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This paper addresses a multi-robot optimal assembly planning problem which in essence is an augmented Travelling Salesperson Problem (TSP+). In our TSP+, both the “salesperson” (a robot with a tool) as well as the “cities” (another robot with a workpiece) move. Namely, in addition to the sequencing of tasks, further planning is required to choose where the(More)
This paper presents a novel method for efficient rendezvous of an autonomous vehicle with a moving convoy in the presence of traffic on a highway. The problem is addressed by utilizing a prediction based obstacle-avoidance algorithm augmented with a rendezvous-guidance algorithm. The proposed method can deal with fast-maneuvering obstacles (i.e., other(More)
In this paper, a detailed dynamic model for a general parallel kinematic mechanism (PKM) used in a reconfigurable meso-milling machine tool (RmMT) is developed in terms of active joint coordinates via the Lagrange formulation and appropriate coordinate transformations. The proposed dynamic model is, then, implemented numerically on a 3PPRS parallel(More)
The two-dimensional representation and recognition of objects, based on external space-domain descriptors, is addressed. A new shape signature is proposed for two-dimensional shape recognition, namely the gradient-perimeter plot. The recognition method is position, rotation, and scale invariance. For the matching process a cost function, based on mean(More)
The design and analysis of anoncontact electro-optical proximity sensor, based on the intensity measurement of modulated light signals reflected from the surface of an object, is addressed in this paper. The proposed sensor is capable of measuring one-dimensional inclination angles in the range of +20 degrees to -20 degrees , and distances of up to 7.5 mm.(More)
In this paper, a photoelastic tactile transducer is modelled and analyzed using Finite-Element Analysis (F'EA). The effects of both normal and tangential forces are considered. Two different boundary conditions are examined for a transducer whose compliant protective layer has different mechanical properties from the photoelastic layer.
In this paper, a novel tactile photoelastic transducer for normal forces is presented. When a normal input force profile is applied to the transduction medium, stress is generated in the photoelastic layer making it birefringent. Consequently, circularly-polarized input light becomes elliptically polarized at the output due to the introduction of a(More)
The feasibility of a pre-marking scheme for three-dimensional object recognition is demonstrated. The proposed scheme is based on the assumption that an object can be modeled by a small number of its distinct two-dimensional perspective projections. Circular markers are used to identify these views by determining their surface normals passing through their(More)