title: Calibration and control of a robot arm using a range imaging camera

authors: Kelly, Cameron Brian Desmond

subjects: time of flight

abstract: Time of flight range imaging is an emerging technology that has numerous applications in machine vision. In this paper we cover the use of a commercial time of flight range imaging camera for calibrating a robotic arm. We do this by identifying retro-reflective targets attached to the arm, and centroiding on calibrated spatial data, which allows precise measurement of three dimensional target locations. The robotic arm is an inexpensive model that does not have positional feedback, so a series of movements are performed to calibrate the servos signals to the physical position of the arm. The calibration showed a good linear response between the control signal and servo angles. The calibration procedure also provided a transformation between the camera and arm coordinate systems. Inverse kinematic control was then used to position the arm. The range camera could also be used to identify objects in the scene. With the object location now known in the arm's coordinate system (transformed from the camera's coordinate system) the arm was able to move allowing it to grasp the object.

text: Calibration and control of a robot arm using a range imaging camera Time of flight range imaging is an emerging technology that has numerous applications in machine vision. In this paper we cover the use of a commercial time of flight range imaging camera for calibrating a robotic arm. We do this by identifying retro-reflective targets attached to the arm, and centroiding on calibrated spatial data, which allows precise measurement of three dimensional target locations. The robotic arm is an inexpensive model that does not have positional feedback, so a series of movements are performed to calibrate the servos signals to the physical position of the arm. The calibration showed a good linear response between the control signal and servo angles. The calibration procedure also provided a transformation between the camera and arm coordinate systems. Inverse kinematic control was then used to position the arm. The range camera could also be used to identify objects in the scene. With the object location now known in the arm's coordinate system (transformed from the camera's coordinate system) the arm was able to move allowing it to grasp the object.

year: 2010

title: Commonsense, coercions of logic, and the death drive: Responding to reviews of 'In Search of Responsibility as Education'

authors: Estellés, Marta

abstract: This panel takes up the 2024 AAACS call for alternative session formats for its annual conference: the book review panel. Taking a slightly different approach to the book review format, the presenters generate new lines of thought related to a book review symposium in press at Studies in Philosophy and Education on presenter 1’s 2023 book publication with Routledge’s Studies in Curriculum Theory Series.

text: Commonsense, coercions of logic, and the death drive: Responding to reviews of 'In Search of Responsibility as Education' This panel takes up the 2024 AAACS call for alternative session formats for its annual conference: the book review panel. Taking a slightly different approach to the book review format, the presenters generate new lines of thought related to a book review symposium in press at Studies in Philosophy and Education on presenter 1’s 2023 book publication with Routledge’s Studies in Curriculum Theory Series.

year: 2024

title: Looking at relationships between propositions in Maori language

authors: Houia, Waldo

subjects: Te reo Māori

abstract: This paper reports on an investigation into the various ways in which relationships of meaning, such as reason-result and temporal overlap, are encoded as clauses, sentences and groups of sentences in Māori. It also provides an indication of the relevance of this type of research to teachers and learners of Māori.

text: Looking at relationships between propositions in Maori language This paper reports on an investigation into the various ways in which relationships of meaning, such as reason-result and temporal overlap, are encoded as clauses, sentences and groups of sentences in Māori. It also provides an indication of the relevance of this type of research to teachers and learners of Māori.

year: 2001