Advanced Sensing and Control Techniques to Facilitate Semi-Autonomous Decommissioning of Hazardous Sites - Final Report

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This report summarizes work after 4 years of a 3-year project (no-cost extension of the above-referenced project for a period of 12 months granted). The fourth generation of a vision sensing head for geometric and photometric scene sensing has been built and tested. Estimation algorithms for automatic sensor calibration updating under robot motion have been developed and tested. We have modified the geometry extraction component of the rendering pipeline. Laser scanning now produces highly accurate points on segmented curves. These point-curves are input to a NURBS (non-uniform rational B-spline) skinning procedure to produce interpolating surface segments. The NURBS formulation includes ... continued below

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Schalkoff, R.J. December 1, 2000.

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Description

This report summarizes work after 4 years of a 3-year project (no-cost extension of the above-referenced project for a period of 12 months granted). The fourth generation of a vision sensing head for geometric and photometric scene sensing has been built and tested. Estimation algorithms for automatic sensor calibration updating under robot motion have been developed and tested. We have modified the geometry extraction component of the rendering pipeline. Laser scanning now produces highly accurate points on segmented curves. These point-curves are input to a NURBS (non-uniform rational B-spline) skinning procedure to produce interpolating surface segments. The NURBS formulation includes quadrics as a sub-class, thus this formulation allows much greater flexibility without the attendant instability of generating an entire quadric surface. We have also implemented correction for diffuse lighting and specular effects. The QRobot joint level control was extended to a complete semi-autonomous robot control system for D and D operations. The imaging and VR subsystems have been integrated and tested.

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INIS; OSTI as DE00775369

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  • Other Information: PBD: 1 Dec 2000

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  • Report No.: DOE/ER/14728
  • Report No.: Project Number 55052
  • Grant Number: FG07-96ER14728
  • DOI: 10.2172/775369 | External Link
  • Office of Scientific & Technical Information Report Number: 775369
  • Archival Resource Key: ark:/67531/metadc716658

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  • December 1, 2000

Added to The UNT Digital Library

  • Sept. 29, 2015, 5:31 a.m.

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  • April 20, 2016, 6:39 p.m.

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Schalkoff, R.J. Advanced Sensing and Control Techniques to Facilitate Semi-Autonomous Decommissioning of Hazardous Sites - Final Report, report, December 1, 2000; United States. (digital.library.unt.edu/ark:/67531/metadc716658/: accessed August 17, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.