by Fung Wai Keung. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1996. / Includes bibliographical references (leaves 146-151). / Acknowledgements --- p.viii / Abstract --- p.1 / Chapter 1 --- Overview --- p.3 / Chapter 1.1 --- Tactile Sensing in Human and Robot --- p.4 / Chapter 1.1.1 --- Human Hands and Robotic Hands --- p.4 / Chapter 1.1.2 --- Mechanoreceptors in skin and Tactile Sensor Arrays --- p.7 / Chapter 1.2 --- Motivation --- p.12 / Chapter 1.3 --- Objectives --- p.13 / Chapter 1.4 --- Related Work --- p.14 / Chapter 1.4.1 --- Using Vision Alone --- p.15 / Chapter 1.4.2 --- Integration of Vision and Touch --- p.15 / Chapter 1.4.3 --- Using Touch Sensing Alone --- p.17 / Chapter 1.4.3.1 --- Ronald S. Fearing's Work --- p.18 / Chapter 1.4.3.2 --- Peter K. Allen's Work --- p.22 / Chapter 1.5 --- Outline --- p.26 / Chapter 2 --- Geometric Models --- p.27 / Chapter 2.1 --- Introduction --- p.27 / Chapter 2.2 --- Superquadrics --- p.27 / Chapter 2.2.1 --- 2D Superquadrics --- p.27 / Chapter 2.2.2 --- 3D Superquadrics --- p.29 / Chapter 2.3 --- Model Recovery of Superquadric Models --- p.31 / Chapter 2.3.1 --- Problem Formulation --- p.31 / Chapter 2.3.2 --- Least Squares Optimization --- p.33 / Chapter 2.4 --- Free-Form Deformations --- p.34 / Chapter 2.4.1 --- Bernstein Basis --- p.36 / Chapter 2.4.2 --- B-Spline Basis --- p.38 / Chapter 2.5 --- Other Geometric Models --- p.41 / Chapter 2.5.1 --- Generalized Cylinders --- p.41 / Chapter 2.5.2 --- Hyperquadrics --- p.42 / Chapter 2.5.3 --- Polyhedral Models --- p.44 / Chapter 2.5.4 --- Function Representation --- p.45 / Chapter 3 --- Sensing Strategy --- p.54 / Chapter 3.1 --- Introduction --- p.54 / Chapter 3.2 --- Sensing Algorithm --- p.55 / Chapter 3.2.1 --- Assumption of objects --- p.55 / Chapter 3.2.2 --- Haptic Exploration Procedures --- p.56 / Chapter 3.3 --- Contour Tracing --- p.58 / Chapter 3.4 --- Tactile Sensor Data Preprocessing --- p.59 / Chapter 3.4.1 --- Data Transformation and Sensor Calibration --- p.60 / Chapter 3.4.2 --- Noise Filtering --- p.61 / Chapter 3.5 --- Curvature Determination --- p.64 / Chapter 3.6 --- Step Size Determination --- p.73 / Chapter 4 --- 3D Shape Reconstruction --- p.80 / Chapter 4.1 --- Introduction --- p.80 / Chapter 4.2 --- Correspondence Problem --- p.81 / Chapter 4.2.1 --- Affine Invariance Property of B-splines --- p.84 / Chapter 4.2.2 --- Point Inversion Problem --- p.87 / Chapter 4.3 --- Parameter Triple Interpolation --- p.91 / Chapter 4.4 --- 3D Object Shape Reconstruction --- p.94 / Chapter 4.4.1 --- Heuristic Approach --- p.94 / Chapter 4.4.2 --- Closed Contour Recovery --- p.97 / Chapter 4.4.3 --- Control Lattice Recovery --- p.102 / Chapter 5 --- Implementation --- p.105 / Chapter 5.1 --- Introduction --- p.105 / Chapter 5.2 --- Implementation Tool - MATLAB --- p.105 / Chapter 5.2.1 --- Optimization Toolbox --- p.107 / Chapter 5.2.2 --- Splines Toolbox --- p.108 / Chapter 5.3 --- Geometric Model Implementation --- p.109 / Chapter 5.3.1 --- FFD Examples --- p.111 / Chapter 5.4 --- Shape Reconstruction Implementation --- p.112 / Chapter 5.5 --- 3D Model Reconstruction Examples --- p.120 / Chapter 5.5.1 --- Example 1 --- p.120 / Chapter 5.5.2 --- Example 2 --- p.121 / Chapter 6 --- Conclusion --- p.128 / Chapter 6.1 --- Future Work --- p.129 / Appendix --- p.133 / Bibliography --- p.146
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_321487 |
| Date | January 1996 |
| Contributors | Fung, Wai Keung., Chinese University of Hong Kong Graduate School. Division of Systems Engineering and Engineering Management. |
| Publisher | Chinese University of Hong Kong |
| Source Sets | The Chinese University of Hong Kong |
| Language | English |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, viii, 151 leaves : ill. ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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