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A LiDAR-Camera Calibration and Sensor Fusion Method with Edge Effect Elimination

A LiDAR-Camera Calibration and Sensor Fusion Method with Edg...

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

作者： Yili Lin Yifan Fei Yunhan Gao Hang Shi Yangmin Xie School of Mechatronics Engineering and Automation Shanghai University China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics China

ISBN: (纸本)9781665476881

this article presents a multi-sensor calibration and fusion work for a dense reconstruction and colorization system. Unlike previous research, it explicitly addresses the edge effect in LiDAR measurements in both calibration and sensor fusion. the proposed calibration method can accomplish LiDAR-motor and LiDAR-camera calibration at a one-time experiment. the feature extraction algorithm for the point cloud automatically eliminates the edge-effect-induced noises in the calibration process. the experiment results show that it can achieve even better results than work without edge effect elimination in terms of calibration errors. As a result, it has achieved a calibration accuracy superior to previous researches. the system is testified by an indoor scene, which shows a desirable color point cloud generation with dense and clean data.

关键词： Point cloud compression Surface reconstruction Strips Laser radar Image color analysis Shape Sensor fusion

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Automated Micropipette Aspiration and Positioning with an Auxiliary Micropipette 11

Automated Micropipette Aspiration and Positioning with an Au...

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11th IEEE Annual international conference on CYBER Technology in automation, control, and Intelligent Systems, CYBER 2021

作者： Yao, Yatong Sun, Mingzhu Zhao, Xiangfei Li, Lu Gong, Huiying Zhao, Xin Nankai University Tianjin300350 China

ISBN: (纸本)9781665425278

Micropipette aspiration of single cells is widely used in cell manipulation. In this paper, an automated micropipette aspiration and positioning method is proposed with an auxiliary micropipette. the flow field provided by the auxiliary micropipette reduces the adhesion between the microbead and the bottom of the petri dish, which seriously affects the stability of the aspiration process. the position information of the micropipette tip and the microbead, extracted via image processing, is used as feedback of closed-loop control. A dynamic model of the motion of the microbead in the micropipette is established based on pneumatic pump, and a sliding mode controller is designed on this basis. the experimental results show that the proposed method has faster stability time, smaller steady-state error and higher success rate compared with the traditional aspiration method without the auxiliary micropipette. © 2021 IEEE.

关键词： Sliding mode control

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Trimodality Fusion for Soft Gripper's Grasping Prediction 4

Trimodality Fusion for Soft Gripper's Grasping Prediction

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4th international conference on robotics, Intelligent control and Artificial Intelligence, RICAI 2022

作者： Fu, Yan Wang, Shuyu Sha, Xiaopeng Li, Lianjiang Zhao, Yuliang Department of Control Engineering Northeastern University China Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology Qinhuangdao China

ISBN: (纸本)9781450398343

Soft gripper's grasping prediction is a crucial task in industrial automation, which requires feedback from multiple modalities, such as vision and touch. However, multimodal fusion is challenging due to mismatched data dimensions and density. Meanwhile, the soft gripper's bending as a result of grasping force can be monitored by flex sensors, which may also be helpful for grasping prediction. Here we create a dataset of a fin ray effect soft gripper grasping various objects while being monitored by a camera, a pressure sensor, and a flex sensor. Next, we fuse the multimodal sensory data based on a deep learning model to predict the grasping outcome. the ablation experiment results show that the trimodality fusion model can effectively improve the soft gripper's grasping prediction performance. © 2022 ACM.

关键词： Grippers

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An Automated Technology for IoT based Rail-Track Inspection to Locate Surface Flaws by robotics and Neural Networks 5

An Automated Technology for IoT based Rail-Track Inspection ...

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5th international conference on Inventive Computation Technologies (ICICT)

作者： Maheswari, B. Uma Nithya, P. Vijay, Sreeja Tamilarasi, K. Anitha, G. Muthukumaran, N. PSG Coll Arts & Sci Comp Applicat Coimbatore Tamil Nadu India PSG Coll Arts & Sci Dept Networking & Mobile Applicat Coimbatore Tamil Nadu India SA Engn Coll Dept ECE Chennai Tamil Nadu India Jeppiaar Inst Technol Dept CSE Chennai Tamil Nadu India SIMATS Saveetha Sch Engn Dept ECE Chennai Tamil Nadu India Francis Xavier Engn Coll Dept ECE Tirunelveli India Coll Sci & Arts Dept Comp Sci University U Arab Emirates

