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

共 5313 条记录，以下是1421-1430 订阅

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A consensus ranking based proposal for combining data in adjustment of the fundamental physical constant values 16

A consensus ranking based proposal for combining data in adj...

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16th IMEKO TC10 conference 2019 on Testing, Diagnostics and Inspection as a Comprehensive Value Chain for Quality and Safety

作者： Muravyov, Sergey V. Khudonogova, Liudmila I. Division for Automation and Robotics National Research Tomsk Polytechnic University Tomsk Russia

ISBN: (纸本)9789299008416

To ensure the traceability of testing and diagnostic equipment it is necessary to provide a chain of comparisons connecting the equipment with primary standards of the SI units based on fundamental physical constants. the values of the constants are regularly determined by an adjustment procedure which requires consistency of input data and an assumed statistical model. In this paper, it is proposed to apply the developed interval fusion with preference aggregation (IF&PA) method for combining data and determining a consensus value of a fundamental constant. Due to its high robustness, accuracy and reliability confirmed by the numerical experimental results, the IF&PA does not require a consistency check and works well without using any statistical assumptions. Usage of the IF&PA is demonstrated by example of processing the simulated interval data and real values of the Planck constant used in the adjustment in 2006 and 2017. the outcome comparison with the estimates obtained by other methods, including the procedures based on Birge ratio, modified Birge ratio, random effects model and fixed effects model, is carried out. © 2019 international Measurement Confederation (IMEKO). All rights reserved.

关键词： Data fusion

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Distance and angle measurement using monocular vision 18

Distance and angle measurement using monocular vision

引用

18th international conference on Mechatronics - Mechatronika, ME 2018

作者： Bui, Minh Tuan Doskocil, Radek Krivanek, Vaclav Department of Air Defence Systems University of Defence Brno Brno Czech Republic Department of Informatics Cybernetic Security and Robotics University of Defence Brno Brno Czech Republic

ISBN: (纸本)9788021455443

Accurate localization is a fundamental challenge and one of the essential tasks in mobile robot applications. In this paper, we proposed an image-based method to measure parameters of an object by a visual camera/monocular vision. If the sizes of the object are unknown, based on information extracted from two images at two different positions of the camera on the optical axis, these sizes can be calculated accurately. Furthermore, the distance and direction (angle) of the object can also be determined. If the dimensions of the object are known, just one image is enough to determine distance and direction (angle) of the object. Unlike other existing methods, the proposed method does not require the object to be perpendicular to the optical axis of the camera. © 2018 Brno University of Technology.

关键词： Cameras

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Real-time panorama stitching method for UAV sensor images based on the feature matching validity prediction of grey relational analysis

Real-time panorama stitching method for UAV sensor images ba...

引用

15th international conference on control, automation, robotics and vision (ICARCV)

作者： Ji Xiaoyue Xiang Xiaojia Huang Jian Natl Univ Def Technol Coll Intelligence Sci & Technol Changsha 410073 Hunan Peoples R China

ISBN: (纸本)9781538695821

Images obtained by unmanned aerial vehicle (UAV) are superior in many aspects such as convenience, low cost and so on. However, the obtained attitude of the UAV is usually not accurate, which further leads to the decrease of efficiency and accuracy of the algorithm based on the position and attitude information. Despite the algorithm based on image feature can get a more accurate result, it usually requires a longer time to process the images and even can bring a large cumulative error when continuous image is stitched. this paper presents a new method for stitching panoramas from UAV's images which is mainly composed of three steps. Firstly, once the images have been obtained, global motion model for UAV aerial photography can be used to establish a predicted region. Second, features in the onboard images are matched by using SIFT algorithm in this region. Finally, the accuracy of image mosaic is predicted through the Grey Relational Analysis. then, according to the result, the algorithm process can adjust itself automatically to meet the needs of different types of sensor image mosaic. We demonstrate through flight experiments that compared with conventional approach our method can stitch images accurately and rapidly and produce high-quality panoramas.

关键词： conferences automation Robots

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UAV Push Recovery Operation by Symmetrical control and Estimation in Receding Horizon 15

UAV Push Recovery Operation by Symmetrical Control and Estim...

