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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

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Eye-in-Hand 3D Visual Servoing of Helical Swimmers Using Parallel Mobile Coils

Eye-in-Hand 3D Visual Servoing of Helical Swimmers Using Par...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Yang, Zhengxin Yang, Lidong Zhang, Li Chinese Univ Hong Kong CUHK Dept Mech & Automat Engn Shatin NT Hong Kong Peoples R China Chinese Univ Hong Kong CUHK Chow Yuk Ho Technol Ctr Innovat Med Shatin NT Hong Kong Peoples R China Chinese Univ Hong Kong CUHK T Stone Robot Inst Shatin NT Hong Kong Peoples R China

ISBN: (纸本)9781728173955

Magnetic helical microswimmers can be propelled by rotating magnetic field and are adept at passing through narrow space. To date, various magnetic actuation systems and control methods have been developed to drive these microswimmers. However, steering their spacial movement in a large workspace is still challenging, which could be significant for potential medical applications. In this regard, this paper designs an eye-in-hand stereo-vision module and corresponding refraction-rectified location algorithm. Combined with the motor module and the coil module, the mobile-coil system is capable of generating dynamic magnetic fields in a large 3D workspace. Based on the system, a robust triple-loop stereo visual servoing strategy is proposed that operates simultaneous tracking, locating, and steering, through which the helical swimmer is able to follow a long-distance 3D path. A scaled-up magnetic helical swimmer is employed in the path following experiment. Our prototype system reaches a cylindrical workspace with a diameter more than 200 mm, and the mean error of path tracking is less than 2 mm.

关键词： Stereo vision

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3D Detection and 6D Pose Estimation of Texture-Less Objects for Robot Grasping 6

3D Detection and 6D Pose Estimation of Texture-Less Objects ...

引用

6th international conference on control and robotics Engineering, ICCRE 2021

作者： Zhang, Jing Yin, Baoqun Xiao, Xianpeng Yang, Houyi University of Science and Technology of China Department of Automation Hefei230027 China Southwest University of Science and Technology School of Information Engineering Mianyang621010 China Research Center Guangdong Academy of Building Science Guangzhou510000 China

ISBN: (纸本)9780738126128

Due to illumination variation under different lighting conditions, texture-less objects have posed significant challenges to visual object localization algorithms for robot grasping. We propose a method to determine the 6D pose of both textured and texture-less objects from a single RGB-D image with a Kinect. First, we apply hierarchical clustering strategy to pre-process the point cloud of a scene. then, we achieve the 3D object detection by comparing the diameter between clustering point cloud and object model. Last, the rough pose of object is estimated through Hough voting and the estimation result is refined by ICP (Iterative Closest Point). Experimental results show that the accumulation error between the model and the corresponding point in the scene is less than 6mm and the attitude error is less than 1$.5^{\mathrm{o}}$. the average detection accuracy rate of the proposed method reaches 97%, which can satisfy the grasping requirements of the manipulator. We also demonstrate that our approach has good performance in dynamic lighting conditions. © 2021 IEEE.

关键词： Textures

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A Localization Approach Based on Omnidirectional vision and Deep Learning 1

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17th international conference on Informatics in control, automation and robotics, ICINCO 2020

作者： Cebollada, Sergio Payá, Luis Flores, María Román, Vicente Peidró, Adrián Reinoso, Oscar Department of Systems Engineering and Automation Miguel Hernández University Elche Spain

ISBN: (数字)9783030924423

ISBN: (纸本)9783030924416

the present work introduces a study about the use of a deep learning tool to tackle the visual localization. the approach proposed consists in developing a Convolutional Neural Network (CNN) with the aim of addressing the room retrieval task. Additionally, the network can be used to extract holistic descriptors from intermediate layers. therefore, the localization can be carried out by meas of comparing the holistic descriptor obtained during the localization process with the descriptors obtained during the mapping process, but it can be carried out by using a hierarchical strategy. Concerning the hierarchical localization approach, in previous works, it has been addressed by means of a nearest neighbour search using different layers of information. In the present work, first is addressed a rough step which consists in solving the room retrieval with the CNN and, after that, a nearest neighbour search is carried out by using the holistic descriptors contained in the room selected. Hence, this work evaluates firstly the validity of the holistic descriptors extracted from the CNN and, secondly, evaluates the hierarchical method based on the CNN tool. the experiments to evaluate the validity of the proposed methods are carried out with an indoor dataset with real-operation conditions. the results show that the proposed approach based on deep learning is a robust solution to tackle the visual localization task. © 2022, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Convolutional neural networks

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Least-squares Optimal Relative Planar Motion for Vehicle-mounted Cameras

Least-squares Optimal Relative Planar Motion for Vehicle-mou...

