Recent Visitors

Dr. Arvind Raman, Purdue University

Dr. Sachin Goyal, Mechanical Engineering, University of Michigan

Prof. Brian Mann, Mechanical & Aerospace Engineering, University of Missouri

Robert J. Webster III, Ph.D. Candidate in Mechanical Engineering, Johns Hopkins University

Prof. Scott David Kelly, Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign

Dr. S. C Saxena, Director, IIT Roorkee

Jan 2007-Professor Devendra P. Garg honored in New Delhi, India, by being presented the Hind Rattan (Jewel of India)
Award by the Non-Resident Indians (NRI) Welfare Society of India.

Oct 2006 - Acquired 8 Khepera II robots from K-team corp.

Fall 2006 - Abhishek receives his MS degree in Mechanical Engineering

Fall 2005 - Abhishek joins the RAMA Lab as a MS student and Research assistant

Jan 2005 - Brian Dieckmann joins the RAMA Lab as Pratt Undergraduate Fellow

Nov 2004 - Dr. Manish Kumar presented three jointly coauthored research papers at the 2004 IMECE in Anaheim, CA

Nov 2004 - Dr. Manish Kumar joined the RAMA Lab as a Post doctoral Associate

Oct 2004 - Dr. Garg received the Scientific Research and Leadership Award at the 2004 Heritage India Festival

Sept 2004 - Dr. Garg delivered invited lectures on robotics at the Indian Institute of Technology/Roorkee and Indian Institute of Technology/ Delhi, India

Aug 2004 - Ram Parimi recieved his M.S. degree in Mechanical Engineering

July 2004 - Paul Nesline is the new webmaster for the RAMA LAB

June 2004 - Dr. Prem Vrat, Director of Indian Institute of Technology Roorkee visits the lab

June 2004 - Dr. Masayoshi Tomizuka, Director of the Dynamic Systems and Control Program at NSF visits the lab

Summer 2004 - Nsi Obotetukudo from Case Western Reserve University joined the RAMA Lab for 10 weeks under the NSF/REU Program

Summer 2004 - Adam Schmelzer joined the RAMA Lab as Research Assistant

May 2004 - Manish Kumar received his Ph.D. degree in Mechanical Engineering

May 2004 - Congratulations to Brian Schaaf and Chris Dillenbeck on their graduation with BSE degrees

April 2004 - William Chandler Salinger joins the lab as an Intern for four weeks

April 2004 - Ram Parami presented "Intelligent Control for Mobile Robot Navigation" in the Graduate Seminar Series

Sensor Fusion

Figure 1: Images of the Work Table with Objects Obtained from the Left and the Right Vision Sensor Mounted on the Stereo Rig

This research involves the use of multiple vision sensors and a proximity sensor to obtain three-dimensional occupancy profile of robotic workspace, identify key features, and obtain a 3-D model of the objects in the work space. The research makes use of three identical vision sensors. Two of these sensors are mounted on a stereo rig on the sidewall of the robotic workcell. The third vision sensor is located above the workcell. The proximity sensor is mounted on the wrist of the robot.

Figure 2: Image of the Work Table with Objects Obtained from the Vision Sensor Located above the Work Cell

The research investigates use of artificial intelligence techniques like Neural Network to obtain transformation from camera coordinates to robot world coordinate, statistical and probabilistic, and intelligent control approach to model uncertainties in the individual sensor measurements, and Bayesian inference to fuse data from multiple sensory sources.

Figure 3: Plot Showing Height of the Object for Each Occupied Cell in the Grid

Preliminary results show that the occupancy profile obtained from the strategies presented was accurate, and the fusion technique was able to reduce uncertainties associated with a single sensor.

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Any questions about Duke Robotics? Email Abhishek