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15th international conference on control, automation, robotics and vision, ICARCV 2018

作者： Kocer, Basaran Bahadir Tjahjowidodo, Tegoeh Lee Seet, Gerald Gim Faculty of Mechanical and Aerospace Engineering Nanyang Technological University 50 Nanyang Avenue Singapore

ISBN: (纸本)9781538695821

this paper presents an unmanned aerial vehicle (UAV) push recovery operation using model predictive control (MPC) and moving horizon estimation (MHE) in a symmetric manner. this utilization is motivated by the active use of UAVs, particularly for the contact based inspection of the surrounding's ceilings. To enable a physical interaction operation by an optimization-based algorithm, a primal-dual quadratic programming (QP) solver is structured for the MPC and MHE. the designed system consists of (a) an interaction model to be implemented both on the control and the estimation;(b) an integral action in the predictive controller;(c) a disturbance estimation by MHE to update the MPC. Consequently, the nominal MPC, the integral action in MPC, and the disturbance observer based MPC are compared for a UAV push recovery operation. the numerical investigations demonstrate the applicability of the proposed approach. © 2018 IEEE.

关键词： Model predictive control

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Robotic grasping based on machine vision and SVM

Robotic grasping based on machine vision and SVM

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IEEE international conference on Cyber Technology in automation, control, and Intelligent Systems

作者： Y. Huang J. Zhang X. Zhang South China University of Technology Guangzhou China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

Robotic grasping is one of the hot research topics in the field of robotics, which has widely used in many industrial applications. In this study, we proposed a method for robotic grasping based on machine vision and support vector machine algorithm (SVM). A robotic grasping system with a Baxter robot and a Kinect sensor was taken as the research platform. the calibration of eye-to-hand system was completed based on ArUco marker. the grasping rectangle of object was determined based on SVM algorithm. the proposed method was evaluated through experiments by grasping various shape objects. Experimental results showed that the Baxter robot can grasp various shape objects.

关键词： Grasping Robot kinematics Robot sensing systems Support vector machines Calibration Cameras

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Semi-Autonomous Tongue control of an Assistive Robotic Arm for Individuals with Quadriplegia

Semi-Autonomous Tongue Control of an Assistive Robotic Arm f...

引用

IEEE international conference on Rehabilitation robotics (ICORR)

作者： Max Hildebrand Frederik Bonde Rasmus Vedel Nonboe Kobborg Christian Andersen Andreas Flem Norman Mikkel thøgersen Stefan Hein Bengtson Strahinja Dosen Lotte N. S. Andreasen Struijk Department of Electronic Systems Aalborg University Denmark Department of Health Science and Technology Aalborg University Denmark Department of Architecture Aalborg University Denmark

Individuals suffering from quadriplegia can achieve increased independence by using an assistive robotic manipulator (ARM). However, due to their disability, the interfaces that can be used to operate such devices become limited. A versatile intraoral tongue control interface (ITCI) has previously been develop for this user group, as the tongue is usually spared from disability. A previous study has shown that the ITCI can provide direct and continuous control of 6-7 degrees of freedom (DoF) of an ARM, due to a high number of provided inputs (18). In the present pilot study we investigated whether semi-automation might further improve the efficiency of the ITCI, when controlling an ARM. this was achieved by adding a camera to the end effector of the ARM and using computer vision algorithms to guide the ARM to grasp a target object. three ITCI and one joystick control scheme were tested and compared: 1) manual Cartesian control with a base frame reference point, 2) manual Cartesian control with an end effector reference point 3) manual Cartesian control with an end effector reference point and an autonomous grasp function 4) regular JACO 2 joystick control. the results indicated that end effector control was superior to the base frame control in total task time, number of commands issued and path efficiency. the addition of the automatic grasp function did not improve the performance, but resulted in fewer collisions/displacements of the target object when grasping.

关键词： End effectors Cameras Coils Sensors three-dimensional displays Tongue

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Spatio-Temporal Deep Learning for Robotic Visuomotor control 4

Spatio-Temporal Deep Learning for Robotic Visuomotor Control

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4th international conference on control, automation and robotics (ICCAR)

作者： Pierre, John M. PhysicsAI Pacifica CA 94044 USA

ISBN: (纸本)9781538663387

To perform accurate and smooth behaviors in dynamic environments with moving objects, robotic visuomotor control should include the ability to process spatio-temporal information. We propose a system that uses a spatio-temporal deep neural network (DNN), with video camera pixels as the only input, to handle all the visual perception and visuomotor control functions needed to perform robotic behaviors such as leader following. Our approach combines: (1) end-to-end deep learning for inferring motion control outputs from visual inputs, (2) multi-task learning for simultaneously producing multiple control outputs with the same DNN, and (3) spatio-temporal deep learning for perceiving motion across multiple video frames. We use driving simulations to quantitatively show that spatio-temporal DNNs increase driving accuracy and driving smoothness by improving machine perception of scene kinematics. Experiments conducted with mobile robots in a laboratory test track show real-time embedded systems performance comparable to human reaction times to visual stimuli, and indicate that a spatio-temporal deep learning robot is able to follow a leader for long periods of time, while keeping within lanes and avoiding obstacles.

