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A Global Approach for Dexterous Manipulation Planning Using Paths in n-fingers Grasp Subspace

A Global Approach for Dexterous Manipulation Planning Using ...

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

作者： Jean-Philippe Saut Anis Sahbani Veronique Perdereau EA LISIF Universite Pierre et Marie Curie-Paris 6 France

this paper addresses the motion planning problem of the dexterous manipulation of 3D rigid objects by a robotic multi-fingered hand. We propose a novel approach based on probabilistic roadmap techniques. Inspired by the theory developed by Alami et al. (1994), Simeon et al. (2003), the planner relies on a topological property that characterizes the existence of solutions in GS n , a specific manifold of the configuration space. this property leads to reduce the problem by structuring the search-space. It allows us to design a manipulation planner that directly captures in a probabilistic roadmap the connectivity of sub-dimensional manifolds of the composite configuration space. the proposed method allows a global planning - both object and fingers trajectories are computed - that can cope with the obstacle presence in the environment. Collisions between different fingers or between object and fingers elsewhere than fingertips are avoided. Force closure constraints are taken into account to ensure the computed paths physical feasibility, under quasi-static motion assumption. First experiments demonstrate the feasibility and the efficiency of the approach

关键词： Path planning Fingers Character generation Robots Motion planning Force control Joining processes Kinematics Humans Level control

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Design and Test of a Capsule Type Endoscope Robot with Novel Locomation Principle

Design and Test of a Capsule Type Endoscope Robot with Novel...

引用

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

作者： W.D. Li W. Guo M.T. Li Y.H. Zhu Robotics Institute Harbin Institute of Technology Harbin Heilongjiang China

Robots become more and more widely used in medical application especially in minimally invasive surgery (MIS) these years, and endoscope robot is a typical example. there is sill not a kind of conventional endoscope which can reach the whole gastrointestinal (GI) tract. And conventional endoscopes generate pain and discomfort to patients due to the stiffness of their body. Such disadvantages do not exist in endoscope robots. However, the soft and elastic characters of GI tract make the locomotion efficiency of endoscope robot very low. To resolve this problem, it is necessary to find a special locomotion principle which fit the GI tract, and many researchers have paid a lot of effort. In this paper, a novel locomotion principle is proposed, which is the first time used in the endoscope robot. the locomotion principle is obtained by analyzing, simulating and simplifying the movement of mucus-cilia system. To evaluate its performance, a prototype of the endoscope robot adopting this locomotion principle is developed, which is driven by shape memory alloy (SMA) actuator. An in-vitro experiment shows that the robot can move successfully with efficiency about 27%. the result of experiment validates that the proposed locomotion principle fit the GI tract. And some suggestions to enhance the locomotion efficiency are proposed

关键词： Testing Endoscopes Robots Gastrointestinal tract Medical robotics Minimally invasive surgery Medical services Biomedical equipment Pain Analytical models

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Non-linear Algorithm for Contrast Enhancement for Image Using Wavelet Neural Network

Non-linear Algorithm for Contrast Enhancement for Image Usin...

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

作者： Jianmao Xu Junzhong Sun Changjiang Zhang College of Energy & Power Engineering Huazhong University of Science and Technology Wuhan China Navy Military Submarine Academy Qingdao China College of Mathematics Physics and Science Zhejiang Normal University ZJNU Jinhua China

A kind of contrast enhancement algorithm for image is proposed by employing in-complete Beta transform (IBT) and wavelet neural network (WNN). IBT is used to enhance the contrast of an image. In order to avoid the expensive time for traditional contrast enhancement algorithms, which search optimal gray transform parameters in the whole gray transform parameters space, a new criterion is proposed with gray level histogram. Contrast type of original image is determined by the new criterion. Gray transform parameters space is respectively determined by different contrast types, which shrinks gray transform parameters space greatly. Nonlinear transform parameters are searched by simulated annealing algorithm (SA) so as to obtain optimal gray transform parameters. In order to calculate IBT in the whole image, a kind of WNN is proposed to approximate the IBT. Experimental results show that the new algorithm is able to adaptively enhance the global contrast for the original image well. the computation for the new algorithm is O (MN), where M and N are width and height of the original image

关键词： Neural networks Histograms Wavelet transforms Educational institutions Mathematics Image enhancement Artificial intelligence Shape control Sun Underwater vehicles

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Random Access in Wireless Ad Hoc Networks for throughput Maximization

Random Access in Wireless Ad Hoc Networks for Throughput Max...

