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ROBOTIC GUIDANCE SYSTEMS USING SPECIALIZED AND GENERALIZED TARGETS

Award Information

Agency:
National Aeronautics and Space Administration
Branch:
N/A
Award ID:
16953
Program Year/Program:
1991 / SBIR
Agency Tracking Number:
16953
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Cybernet Systems Corporation
3885 Research Park Drive Ann Arbor, MI 48108-2247
View profile »
Woman-Owned: Yes
Minority-Owned: No
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 1991
Title: ROBOTIC GUIDANCE SYSTEMS USING SPECIALIZED AND GENERALIZED TARGETS
Agency: NASA
Contract: N/A
Award Amount: $49,982.00
 

Abstract:

ROBOTIC GUIDANCE REQUIRES SENSING AND CONTROL IN THREE DIMENSIONS. THIS CAN BE ACCOMPLISHED THROUGH THE USE OF EXTERNAL SENSORS THAT MEASURE ROBOT LOCATION RELATIVE TO TARGET OBJECT LOCATIONS. A ROBOT GUIDANCE SYSTEM WILL BE DEVELOPED BASED ON HYBRID LASER ILLUMINATION AND VIDEO SENSORS, THAT CAN USE SIMPLIFIED TARGETS FOR BOTH OBJECT LOCATION AND IDENTIFICATION, AND MORE COMPLEX THREE-DIMENSIONAL GEOMETRICAL, FEATURE-BASED RECOGNITION SCHEMES AS WELL (AT THE COST OF GREATER COMPUTATIONAL COMPLEXITY). MANY DESIGNED OBJECTS LIKE ORUS, TOOLS TAILORED FOR ROBOTIC USE, AND SATELLITE-DOCKING FIXTURES, CAN EASILY INCORPORATE DOCKING TARGETS AND OBJECT CODING TAGS (LIKE BAR CODES). THESE RECOGNITION "FIXTURES" OFFER THE ADVANTAGE OF RAPID RELIABLE RECOGNITION (EVEN IN A VISION SYSTEM THAT CAN HANDLE MORE COMPLEX RECOGNITION TASKS) AND ARE ANALOGOUS TO SPECIALLY DESIGNED GRAPPLE POINTS, WHICH OFFER EASY, SURE ROBOTIC GRIP POINTS, WHILE DESIGNED TARGETS ARE GOOD FOR MANIPULATION AND RECOGNITION OF DESIGNED OBJECTS, UNTAGGED, GEOMETRICAL FEATURE-BASED RECOGNITION AND MEASUREMENT MUST BE SUPPORTED AS WELL. THIS REQUIREMENT IS NECESSARY FOR GRASPING UNTAGGED OBJECTS, MANIPULATING DAMAGED OBJECTS, OR ALIGNING OBJECTS SO THAT PARTICULAR FEATURES (SUCH AS HOLES, SIDES, CORNERS, ETC.) MATE PROPERLY. ROBOTIC GUIDANCE REQUIRES SENSING AND CONTROL IN THREE DIMENSIONS. THIS CAN BE ACCOMPLISHED THROUGH THE USE OF EXTERNAL SENSORS THAT MEASURE ROBOT LOCATION RELATIVE TO TARGET OBJECT LOCATIONS. A ROBOT GUIDANCE SYSTEM WILL BE DEVELOPED BASED ON HYBRID LASER ILLUMINATION AND VIDEO SENSORS, THAT CAN USE SIMPLIFIED TARGETS FOR BOTH OBJECT LOCATION AND IDENTIFICATION, AND MORE COMPLEX THREE-DIMENSIONAL GEOMETRICAL, FEATURE-BASED RECOGNITION SCHEMES AS WELL (AT THE COST OF GREATER COMPUTATIONAL COMPLEXITY). MANY DESIGNED OBJECTS LIKE ORUS, TOOLS TAILORED FOR ROBOTIC USE, AND SATELLITE-DOCKING FIXTURES, CAN EASILY INCORPORATE DOCKING TARGETS AND OBJECT CODING TAGS (LIKE BAR CODES). THESE RECOGNITION "FIXTURES" OFFER THE ADVANTAGE OF RAPID RELIABLE RECOGNITION (EVEN IN A VISION SYSTEM THAT CAN HANDLE MORE COMPLEX RECOGNITION TASKS) AND ARE ANALOGOUS TO SPECIALLY DESIGNED GRAPPLE POINTS, WHICH OFFER EASY, SURE ROBOTIC GRIP POINTS, WHILE DESIGNED TARGETS ARE GOOD FOR MANIPULATION AND RECOGNITION OF DESIGNED OBJECTS, UNTAGGED, GEOMETRICAL FEATURE-BASED RECOGNITION AND MEASUREMENT MUST BE SUPPORTED AS WELL. THIS REQUIREMENT IS NECESSARY FOR GRASPING UNTAGGED OBJECTS, MANIPULATING DAMAGED OBJECTS, OR ALIGNING OBJECTS SO THAT PARTICULAR FEATURES (SUCH AS HOLES, SIDES, CORNERS, ETC.) MATE PROPERLY.

Principal Investigator:


0

Business Contact:

Small Business Information at Submission:

Cybernet Systems Corp
1919 Green Rd #b 101 Ann Arbor, MI 48105

EIN/Tax ID: 430924383
DUNS: N/A
Number of Employees: N/A
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No