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Computer vision techniques were applied to finding spinal cord contours in MR (magnetic resonance) images of the lumbar spine. For each slice, the method starts with an approximate spinal cord center supplied by the user. A search was then made for significant edges by moving outwards along 16 equally spaced radii. Edges were interpolated on radii for which no significant gradient existed. The contour was smoothed by adjusting the position of each edge with respect to the edges found on neighboring radii. The results of the experiments are reported. The research demonstrates that it is feasible to use a fairly simple image processing algorithm on a personal computer to automatically extract the spinel cord contours from transaxial MR images.>

CONC is a language and simulator for multi-arm cartesian robot systems performing assembly of flat aircraft parts. CONC provides constructs for concurrency which permit the user to command simultaneous motion of multiple arms. Robot programs are represented internally as trees, and functions are provided to traverse these trees computing new properties such as the origins and timings of motion statements. Users learn properties of programs and statements by means of a question/answer interface. LISP appears to be an appropriate language in which to embed the language and simulator.

This paper- describes a language and timing simulator for a robot system with three cartesian arms. The system is targeted at flat aircraft structures. The language provides a test-bed for illustrating the complexity of robot programming for low-volume parts. The TIMER program accepts the language, performs rudimentary debugging, and computes the expected timing of a sequence of robot motions. TIMER is implemented in LISP and runs on an IBM Personal Computer.

Eight commercially available high-level robot programming languages developed by industrial robot builders and research laboratories are evaluated. These languages are: AL; AML; Help; Jars; MCL; Rail; RPL; and Val. The historical background of the languages is reviewed. The languages are evaluated on the basis of data types, control structures, motion specification, use of sensors, and interface with external machines and devices. Common and uncommon features are noted. Facilities for program editing, entry, debugging, and teaching are compared. Conclusions are given regarding their present status and future development.