By Russell L. Andersson

ISBN-10: 0262011018

ISBN-13: 9780262011013

This travel de strength in experimental robotics paves the way in which towards figuring out dynamic environments in imaginative and prescient and robotics. It describes the 1st robotic in a position to play, or even beat, human ping-pong gamers. developing a computing device to play ping-pong used to be proposed years in the past as a very tricky challenge requiring speedy, actual sensing and actuation, and the intelligence to play the sport. The study pronounced right here started as a chain of experiments in construction a real real-time imaginative and prescient procedure. The ping-pong computer accommodates sensor and processing options in addition to the recommendations had to intelligently plan the robot's reaction within the fraction of a moment on hand. it flourishes on a continuing movement of recent info. Subjectively comparing and enhancing its movement plan because the facts arrives, it presages destiny robotic platforms with many joints and sensors that needs to do an analogous, it doesn't matter what the duty. Contents: advent. robotic Ping-Pong. approach layout. Real-Time imaginative and prescient approach robotic Controller. specialist Controller Preliminaries. professional Controller. robotic Ping-Pong program. end. Russell L. Andersson is Member of Technical employees, Robotics platforms study division, AT&T Bell Laboratories. A robotic Ping-Pong participant is incorporated within the synthetic Intelligence sequence, edited via Patrick Winston and Michael Brady.

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Additional info for A Robot Ping-Pong Player: Experiments in Real-Time Intelligent Control

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Using Horner's Method of polynomial evaluation [ 1 1. The calculation is performed by the processor which controls the moment generator system. The Fk accumulators are identical, simplifying the layout of the chip. The decomposition we used to obtain fast operation will be seen to provide significant flexibility. 3 VLSI implementation. The techniques described above allow a moment generating Ie to be constructed [4][51. Internally, the chip (Figure 8) contains the control PLA and the ji generator on the left side, and a row of eight Fk accumulators across the middle and to the right.

The end of each volley is a natural time to write to disk in the robot ping-pong system. Systems which must remain in continuous operation for extended periods of time must write the log in pieces, when time is available. The structure of the log is a segmented ring buffer which allows simultaneous reading and writing. The important point is that by doing this, we decouple the storage of the data from its generation, so that time-critical code that happens to generate much log data is not forced to wait for the slower writing of the data.

System Block Diagram. ) feed the vision processors, trajectory analyzer, eyeO and eye1. XYZT data is sent to the tranal, which produces predictions of the ball's path for the expert controller processor, striker. A kinematics and dynamics slave processor (KID) and two joint servo processors drive the robot. Rtd is the real-time debugger, chief is a sequencer, sai is the strategy analyzer, and sp2000 drives a video-tape system. processors operate synchronously with the 60 Hz TV scan, putting an upper bound on the amount of processing they may do.

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A Robot Ping-Pong Player: Experiments in Real-Time Intelligent Control by Russell L. Andersson

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