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

作者： Bo Yang Gang Feng Xinping Guan Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China Center for Networking Control and Bioinformatics Institute of Electrical Engineering Yanshan University슠 Qinhuangdao China

We consider the distributed random access algorithms for wireless ad hoc networks in which each node needs to tune its persistent probability so as to optimize its own the total throughput. First, we present an asynchronous algorithm for updating persistent probabilities and prices to avoid collision using local coordination. By casting this algorithm as a best response in a cooperative game, we characterize its convergence analytically. We further model that each node attempts to maximize a selfish local payoff function. We characterize the Nash equilibrium (NE) of the non-cooperative game and prove the convergence of a best response algorithm to the unique NE. then we study the energy efficient throughput maximization problem when the wireless nodes are constrained by their battery power. Despite the inherent difficulty of non-separability of the constraint set, we propose a distributed primal-based algorithm. Its convergence is studied numerically

关键词： Mobile ad hoc networks throughput Media Access Protocol Game theory Access protocols Convergence Energy efficiency Algorithm design and analysis Nash equilibrium Batteries

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RBFN based Static Synchronous Series Compensator (SSSC) for Transient Stability improvement

RBFN based Static Synchronous Series Compensator (SSSC) for ...

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

作者： V.K. Chandrakar A.G. Kothari G.H.Raisoni College of Engineering of Women Nagpur India Visvesvaraya National Institute of Technology Nagpur India

the main aim of the paper is to analyze the performance of radial basis function network (RBFN) based SSSC on power handling capacity of the line, improvement in transient stability and damping of oscillations of the single machine infinite bus (SMIB) system and multi-machine system. this paper presents the comparative performance studies of two different controllers namely: [i] conventional PI controller, and [ii] radial basis function network (RBFN). controllers are designed to coordinate two control inputs: in-phase voltage and the quadrature voltage of SSSC. the RBFN model is trained by the real power and the voltage of injection bus. the coordinated action of proposed SSSC controllers with power oscillations damping (POD) control & power system stabilizer (PSS) are tested for dynamic performance of the system under various system conditions. the simulation results shows that, the proposed controllers increases the power handling capacity of the line, significant improvement in transient stability of the system, and damping of oscillations. the results indicate that, the coordinated POD & PSS action further improves the dynamic performance of the system. the RBFN based SSSC controller provides superior dynamic performance than PI controller

关键词： Power system transients Damping Radial basis function networks Voltage control Power system modeling control systems Power system control Power system stability Power system simulation Power system dynamics

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Improvement to the Minimization of Hybrid Error Functions for Pose Alignment

Improvement to the Minimization of Hybrid Error Functions fo...

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

作者： A. H. Abdul Hafez C. V. Jawahar Center for Visual Information Technology International Institute of Information Technology Gachibowli Hyderabad-500032 India Dept. of Computer Science and Engineering University College of Engineering Osmania University Hyderabad-500007 India. Email: hafezsyr@*** Center for Visual Information Technology International Institute of Information Technology Gachibowli Hyderabad India

Many problems in computer vision such as pose recovery and structure estimation are formulated as a minimization process. these problems vary in the use of image measurements directly or using them to extract 3D cues in the minimization process. Hybrid methods have the advantage of combining the 2D and 3D visual information to improve the performance over the above two methods. In this paper, we present a new formulation for minimizing a class of hybrid error functions. this is done by using 2D information from the image space and 3D information from the Cartesian space in one error function. Applications to visual servoing and image alignment problems are presented. the positioning task of a robot arm has been formulated as a minimization problem. Gradient descent as a first order approximation and Gauss-Newton as a second order approximation are considered in this paper. Simulation results show, comparing with 2frac12 D hybrid method, that these two methods provide an efficient solution to the features visibility problems and the camera trajectory in the Cartesian space

关键词： Cameras Visual servoing Cost function Computer vision Least squares approximation Information technology Augmented reality Closed-form solution Minimization methods Computer errors

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Box-like Superquadric Recovery in Range Images by Fusing Region and Boundary Information

Box-like Superquadric Recovery in Range Images by Fusing Reg...

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international conference on Pattern Recognition

作者： D. Katsoulas D.I. Kosmopoulos Institute for Informatics and Telecommunications Computational Intelligence Laboratory National Centre for Scientific Research Athens Greece

ISBN: (纸本)0769525210

this work contributes to the robotic bin-picking problem, and more specifically to the problem of localizing piled box-like objects. We employ range imagery, and use box-like superquadrics for modeling the target objects. Our approach for superquadric segmentation is an extension of the widespread recover-and-select framework, which employs only region information and therefore suffers from the region over-growing problem. Our approach equally considers both region and boundary-based information for performing the recovery task. Extensive experimentation with a variety of target object configurations demonstrates that it outperforms the recover-and-select framework in terms of both robustness and computational efficiency. Moreover, if implemented in a parallel hardware environment, our approach can operate in real time

关键词： Service robots Image segmentation robotics and automation Laser modes Shape control Surface emitting lasers Informatics Computational intelligence Laboratories Intelligent robots

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An FPGA Based Motion control IC and Its Application to Robotic Manipulators

An FPGA Based Motion Control IC and Its Application to Robot...

