i ,.INTERNATIONAL SYMPOSIUM

^^^^^^^^^^^^^^^^^^^^^^mAUTOMOTIVE TECHNOLOGY AND AUTOMATION \

.4* X

PROCEEDINGS FOR THE DEDICATED

CONFERENCE ON -

MOTION AND MACHINE VISION

AUTOMOTIVE INDUSTRIES

OBJECT RECOGNITION AND TRACKING

AUTOMATED OBJECT RECOGNITION

95RO010 Development ofMembership Functions for 2-D Shape Recognition.Mr T Shaw, DrT Sarkodie-Gyan, University of Teesside and Mr A A Hunter,Cummins Engine Co Ltd, UK

95RO074 3D Object Handling and Recognition in Case of Partial Occlusion.

Dr P A Lopes and Professor E Oliveira, UniversityofPorto, Portugal

95ROO12 A Methodology to Recognise and Classify Turbocharger Components.Mr C W Lam, Dr T Sarkodie-Gyan and Dr A W Campbell, University of

Teesside, UK

95RO031 Video Rate Implementation of the Hough Transform.

Dr R C D Young, Mr C R Chatwin, University ofSussex and Mr D M Budgett,University ofGlasgow, UK

95RO038 Robust Automatic Recognition and Classification for Active Support Systems.Mr G F Dacquino and Dr R A Fiorini, Politecnico di Milano, Italy

95RO058 From Clustering Line Invariant Features To Line Matching.Ms D Kachi and Mr X W Tu, Laboratoire Heudiasyc URA-CNRS, France

MOTION ANALYSIS

95RO037 The Numerical Fovea: An Efficient Computational Algorithm to Active

Vision Systems for Robotics.

Mr G F Dacquino, Dr R A Fiorini, Mr B Cattaneo and Mr A Fabiani,Politecnico di Milano, Italy

95RO053 Three Dimensional Automatic Motion Analysis.Dr N Bauer and Mr R W Frischholz, Fraunhofer-Institut fur IntegrierteSchaltungen, Germany

95RO056 Recognition and Tracking of3D Moving Objects for Autonomous Vehicle

Driving.Professor G L Foresti, Universita degli Studi di Genova, Italy

95RO065 Natural Feature Tracking for Autonomous Navigation.Mr G Paar, Mr O Sidla and Professor W Polzleitner, Joanneum Research, Austria

ROBOTS IN THE AUTOMOTIVE PRODUCTION

ROBOTS IN MANUFACTURING

95RO027 A Comparative Study ofRobot Technology in Two Industrialised Countries.

Mr S C Orr, Monash University, Australia

95RO025 Free-ranging Fork Lift Carrier with a Scaleable Control.

Professor H-J Warnecke, Mr C Schaeffer and Mr J Luz, Fraunhofer-Institut fur

Produktionstechnik und Automatisierung (FhG-IPA), Germany

95RO006 Knowledge-based Technical Diagnostics in Advanced Manufacturing.DrT Sarkodie-Gyan, Mr C W Lam, Dr A W Campbell, University of Teesside

and Mr A A Hunter, Cummins Engine Co Ltd, UK

95RO022 A Method to Adapt Off-Line Programmed Manufacturing Tasks to the

Real Environment using High Resolution Sensor Devices.

Professor A Behrens and Mr E Roos, Universitat der Bundeswehr Hamburg,

Germany

95RO029 Virtual Manufacturing: Applications and Advantages of Simulation in the

Automotive Industry.Mr R Perez-Caballero, Mr J Garcia-Tejedor and Ms A Renteria, Robotiker, Spain

95RO039 Deviation of Simulation and Reality in Robotics : Causes and Counter - Measures.

Dr R Bernhardt, Mr C Willnow and Mr G Schreck, Fraunhofer-Institute for

Production Systems and Design Technology, Germany

95RO052 Fast and Robust Bin-Picking with a Robot using Range Imaging.Dr A-J Baerveldt, Halmstad University, Sweden

95RO072 Automatic Application of Liquid Gaskets on Engines and Transmissions.

Mr C Madsen, ABB Flexible Automation GmbH, Germany

95RO057 Comparative Study of Identification Techniques for Estimation of Electric

Actuator Parameters.

Mr J-C Cadiou and Mr N K M'Sirdi, Laboratoire de Robotique de Paris, France

95RO064 Model-Based Gripper Design.Mr P Bidaud, Mr J Posselt and Mr F Ben-Ouezdou,Laboratoire de

Robotique de Paris, France

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139

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ROBOTIC ASSEMBLY & CO-OPERATING ROBOTS

95RO002 Economic Cell Based Robotic Assembly.