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IEEE international conference on robotics and automation (ICRA)

作者： Hajder, Levente Barath, Daniel Eotvos Lorand Univ Dept Algorithms & Their Applicat Budapest Hungary Czech Tech Univ Visual Recognit Grp Dept Cybernet Prague Czech Republic MTA SZTAKI Machine Percept Res Lab Budapest Hungary

ISBN: (纸本)9781728173955

A new closed-form solver is proposed minimizing the algebraic error optimally, in the least squares sense, to estimate the relative planar motion of two calibrated cameras. the main objective is to solve the over-determined case, i.e., when a larger-than-minimal sample of point correspondences is given - thus, estimating the motion from at least three correspondences. the algorithm requires the camera movement to be constrained to a plane, e.g. mounted to a vehicle, and the image plane to be orthogonal to the ground.(1) the solver obtains the motion parameters as the roots of a 6th degree polynomial. It is validated both in synthetic experiments and on publicly available real-world datasets that using the proposed solver leads to results superior to the state-of-the-art in terms of geometric accuracy with no noticeable deterioration in the processing time.

关键词： Cameras Transmission line matrix methods Robot vision systems Estimation Automobiles Geometry

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Learning Image-Based Contaminant Detection in Wool Fleece from Noisy Annotations 13th

Learning Image-Based Contaminant Detection in Wool Fleece fr...

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13th international conference on Computer vision Systems, ICVS 2021

作者： Patten, Timothy Alempijevic, Alen Fitch, Robert Robotics Institute Faculty of Engineering and Information Technology University of Technology Sydney UltimoNSW2007 Australia Automation and Control Institute Faculty of Electrical Engineering and Information Technology TU Wien Vienna1040 Austria

ISBN: (纸本)9783030871550

this paper addresses the problem of detecting natural contaminants in freshly shorn wool fleece in RGB images using deep learning-based semantic segmentation. the challenge of inconsistent annotation is overcome by learning the probability of contamination as opposed to a discrete class. From the continuous value predictions, contaminated regions can be extracted by selectively thresholding on the probability of contamination. Furthermore, the imbalance of the class distributions is accounted for by adaptively weighting each pixel’s contribution to the loss function. Results show that the adaptive weight improves the prediction accuracy and overall outperforms learning an approximated representation by quantising the distributions. © 2021, Springer Nature Switzerland AG.

关键词： Wool

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vision-based control Approach for Generalized Planar Parallel Robots 5

Vision-based Control Approach for Generalized Planar Paralle...

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5th international conference on automation, control and robotics Engineering, CACRE 2020

作者： Luo, Xueling Jin, Xiaodong Zhang, Dan Zou, Qi York University Department of Mechanical Engineering Toronto Canada

ISBN: (纸本)9781728198880

Generalized parallel mechanisms become the refinement research result of the parallel mechanism study to overcome limits such as small rotational performance or low task specificity of traditional parallel mechanisms. Towards an effective control scheme for generalized parallel mechanisms is the key to promoting its future application. this paper is dedicated to visual-based control modelling of planar parallel robots. To overcome the challenge of end-effect pose estimation for the parallel mechanism, the control scheme is able to minimize the error of the end-effect of the mechanism through information obtained from a fixed visual system. the simulation and experiment results show the time efficiency and accuracy of the proposed control scheme that able to stabilize the system in a short time during the motion control. © 2020 IEEE.

关键词： Motion control

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Modeling and control of 3-omni wheel Robot using PSO optimization and Neural Network 4

Modeling and control of 3-omni wheel Robot using PSO optimiz...

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4th international conference on control, automation and Diagnosis (ICCAD)

作者： Saleh, Mahmood Abdallah Soliman, MennaAllah Ammar, Hossam Hassan Shalaby, Mohamed A. Wahby Nile Univ Sch Engn & Appl Sci Giza Egypt Nile Univ Smart Engn Syst Res Ctr SESC Giza 12588 Egypt Cairo Univ Fac Comp & Artificial Intelligence Giza Egypt

ISBN: (纸本)9781728169996

Omni mobile robots are one of the mobile robots that interact with humans in many areas where it is needed to be collaborative and accurate. Committing robotics with artificial intelligence-based controllers became nowadays mandatory for more association of these robots with distinct environments. this paper proposes the distinction of the 3WD Omni vision feedback model between Simscape and actual information to obtain a surmised model. Study applying some artificial control procedures on this model for path planning and speed control as the artificial neural system and PSO optimization techniques for PID error and contrast these outcomes and compare them with conventional PID and Fuzzy control techniques.