ISBN: (数字)9781665408370

ISBN: (纸本)9781665408387;9781665408370

To maintain national security, railway transportation needs regular examinations and quick servicing. Conventional manual screenings are not always time-consuming and costly, but they also depend on individual skill and effectiveness at the time of survey to discover defects accurately. It is possible to automate Internet of things (IoT)-based solutions using technology and automation, for example, machinery installed on train lines or other difficult-to-reach areas and handled through control rooms. A revolutionary automatic model based on robots and visually inspecting is suggested in this research. While inspecting, the technology enables for on-site image analysis, cloud services for photographs of broken railway tracks, and robot localization within a 3-6-inch range. the suggested method relates a cutting-edge Machine Learning technique to pictures received from the rails in order to identify them as regular or dangerous. Such places are then identified, and a specialized operator with a small number of sites to examine can do a more thorough examination.

关键词： Railtrack inspection visual inspection computer vision convolutional neural network

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Application of PID algorithms to control robotic platform using Simulink

Application of PID algorithms to control robotic platform us...

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international conference on Electrical Machines, Drives and Power Systems (ELMA)

作者： Martin Dejanov Dept. of Automation and Mechatronics University of Ruse Ruse Bulgaria

the usage of robots in the industry, research and hobby has increased during the years. In the world of academia robots present a perfect test bench for researchers. Many fields like robotics and automatics use them to solve many specific problems. the research area of robots is toward the implementation of new control techniques, new control and machine learning algorithms. Autonomous robots are the main trend in the modern research and industry area. this project is related to the use of MATLAB Simulink in the process of rapid prototyping control algorithms for a robotic platform. the Alphabot2-Pi is used as a research platform. the control algorithms are implemented as software processes started in real-time in the operating system environment of the robot. In this study, Simulink models are developed using standard and non-standard blocks. the system is implemented as the hardware, software and communication tools are used. Simulink toolbox like Embedded Coder is used for automatic code generation, compilation and deploying to the robotic platform. the standard and nonstandard (Fuzzy) PID algorithms are tested to perform and implement the control of the platform steering angle to travel along the specified path. the improvement of PID algorithms is done by varying the coefficients using some heuristic methods. the implementation, configuration and testing of the proposed system capabilities are investigated in a real environment. the study shows that the system, with varying success, is capable of performing the proposed tasks using different control parameters. the results obtained with standard and nonstandard (fuzzy) PID algorithms are satisfactory. Both algorithms solved the proposed task, but the standard PID control algorithm turned out to be better for high-speeds than the fuzzy PID.

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Air-Ground Robots’ Cooperation-Based Mountain Glaciers thickness Continuous Detection: Systems And Applications 16th

Air-Ground Robots’ Cooperation-Based Mountain Glaciers Thic...

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16th international conference on Intelligent robotics and Applications, ICIRA 2023

作者： Zhong, Jikang Li, Peng Liu, Xu Zhao, Pinhui Jiang, Han Yang, Liying Li, Decai Bu, Chunguang He, Yuqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789819964826

In this article, we present a multi-robot continuous ice thickness measurement system that can operate in plateau glacial environments with natural slopes up to 30°, large crevasses of glacier, slippery snow/ice ground surface, and inevitable terrain undulations. the ground station operator can operate the unmanned ground vehicle (UGV) with improved safety driving ability by following the optimal driving advice provided by the driving skill learning model. the air-ground robot collaboration algorithm coordinated the operation of the UGV with the unmanned aerial vehicle (UAV) to improve the mobility of the UGV in complex glacier environments. We obtain multi-scale and multi-aspect environmental information through air-ground collaboration and use a lightweight environmental modeling method to obtain a three-dimensional model of the glacier surface and subglacial terrain. the system was applied in the Korchung Gangri Glacier in the Tibet Plateau in June 2022. the experimental results show that the system can operate in the extreme environment of plateau glaciers and collect high-precision continuous ice thickness distribution data. © 2023, the Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： thickness measurement

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FMS:Features Motion Statistics for Incorrect Matched-pair Removal

FMS:Features Motion Statistics for Incorrect Matched-pair Re...

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

作者： Hao Shu Zhitao Liu Hongye Su Yue Xia Polytechnic Institute Zhejiang University Hangzhou China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665476881

the matching of incorrect pairs affects the precision of the SLAM/VO system. Because the calculation is complex and time-consuming, the various limitation methods struggle to meet the system's real-time requirements. FMS is a novel approach that adapts well to both sparse and dense mapping processes, allowing for the verification of matched pairs of features. By displacing features between two consecutive frames, the projection formula contacts motion patterns. this classifier's overall characteristics demonstrated that it was extremely effective at applying suitable matched pairings from mismatched features. the proposed algorithm outperformed the raw technique in terms of accuracy and stability when compared to the ORB-SLAM technique.