关键词： robot learning robot control robot motion robot vision systems autonomous vehicles neural networks

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Bridging the Gap between Bio-Inspired Steering and Locomotion: A Braitenberg 3a Snake Robot 15

Bridging the Gap between Bio-Inspired Steering and Locomotio...

引用

15th international conference on control, automation, robotics and vision, ICARCV 2018

作者： Rano, I. Eguiluz, A. Gomez Sanfilippo, F. Mærsk Mc-Kinney Moller Institute University of Southern Denmark Embodied Systems for Robotics and Learning Unit Denmark Higher Technical School of Engineering University of Seville Vision and Control Group Robotics Spain Norway

ISBN: (纸本)9781538695821

Braitenberg vehicles are simple models of animal motion towards, or away from, a stimulus (light, sound, chemicals, etc). they have been widely used in robotics to implement target reaching and avoidance behaviors based on different types of sensors. While the seminal work of Braitenberg used wheeled vehicles to illustrate the principles of animal steering, few attempts have been made at combining these steering level controllers with locomotion mechanism other than actuated wheels. this paper presents the first implementation of this biologically inspired steering controller in a snake-like robot with non-actuated wheels and actuated joints. the sinusoidal gait of the snake is modulated following the principles of the Braitenberg vehicle 3a using two sensors symmetrically located on the head. the effectiveness of this bio-inspired controller is shown through simulations where the snake orients its head and body with the direction of the stimulus gradient, and reaches the stimulus maximum within some range. this paper represents one of the first steps towards connecting bio-inspired sensor-based steering mechanisms and bio-inspired locomotion, and shows that existing theoretical results of Braitenberg vehicles with actuated wheels also apply to a snake-like robot with non-actuated wheels. © 2018 IEEE.

关键词： Animals

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Advbot: Towards Understanding Human Preference in a Human-Robot Interaction Scenario 15

Advbot: Towards Understanding Human Preference in a Human-Ro...

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15th international conference on control, automation, robotics and vision, ICARCV 2018

作者： Wong, Clarice J. Ling Tay, Yong Lew, Lincoln W.C. Koh, Hui Fang Xiong, Yijing Wu, Yan Raffles Institution Singapore Singapore Nanyang Technological University Singapore Singapore Robotics and Autonomous Systems Department ASTAR Institute for Infocomm Research Singapore Singapore

ISBN: (纸本)9781538695821

Recent studies show that the growth of social robotics market will dominate the robotics sector by 2025. Social robots are set to enter and co-exist in daily living, making human-robot interaction studies a crucial research direction in these robotics applications. One such application is the deployment of robotics in information dissemination to augment the shrinking workforce in developed economies, such as advertisement campaigns. this work seeks to understand whether live robot advertiser can better engage audience and improve audience perception of a marketed product as compared to pre-filmed video advertising clips. In this preliminary study, a humanoid robot, the NAO, was programmed to act according to a marketing campaign script, engaging the audience through voice, simulated eye-contacts, gestures and interaction with the Keepon, a robot to be advertised. We carried out three sets of experiments in the CBD of Singapore on teenage pedestrians. the results of this study suggest that physical robot presence will enhance information dissemination and hence improve advertising result, providing value-add to the advertised product. © 2018 IEEE.

关键词： Human robot interaction

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Experimental Validation of a Multirobot Distributed Receding Horizon Motion Planning Approach 15

Experimental Validation of a Multirobot Distributed Receding...

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15th international conference on control, automation, robotics and vision, ICARCV 2018

作者： Filho, Jose M. Mendes Lucet, Eric Filliat, David CEA LIST Interactive Robotics Laboratory Gif-sur-YvetteF-91191 France U2IS Inria FLOWERS Team Université Paris-Saclay ENSTA ParisTech 828 bd des Maréchaux Palaiseau Cedex91762 France

ISBN: (纸本)9781538695821

this paper addresses the problem of motion planning for a multirobot system in a partially known environment where conditions such as uncertainty about robots' positions and communication delays are real. In particular, we detail the use of a Distributed Receding Horizon Approach that guarantees collision avoidance with static obstacles and between robots communicating with each other. Underlying optimization problems are solved by using a Sequential Least Squares Programming algorithm. Experiments with real nonholonomic mobile platforms are performed. the proposed framework is compared with the Dynamic Window approach to motion planning in a single robot setup. A second experiment shows results for a multirobot case using two robots where collision is avoided even in presence of significant localization uncertainties. © 2018 IEEE.

关键词： Motion planning

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