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

By Russell L. Andersson

This travel de strength in experimental robotics paves the best way 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 avid gamers. developing a desktop to play ping-pong was once proposed years in the past as a very tough challenge requiring quick, exact sensing and actuation, and the intelligence to play the sport. The study stated the following started as a sequence of experiments in construction a real real-time imaginative and prescient process. The ping-pong desktop contains sensor and processing ideas 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 relentless circulate of latest facts. Subjectively comparing and enhancing its movement plan because the information arrives, it presages destiny robotic structures with many joints and sensors that needs to do an analogous, it doesn't matter what the duty. Contents: creation. robotic Ping-Pong. approach layout. Real-Time imaginative and prescient process robotic Controller. specialist Controller Preliminaries. professional Controller. robotic Ping-Pong program. end. Russell L. Andersson is Member of Technical employees, Robotics structures study division, AT&T Bell Laboratories. A robotic Ping-Pong participant is incorporated within the man made Intelligence sequence, edited by means of Patrick Winston and Michael Brady.

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For robot ping-pong, the intensity map is configured to implement Equation 3 5 , clipping subthreshold values to zero, and translating suprathreshold pixels down. The location map is constructed to be uniformly receptive across the entire camera image. Real- Time Vision System Intensity 47 Intensity I--_� Map Processor Figure 10. Moment Generator Board. The processor controls the contents of the intensity and location maps to specify what it will see. We have to go through an entire sequence of operations to compute the moments of an image with the system: I) set up the intensity and location maps, 2) tell the chips which moments to compute, 3) wait for the start of a frame, 4) clear the moment accumulators, 5) wait for the end of the frame, 6) read out the moments from the chips, and 7) do something with the moments.

In this case, there is no further frictional force, since ball and table are synchronized: the ball rolls. The onset of rolling may occur at any time during the collision. Since our knowledge of the collision dynamics is determined by Ndt, let us parameterize the collision with a fraction {3 to describe what portion of Ndt has been inflicted. We need not consider any particular time within the collision, as that would require knowledge of the shape of N, only the fraction of the impulse which has been delivered.

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. 2 Log entry creation. The log system's most programmer-visible part is the routine which causes data to be stored. Secondary functions initialize the log structure and cause it to be written to disk. The objectives of the log's design were to be fast, easy to use, robust, and memory efficient.

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