关键词： PSO optimization technique Simscape vision feedback ANN path tracking 3-Omni Wheel Robot

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A Study of Workpiece Targeting Based on Improved Blob Analysis 5

A Study of Workpiece Targeting Based on Improved Blob Analys...

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5th international conference on automation, control and robotics Engineering, CACRE 2020

作者： Chen, Wei Li, Zechen Zhang, Jing Yi, BaiCheng Qingdao University of Science and Technology School of Automation and Electrical Engineering Qingdao China Qingdao Beihai Shipbuilding Heavy Industry Co. LTD. Qingdao Beihai Shipbuilding Heavy Industry Co. LTD. Qingdao China

ISBN: (纸本)9781728198880

In order to meet the accurate positioning of the target workpiece by the industrial robot and obtain the workpiece coordinate information. In this paper, taking a circular workpiece as an example, a targeting study based on the Blob analysis algorithm is presented. Image threshold segmentation, connectivity analysis and other methods are used to complete the positioning of the workpiece target. To further improve the target localization accuracy, edge detection operators and curve fitting methods are introduced to improve the original Blob analysis algorithm. the experimental results show that this method can obtain the coordinate information of the target workpiece more accurately, and the accuracy can meet the robotic grasping needs of the industrial field. © 2020 IEEE.

关键词： Computer vision

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Nonlinear model predictive control using state estimation for stabilization of vehicle dynamics to avoid the secondary accident 2021

Nonlinear model predictive control using state estimation fo...

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5th international conference on robotics, control and automation, ICRCA 2021

作者： Nakamura, Wataru Hashimoto, Tomoaki Osaka Institute of Technology 5-16-1 Omiya Asahi-ku Osaka Japan

ISBN: (纸本)9781450387484

In recent years, various control problems of vehicle dynamics such as collision avoidance, rollover prevention, wheel slip control, driver assistance control have been studied. this study focuses on the stabilization problem of unstable vehicle dynamics caused by a collision accident. In this paper, we consider the model predictive control (MPC) problem for stabilization of vehicle nonlinear dynamics to avoid the second accident after the first collision accident. MPC is a well-established control method in which the current control input is obtained by solving a finite horizon open-loop optimal control problem using the current state of the system as the initial state. However, MPC method is inapplicable to systems whose all state variables are not exactly known. In general, it is usual that the state variables of systems are measured through output sensors. thus, only limited parts of them can be used for designing control inputs. therefore, automatic control systems must incorporate some type of state estimation. In order to apply the MPC method to the automatic control systems for nonlinear vehicle dynamics, we need to establish a state estimation method for nonlinear vehicle systems with limited measurable state variables. the objective of this study is to establish a control method for unstable vehicle dynamics caused by a collision accident by means of incorporating state estimation into model predictive control. © 2021 ACM.

关键词： Model predictive control

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A Multicopter Design Software Tool for Automated Generation of Simulation and Visualization Models 14th

A Multicopter Design Software Tool for Automated Generation ...

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14th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Shaqura, Mohammad Shamma, Jeff S. King Abdullah Univ Sci & Technol Thuwal 23955 Saudi Arabia

ISBN: (纸本)9783030112929;9783030112912

Multicoptor unmanned aerial vehicles (UAVs) are popular robotics platforms in various research and applications fields. Research in robotics, control, estimation and computer vision relies heavily on open-source software and hardware to build custom UAV. this is motivated by lower cost of material and rapid development desire. the presented tool automates the task of obtaining realistic models for simulation and visualization of multicoptors using state-of-the-art Computer Aided Design engineering tools (CAD). Users interact with the software through a desktop application that offers interface to CAD tools, hardware database and simulation files generation. Custom models can be generated for three popular multirotor simulators. Modeling parameters accuracy has been validated using data of IRIS+ quadcopter model.

关键词： Aerial robots UAV simulation System ID SolidWorks API Dynamic assembly Flight control Robot visualization

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