Pose estimation of cylindrical pellet using a single camera-in-hand configuration of a robot is discussed in this paper. Approaches to estimate pose in both isolated and an occluded environment is discussed. The pelle...
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PSO (particle swarm optimization) is a stochastic population based computational method that optimizes the problem iteratively, trying to improve the solution particles to get better quality of the particle called tar...
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ISBN:
(纸本)9781479962532
PSO (particle swarm optimization) is a stochastic population based computational method that optimizes the problem iteratively, trying to improve the solution particles to get better quality of the particle called target solution. In this paper, PSO algorithm is used to find the particle best position value by searching the solution space to determine the minimum distance from the obstacle. The position of each particle is updated according to the distance and velocity equation. The LEGO NXT mobile robot which is considered to be as source is placed in any position in ndimensional environment. And there are 'n' numbers of obstacle placed in the same unknown environment. Each time, a swarm of particles are moving in the same workspace to detect and ensure if an obstacle is present there or not near to gbest location. The particles move to the global best position, following the one which is at the minimum distance from the obstacle and stop at the certain range from the obstacle. The robot then moves to the located position each time iteratively, until and unless it reaches to the target solution. Based on the position of the obstacle, the objective function to find the exact minimum distance from the obstacle is calculated. Main objective of this paper is to provide an optimized algorithm based on PSO for robot to move from source to destination by avoiding all possible obstacles. Already existing standard PSO algorithm has been modified by introducing one more objective function which is used to perform the local search based on the global search depending on the calculated gbest value by using the standard PSO algorithm. Thus we introduce a modified version of PSO algorithm called MPSO which increases the efficiency of the already existing PSO algorithm.
robot technology has been rapidly developed more & more robots such as humanoid robots work with humans. The objective of this project is to develop a system for an autonomous mobile robot for searching and tracki...
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ISBN:
(纸本)9781479962532
robot technology has been rapidly developed more & more robots such as humanoid robots work with humans. The objective of this project is to develop a system for an autonomous mobile robot for searching and tracking sound source based target using sound sensors. Finding objects or events by following a sound source direction is an intuitive response for human and animal when they cannot see the target. Lego nxt sound sensor can detect the frequency of sound but is unable to detect the direction from where the sound is originating. PSO algorithm has been implemented for the optimization of the exact sound source. PSO (particle swarm optimization) is a stochastic population based computational method that optimizes the problem in each iteration, trying to improve the particle solutions and to get better quality of the particles each time. Objective function has been applied to detect the frequency and then the source continuously updates its position on the basis of frequency being detected. So that maximum frequency sound can be detected in minimum possible time and in exact location. Simulation work has been carried out by implementing the PSO algorithm in MATLAB to see how exactly the sound sources are detecting the frequency and at what particular frequency the source is exactly detecting the sound. Results have been computed by changing the number of iterations to see the exact location where the sound source is finding the frequency. Thus the main objective of this paper is to compute that the source is detecting the optimized maximum frequency sound by updating its gbest values continuously in every iteration and finally reaching the best possible value.
We develop an algorithm for 3D human-pose tracking through a monocular vision. The algorithm is based on body-silhouette shape matching combined with particle-filter-based selected-region tracking in the 2D view. The ...
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Falls are the leading cause of injury and death among older adults in the US. computervision systems offer a promising way of detecting falls. The present paper examines a fall detection and reporting system using th...
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Asserting the inherent topology of the environment perceived by a robot is a key prerequisite of high-level decision making. This is achieved through the construction of a concise representation of the environment tha...
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ISBN:
(纸本)9789898425980
Asserting the inherent topology of the environment perceived by a robot is a key prerequisite of high-level decision making. This is achieved through the construction of a concise representation of the environment that endows a robot with the ability to operate in a coarse-to-fine strategy. In this paper, we propose a novel topological segmentation method of generic metric maps operating concurrently as a path-planning algorithm. First, we apply a Gaussian Distance Transform on the map that weighs points belonging to free space according to the proximity of the surrounding free area in a noise resilient mode. We define a region as the set of all the points that locally converge to a common point of maximum space clearance and employ a weighed meanshift gradient ascent onto the kernel space clearance density in order to detect the maxima that characterize the regions. The spatial intra-connectivity of each cluster is ensured by allowing only for linearly unobstructed mean-shifts which in parallel serves as a path-planning algorithm by concatenating the consecutive mean-shift vectors of the convergence paths. Experiments on structured and unstructured environments demonstrate the effectiveness and potential of the proposed approach.
In this paper a function approximation technique is proposed for adaptive backstepping design of a flexible-joint robot manipulator. The dynamics of the robot manipulator are derived with the assumption that all matri...
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Integrating machine vision and motion control method into a double layers alignment system is a popular issue in flat panel display and semiconductor industry. An ultra-low stage is considered to compensate the postur...
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Many image processing applications such as noise suppression and contrast enhancement are designed to be embedded in multimedia devices such as digital cameras. In order to test the accuracy and robustness of these al...
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A proposed delay line combination (DLC) receivers have the unique ability to achieve symbol timing synchronization within a single symbol interval [1]. Although DLC receivers do not require channel estimation, the set...
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