Dr R J Stamp, University of the West ofEngland, UK

95RO005 Nonlinear Dynamics ofa System ofCo-operating Robots.

Dr U A Korde, Christian Brothers University, USA

95RO073 The Spatial Freedom/Constraint ofRobot Manipulators.Dr G L Long and Ms F Hao, University of California at Irvine, USA

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APPLICATION IN WELDING

95ROOO1 The Phase Fourier Transform of3D Images and its Applications -

Analysis of the Geometry of a Scene, Segmentation of Surfaces, Invariant

Recognition of Objects for Autonomous Systems and Real-Time

Implementation.Dr E Paquet, University of Valencia, Spain, Professor H H Arsenault,

Laval University and Mr M Rioux, Institute for Information

Technology, Canada

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5

95RO070 Sensor Guided 3D Laser Treatment.

Mr D Griineberg, Dr L Morgenthal and Mr W Reitzenstein, Fraunhofer-Institut

fiirWerkstoffphysik und Schichttechnologie Dresden, Germany

95RO034 A Strategy for Off-line Programming and Adaptive Control ofaRobotic Welding

Cell.

Mr G C Carvalho, CNPq, Brazil and Mr J Norrish, Cranfield University, UK

95RO042 On-Line Temperature Field and Acoustic Emission Analysis forQuality Assurance

at Welding.Dr T M Benziger, Mr G T Brueggemann and Mr F Hcindoerfer, Otto-von-Guericke-

Universitaet Magdeburg, Germany

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215

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AUTOMATED INSPECTION AND MEASUREMENT

PRODUCT INSPECTION

95RO003 Automated Surface Inspection by Vision System.Mr R Marsh, Dr R J Stamp, University of the West ofEngland, UK

95RO018 Analysis ofDepth Feeling in Appearance of Flake Pigments.Mr T Wada, Mr T Suzuki, Mr M Matsuda, Toyota Central Research &

Development Labs Inc and Mr H Hattori, Toyota Motor Corporation, Japan

95RO046 Integration of 2D and 3D Machine Vision Techniques for Automated Visual

Inspection in the Automotive Field.

Dr N Stein, VITRONIC Dr-Ing Stein Visual Inspection Systems, Germany

95RO061 Three-Dimensional Shape Comparison for Quality Control and Inspection.

Dr K C Ng, Mr J Kershaw and Mr K 0 Low, Monash University, Australia

95RO017 CAD Based Off-Line Programming of a Vision Inspection System.Mr M Smith, Mr T M Hill, Dr G Smith, University of the West of Englandand Mr F Meyer, Integral Vision Ltd, UK

95RO062 Development ofthe Algorithm Simulation Tool for the Machine Vision

Inspection System.Mr K-H Choi, Dr Y K Yang, Mr Y-L Bae, Mr T-H Kang, Mr J-H Lee,

Mr K-0 Kim and Mr I-S Jung, Systems Engineering Research Institute/KIST, Korea

95 RO066 Imager for Robust High-Speed Vision.

Mr B Hoefilinger, Mr H-G Graf, Mr U Seger and Mr A Siggelkow, Institut fur

Mikroelektronik Stuttgart, Germany

95RO068 Automated Inspection ofMultiform IC Leadframes.

Mr B-M You, Mr M-H Kim, Mr H-J Kim and Dr W-G Oh, Systems EngineeringResearch Institute/KIST, Korea

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263

273

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299

MEASUREMENTS AND CALIBRATION

95RO004 A Laser Tracking System for 6D Measurements of Prototype Shapes.Mr M Vincze, Mr K Filz, Mr P Krautgartner and Mr S Spiess, Institute of

Flexible Automation - University of Technology,Austria

307

95RO020 Camera Calibration Techniques for Robotics Applications.

MrS Cuniolo, CISE Spa and Professor I De Lotto, University ofPavia and

Dr A Scianna, ENEL SpA, Italy

95RO032 Pseudo-three-dimensional Vision Based Measurement System of Pistons.

Mr D Hong, Dr A W Campbell, DrY Yan and Dr T Sarkodie-Gyan,

University of Teesside, UK

95RO071 Vision System for RobotGuidance and Quality Measurement Systems in

the Automotive Industry.Mr E Ersii and Mr St Wienand, ISRA Systemtechnik GmbH, Germany

95RO035 Development ofAutomatic Measuring System for Body Fit ofCompleted

Vehicle.

