- Pittsburgh PA USA
Mel Siegel
Carnegie Mellon University, Robotics Institute, Faculty Member
- Mel Siegel is professor emeritus at Carnegie Mellon University's Robotics Institute in its School of Computer Science... moreMel Siegel is professor emeritus at Carnegie Mellon University's Robotics Institute in its School of Computer Science. He received his bachelor's degrees from Cornell University and his PhD from the University of Colorado - Boulder under Nobel Laureate John L. Hall. He served in the Peace Corps, teaching physics and math at Achimota School, outside Accra, Ghana, in the two years between his undergraduate and graduate studies. During this period he traveled extensively on the ground in West and Central Africa, sometimes even in compliance with Peace Corps rules.edit
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We describe a nd demonstrate an ambient lllumlnation method for range Imaging In parallel with and using the same sensor that is used for Intensity Imaging. Our method automates the well known "range-from-focus" method. It makes... more
We describe a nd demonstrate an ambient lllumlnation method for range Imaging In parallel with and using the same sensor that is used for Intensity Imaging. Our method automates the well known "range-from-focus" method. It makes use of our reaiizatlon that range can be calculated directly from a focus error signal: It is not necessary to actually focus the Image, only to measure the focus; error. We show theoretically and demonstrate experlmentaIly that the focus error distance can b e measured by time domain fourler analysls of the signal from a sensor that Is mlcroscoplcally oscillated ("dithered") longitudinally in the space domain. In an approximation regime that our experiments show to be physically realistic, the ratio of the first two significant fourier amplitudes is proportional to the ratio of the focus error to the dither amplitude. Since the illuminatlon, the reflectance, and most technical noise sources affect all fourler amplitudes in an equal multiplicative fashion, the fourler amplitude ratio is a robust measure of the focus error to dither amplitude ratio. The constants needed to calculate absolute range images are the focal length of the lens, the sensor's mean position, and the dither amlpiitude. Experiments using a 50 mm W1.5 camera lens, a pinhole object, and a single detector dithered by an audio speaker demonstrate real-time range resolution of approxlmately 0.5 mun at a range of 350mm. Modelling lndlcatrs that the method, implemented with a sensor array, Is also applicable to extended objects. Plans for extending the experiments to real scenes are discussed.
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An intelligent gas sensor has been developed using thick‐film techniques to create a semiconducting oxide surface with carefully varied catalytic properties. An integral heater causes the surface to react with combustible gases and the... more
An intelligent gas sensor has been developed using thick‐film techniques to create a semiconducting oxide surface with carefully varied catalytic properties. An integral heater causes the surface to react with combustible gases and the resulting resistance map of the surface forms a signature that can be related to the functional groups present in the gas. For example, alcohols, ketones and alkanes have distinct, recognisable signatures on one sensor model.
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ABSTRACT Approximately 25 years have passed since the "sense-act-think" paradigm was advanced as the operational definition of a robot, and as a broad roadmap for robotics research. With the appearance of mobile robots... more
ABSTRACT Approximately 25 years have passed since the "sense-act-think" paradigm was advanced as the operational definition of a robot, and as a broad roadmap for robotics research. With the appearance of mobile robots that do real work in the real world, "communicate" has de facto been added to the list of functionalities that are essential features of robots. In keeping with the theme of the ROSE-2003 Workshop, this paper attempts to articulate and justify a set of intellectual and engineering challenges for 21 st century sensing and perception for robotics. It especially argues for examining the current and re-examining future roles for teleoperation, both as a practical route around the improbability that machine intelligence will equal human intelligence in the foreseeable future, and because it is apparent that sensor improvement is driven in large part by incremental advances in sensor-display design-and-test loops that are in turn driven by human factors governing perception.
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Research Interests: Engineering, Computer Science, Pattern Recognition, Face Recognition, Instrumentation and Measurement Science, and 15 moreIdentification, Frequency, Feature Extraction, Eigenvalues, Acoustic Noise, High Dimensionality, Covariance Matrix, Eigenvectors, Eigenvalues and Eigenvectors, Frequency Analysis, Electrical And Electronic Engineering, Feature Space, Eigenface, Frequency spectrum, and Feature vector
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... Conceptual Design 3.4.1. Mobility 3.4.2. Measurement and Work 3.4.3. Manipulation 3.4.4 ... if any state-of-the-art robotics technology is applicable to a hazardous-response robot for the ... travel to sites where chemical spills... more
... Conceptual Design 3.4.1. Mobility 3.4.2. Measurement and Work 3.4.3. Manipulation 3.4.4 ... if any state-of-the-art robotics technology is applicable to a hazardous-response robot for the ... travel to sites where chemical spills occur, and the teams begin the process of remediation of ...
Research Interests: Engineering, Robotics, Hazardous Waste, Chemicals, Surveys, and 7 moreRobots, Images, ROBOT, Data acquisition, Hazards, Coast Guard, and Index Terms-
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IFEE Instrumentation and Measurement Technology Conference Anchorage, AK, USA, 21-23 May 2002 ... Radar Obstacle Detection: Finding Moving Targets in Noisy Range Data* ... Me1 Siege1 and Rob MacLachlan The Robotics Institute Carnegie... more
IFEE Instrumentation and Measurement Technology Conference Anchorage, AK, USA, 21-23 May 2002 ... Radar Obstacle Detection: Finding Moving Targets in Noisy Range Data* ... Me1 Siege1 and Rob MacLachlan The Robotics Institute Carnegie Mellon University ...
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Research Interests: Mathematics, Algebra, Computer Science, Artificial Intelligence, Human Computer Interaction, and 15 moreDecision Making, Soft Computing, Soft Computing Techniques, Sensitivity Analysis, Decision Theory, Reasoning, Robots, Belief, Sensor Fusion, Machinery, Propagation, Bayes Theorem, SORT, Dempster Shafer Theory, and Dempster Shafer
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A stereoscopic display based on the viewing of two eye-multiplexed co-planar images correlated by perspective disparity exhibits a three-dimensional lattice of finite-sized volume elements -- virtual voxels -- and corresponding depth... more
A stereoscopic display based on the viewing of two eye-multiplexed co-planar images correlated by perspective disparity exhibits a three-dimensional lattice of finite-sized volume elements -- virtual voxels -- and corresponding depth planes whose number, global and individual shapes, and spatial arrangement all depend on the number, shape, and arrangement of the pixels in the underlying planar display and on the viewer's interocular distance and viewing geometry relative to the display. This paper illustrates the origin and derives the quantitative geometry of the virtual voxel lattice, and relates these to the quality of the display likely to be perceived and reported by a typical viewer.