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

作者： Xiaoyin Shao Dong Sun Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

this paper presents an FPGA based motion control IC by integrating most of the motion control functions into one FPGA chip. the hardware system of the FPGA executes quickly in dedicated parallel hardware without timing overhead penalty of a serial processor. the update rates of the current control loop and position/velocity control loop can be up to 120 kHz and 40 kHz, respectively. the new designed motion control IC can be incorporated with a general-purpose microcontroller or DSP to provide a simple, compact, low-cost, and effective solution for high sampling rate motion control system. A fully digital 3-axis motion controller/amplifier is designed by using the proposed motion control IC. In order to increase the sampling frequency of the system when using dynamic control algorithm for robotic control, the dynamic control algorithm can be partitioned into a linear portion and a nonlinear portion. the linear portion with position/velocity feedback represents the major control loop and is implemented in the FPGA based IC. the nonlinear portion acts as dynamic compensation to the linear portion to perform complex modeling related calculations, and is implemented in the DSP. Experimental results demonstrate that the new proposed system is successful and it exhibits much improved motion performance especially during high-speed motions

关键词： Field programmable gate arrays Motion control Application specific integrated circuits Robots Manipulators Nonlinear control systems control systems Nonlinear dynamical systems Hardware Velocity control

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Uniformly Partitioning Images on Virtual Hexagonal Structure

Uniformly Partitioning Images on Virtual Hexagonal Structure

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

作者： Xiangjian He Huaqing Wang Namho Hur Wenjing Jia Qiang Wu Jinwoong Kim Tom Hintz Broadcasting System Research Group Digital Broadcasting Research Division Electronics and Telecommunications Research Institute South Korea Department of Computer Systems Faculty of Information Technology University of Technology Sydney Australia

Hexagonal structure is different from the traditional square structure for image representation. the geometrical arrangement of pixels on hexagonal structure can be described in terms of a hexagonal grid. Uniformly separating image into seven similar copies with a smaller scale has commonly been used for parallel and accurate image processing on hexagonal structure. However, all the existing hardware for capturing image and for displaying image are produced based on square architecture. It has become a serious problem affecting the advanced research based on hexagonal structure. Furthermore, the current techniques used for uniform separation of images on hexagonal structure do not coincide with the rectangular shape of images. this has been an obstacle in the use of hexagonal structure for image processing. In this paper, we briefly review a newly developed virtual hexagonal structure that is scalable. Based on this virtual structure, algorithms for uniform image separation are presented. the virtual hexagonal structure retains image resolution during the process of image separation, and does not introduce distortion. Furthermore, images can be smoothly and easily transferred between the traditional square structure and the hexagonal structure while the image shape is kept in rectangle

关键词： Spirals Shape Image processing Concurrent computing Parallel processing Computer architecture Computer vision Image resolution Computational complexity Image converters

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SmartOSEK Based Design and Verification for In-vehicle Network System: A Model-Based Approach

SmartOSEK Based Design and Verification for In-vehicle Netwo...

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

作者： Guoqing Yang Minde Zhao Hongli Zhaohui Wu College of Computer Science University of Zhejiang Hangzhou China

Electronic control units (ECUs) are widely used to improve the comfort and reliability of vehicles. Due to the increasing degree of distribution and interaction of ECUs, many approaches are adopted to design the in-vehicle networks to ensure the stability and reliability of the holistic network, but none of them support the synchronous development of in-vehicle networks and software in ECUs. this paper put forward a model-based approach to design the in-vehicle networks and the software in ECUs with presenting a dependable platform compliant with OSEK/VDX specifications. the paper presents a tool-chain that covers the entire system development life-cycle including system modeling, model transformation, model analysis, network simulation, code generation, document generation and runtime instrumentation. In addition, a case study is presented to demonstrate the application of the approach. the contribution of the approach is threefold. First, the approach applies the theory of model-based design with OSEK/VDX standard in automotive electronics domain, and implements the transformation between SysML models and OSEK/VDX models through an efficient method. Second, the approach presents a method of software co-design among distributed ECUs. third, the approach bring forward a simulation model for the system models with in-vehicle networks and provides the designer with the simulation results to optimize the design at the early time of the development

关键词： Automotive electronics control systems Software maintenance Unified modeling language Vehicles Stability Design optimization Programming Embedded system Software standards

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