Mr M Kondo, Mr S Tachiki and Mr M Ishida, Toyota Motor Corporationand Mr K Higuchi, Toyota Central R&D Laboratories Inc, Japan

95RO059 Hybrid Controller for Scanning Co-ordinate Measuring Machines.

Mr C T Gallagher and Professor T R Kurfess, Georgia Institute Of

Technology, USA

Pagen c.

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329

337

345

95RO023 Vision Based Autonomous Robot Navigation: Motion Segmentation.Dr M R Blackburn and Mr H G Nguyen, Naval Command, Control and

Ocean Surveillance Center, Research, Development, Test and Evaluation

Division. USA

353

AUTONOMOUS VEHICLES

MOBILE ROBOTS

95RO024 Distributed Smart Sensor System for Low Cost Mobile Robots.

Professor R D Schraft, Mr M Hagele, Mr J Dahlkemper and Mr W Baum,

Fraunhofer-Institute for Manufacturing, Engineering and Automation (IPA),

Germany

95RO026 Laser Range-Finding Techniques for Industrial Applications.Mr B Journet and Mr G Bazin, LESIR-ENS Cachan, France

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95RO041 A Mobile Robot Simulation System.Mr H Stolz, Dr T Braunl and Mr P Levi, Universitat Stuttgart, Germany

377

95RO054 Computational Design Pnnicples for Multiple Autonomous Vehicle

Organization.Mr A D M Wan and Professor P J Braspenning, University of Maastricht,

The Netherlands

95RO055 Enabling Responsibility and Fast Decision for Mobile Robots.

Mr P Marinho and Mr E Oliveira, University ofPorto, Portugal

95RO063 Data and Event Handling for the MARIE Vehicle.

Mr A Visser, Dr G D van Albada, Professor L 0 Hertzbcrgcr, University of

Amsterdam and Mr G A den Boer, CMG Informatietechniek B.V.,

TheNetherlands

383

395

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VEHICLE SAFETY BY MACHINE VISION

95RO014 HOE Distance Automatic Display Road Sign and Automobile Reflector.

Professor R-S Chang and MrY-L Lay, National Central University, Taiwan

411

95RO019 A Smart Sensor for the Real-Time Detection ofRoad Markings

through the Removal of the Perspective Effect.

Dr A Broggi, Universita di Parma and Dr F Gregoretti and Mr C Sansoe,

Politecnico di Torino, Italy

95RO043 Obstacle Detection on Road with a Laser Range Finder.

Ms K Bessiere, LETI (CEA-Technologics Avancees), France

95RO047 Implementation and Comparison of Two Computer Vision Based Road

Following Approaches.Professor R Murphy, Professor W Hoff, Mr J Hoffmann, MrJ Blitch,

Mr D Hawkins, Mr V Gough, Mr R Krosley, Mr T Lyons, Mr A Mali and

Mr S Warshawsky, Colorado School of Mines, USA

95RO069 Automation and Automobile Accidents.

Mr J A Stern and Mr L Wang, Washington University, USA

NEW CONCEPTIONS IN ROBOTICS

NEURAL NETWORKS AND COGNITIVE NEUROSCIENCE

95RO048 Conjunctive Points between Cognitive Neuroscience and the Studies of

Machine Perception and Intelligence.

Professor Z Shen, Peking University, China

95RO007 Vision-Based Pattern Recognition Scheme using Fuzzy Sets Theory.

Dr T Sarkodie-Gyan, Dr A W Campbell, Mr C W Lam, University of

Teesside and Mr R A Dawson and Mr D R Inman, Holset Engineering

Co. Ltd, UK

95RO049 Efficiency Function ofHuman and Monkey Brain Applicable to Robotic

Pattern Recognition.ProfessorZ Shen and Mr J Hua, Peking University, China

95RO008 Identification of High Tolerance Components using Data Clustering Based

Artificial Neural Networks.

Mr A R McNeil and Dr T Sarkodie-Gyan, University of Teesside, UK

95RO009 A Performance Analysis and Optimisation ofShape Classification using an

Edge Detected Contour Sequence and an Artificial Neural Network.

Mr A R McNeil and Dr T Sarkodie-Gyan, University of Teesside, UK

95RO011 A Neuro-Fuzzy Based Pattern Classification Scheme.

Mr T Shaw and Dr T Sarkodie-Gyan, University ofTeesside and

Mr A A Hunter, Cummins Engine Company Ltd, UK

95RO033 Robot Error Compensation using a Localised Neural Model.

Mr I D Jenkinson, Mr P A Montgomery and Mr B Mills, Liverpool

John Moores University, UK