关键词： Frequency modulation Simultaneous localization and mapping automation Power system stability Real-time systems Classification algorithms Robots

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An Improved Point-to-Feature Recognition Algorithm for 3D vision Detection 15th

An Improved Point-to-Feature Recognition Algorithm for 3D Vi...

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15th international conference on Intelligent robotics and Applications (ICIRA ) - Smart robotics for Society

作者： Li, Jianyong Guo, Qimeng Gao, Ge Tang, Shaoyang Min, Guanbo Li, Chengbei Yu, Hongnian Zhengzhou Univ Light Ind Coll Comp & Commun Engn Zhengzhou 450001 Peoples R China Zhengzhou Univ Sch Elect Engn Zhengzhou 450001 Peoples R China Edinburgh Napier Univ Sch Engn & Built Environm Edinburgh EH11 4BN Midlothian Scotland

ISBN: (纸本)9783031138225;9783031138218

vision-detection-based grasping is one of the research hotspots in the field of automated production. As the grasping scenes become more and more diversified, 3D images are increasingly chosen as the input images for object recognition in complex recognition scenes because they can describe the morphology and pose information of the scene target objects more effectively. With object recognition and pose estimation in 3D vision as the core, this paper proposes an improved pose estimation algorithm based on the PPF feature voting principle for the problems of low recognition rate and poor real-time performance in vision detection systems. the algorithm firstly performs preprocessing measures such as voxel downsampling and normal vector calculation on the original point cloud to optimize the point cloud quality and reduce the interference of irrelevant data. Secondly, an improved point cloud downsampling strategy is proposed in the point cloud preprocessing stage, which can better preserve the surface shape features of the point cloud and avoid introducing a large number of similar surface points. Finally, an improved measure of scene voting ball is proposed in the online recognition stage. the recognition and matching experiments on the public dataset show that the proposed algorithm has an average recognition rate improvement of at least 0.2%.

关键词： 3D images Pose estimation PPF feature voting Point cloud processing

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controlling Robots using Image Analysis and a Consortium Blockchain

Controlling Robots using Image Analysis and a Consortium Blo...

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

作者： Vasco Lopes Luís A. Alexandre Nuno Pereira NOVA LINCS Universidade da Beira Interior Covilhã Portugal

ISBN: (纸本)9781665476881

Blockchain is a disruptive technology, normally used within financial applications, however, it can be very beneficial in certain robotic contexts, such as when an immutable register of events is required. Among the several properties of Blockchain that can be useful within robotic environments, we find not just immutability but also data decentralization, irreversibility, accessibility and non-repudiation. In this paper, we propose an architecture that uses blockchain as a ledger, and smart-contracts for robotic control by using oracles to process data. We show how to register events in a secure way, how it is possible to use smart-contracts to control robots and how to interface with external algorithms for image analysis. the proposed architecture is modular and can be used in multiple contexts such as in manufacturing, network control, robot control, and others, since it is easy to integrate, adapt, maintain and extend to new domains, only requiring new tailored smart-contracts.

关键词： Productivity Image analysis Robot control Process control Production facilities Blockchains Registers

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An accelerated gradient method for LQR-based multiagent system and its application in formation control

An accelerated gradient method for LQR-based multiagent syst...

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

作者： Viet Hoang Pham Hyo-Sung Ahn School of Mechanical Engineering Gwangju Institute of Science and Technology Gwangju Korea

ISBN: (纸本)9781665476881

this paper considers a distributed linear-quadratic regulator (LQR) method for a multiagent system when the main objective is to driving the states of agents to a desired framework, i.e., the final states of agents satisfy some predetermined constraints. the asymptotic convergence of the proposed control method is ensured via finite horizon-time linear-quadratic (LQ) performance for discrete-time linear sub-systems. the cost function consists of the control input energy consumption and the distance to a desired free-endpoint. By applying a modified Nesterov-accelerated gradient algorithm, each agent determines its optimal control inputs using only information of its own and its neighbors. then the proposed method is applied to a displacement-based formation control problem. Simulation results are used to verify the effectiveness of the designed formation control method.

关键词： Gradient methods Energy consumption Regulators Simulation Optimal control Numerical simulation Cost function

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