Patterns Simultaneously....Pages 395-410
Front Matter....Pages 319-319
Application of Variable Structure Systems Theory in Manipulator Control....Pages 411-418
Robotic Mechanics and Animal Morphology....Pages 419-443
Front Matter....Pages 445-445
Applications and Requirements for Industrial Robotics....Pages 447-467
Applications of Industrial Robots....Pages 469-517
Applications of Industrial Robots. Technical and Economical Constraints....Pages 519-541
Robot Applications Within General Motors....Pages 543-557
The IBM European Robotic Applications Laboratory....Pages 559-565
The Organizational Impacts of Computer Based Manufacturing....Pages 567-578
Recovering from Failures: A New Challenge for Industrial Robotics....Pages 579-588
Introduction to Robotics in Medicine....Pages 591-592
Expert Systems and the Concept of Knowledge....Pages 593-609
Robotics at a Biomedical Cyclotron Facility....Pages 611-631
Medical Laboratory Automation Using Robotics....Pages 633-643
The Application of Robotics to the Patient with High Spinal Cord Injury (Quadriplegia): The Robotic Arm/Work Table....Pages 645-664
Front Matter....Pages 665-665
Industrial Robots: Present and Future....Pages 667-678
Social Implications of Automation....Pages 679-686
Back Matter....Pages 687-696
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