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A Novel Auto-focusing Method Applied to Micro Manipulation System

引用

1st International conference Intelligent robotics and Applications

作者： Wang, Chaohui Guo, Guang Zhang, Xin Ye, Peng Xi An Jiao Tong Univ Sch Mech Engn Xian 710049 Peoples R China

ISBN: (纸本)9783540885160

The MEMS (Microelectromechanical Systems) technology is a new interesting research direction which aims to manufacture and assembly of micro-systems. The research of micro assembly robot has. significances of academy and commerce. In the paper the theory and related key technologies of micro-assembly robot based on computer microscope vision feedback were investigated To enlarge the manipulation area. a novel method of microscope focusing automatically was studied. The focusing process was carried out in cursory step and accurate one. The coarse focusing was based oil the image My histogram while the accurate one compared the width of image edges. Theory analysis and experiments showed that this algorithm enlarged the microscope focusing depth, with the advantages of simplicity and good real time performance.

关键词： Microscope vision image preprocessing auto focusing

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stereoscopic vision for a humanoid robot using genetic programming

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EvoWorkshops 2000: 2nd European Workshop on Evolutionary Computation in Image Analysis and Signal Processing, EvoIASP 2000, 1st European Workshop on Evolutionary Computation in Systems, Control and Drives in Industry, Evo-SCONDI 2000, 2nd European Workshop on Evolutionary Telecommunications, EvoTel 2000, 1st European Workshop on Evolutionary Scheduling and Timetabling, Evostim 2000, 3rd European Workshop on Evolutionary robotics, EvoRob 2000 and 1st European Workshop on Evolutionary Aeronautics, EvoFlight 2000 held in conjunction with European conference on Genetic Programming, EuroGP 2000 and 3rd International conference on Evolvable Systems, ICES 2000

作者： Graae, Christopher T. M. Nordin, Peter Nordahl, Mats Complex Systems Group Institute of Physical Theory Chalmers University of Technology GöteborgS-412 96 Sweden

ISBN: (纸本)3540673539

In this paper we introduce a new approach to adaptive stereoscopic vision. We use genetic programming, where the input to the individuals is raw pixel data from stereo image-pairs acquired by two CCD cameras. The output from the individuals is the disparity map, which is transformed to a 3D map of the captured scene using triangulation. The used genetic engine evolves machine-coded individuals, and can thereby reach high Performance on weak computer architectures. The evolved individuals have an average disparity-error of 1.5 pixels, which is equivalent to an uncertainty of about 10% of the true distance. This work is motivated by applications to the control of autonomous humanoid robots - The Humanoid Project at Chalmers. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Genetic programming

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stabilized solution for 3-D model parameters

Stabilized solution for 3-D model parameters

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1st European conference on computer vision, ECCV 1990

作者： Lowe, David G. Computer Science Dept. Univ. of British Columbia VancouverBCV6T 1W5 Canada

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Lessons Learned from Using Personas and Scenarios for Requirements Specification of Next-Generation Industrial robots

Lessons Learned from Using Personas and Scenarios for Requir...

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1st International conference on Design, User Experience, and Usability (DUXU)/14th International conference on Human-computer Interaction (HCI)

作者： Bjorndal, Petra Rissanen, Mikko J. Murphy, steve ABB Corp Res Ind Software Syst Forskargrand 7 S-72178 Vasteras Sweden ABB Discrete Automat & Mot Robot S-43190 Molndal Sweden

ISBN: (纸本)9783642216756;9783642216749

As development and productization of complex technology for new markets is challenging, it is crucial to get valid information about the intended future users and represent that information in a proper way to technical experts and project management. This case study describes experiences from using the "engaging personas and narrative scenarios" approach [1], [2] for defining requirements for next-generation industrial robots. We found that additional steps were necessary to supplement the methodology to fit the development of complex industrial robots, namely globalization, validation of personas among end users, prioritization of personas, creation of common vocabulary, identification of business critical scenarios and identification of safety critical situations. The main benefit from using personas and scenarios was their role as communication catalyst and how the descriptions facilitate building a common vision within the project team.

关键词： Persona Scenario UCSD robot development

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1st International conference on Advancements in Automation, robotics and Sensing, ICAARS 2016

1st International Conference on Advancements in Automation, ...

引用

1st International conference on Advancements in Automation, robotics and Sensing, ICAARS 2016

ISBN: (纸本)9789811028441

The proceedings contain 11 papers. The special focus in this conference is on Remote Material Handling Systems, Industrial robotics, Mobile robotics, Adaptive Control, vision System, Smart Materials and Tele-Operation. The topics include: A customized servo manipulator for remote handling in nuclear facilities;an evolution of remote handling technology for the Indian nuclear research and industry scenario;rigid body transformations for calibration of prototype fast breeder reactor, steam generator inspection device;dynamic modelling approaches for a 3-PPR planar parallel manipulator;a 4PRP redundant parallel planar manipulator for the purpose of lower limb rehabilitation;development of a mobile robot for remote radiation measurement;development of an amphibian legged robot based on Jansen mechanism for exploration tasks;investigation on actuation and thermo-mechanical behavior of shape memory alloy spring by comparing on/off and PID controller for precise position control;development of automated scanners for underwater and under-sodium ultrasonic imaging;soft robotic skin from intelligent meta-materials and a method of blindfolded opening of a door in high radiation areas using a compliance controlled Tele-robot.

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InterTrack: Interaction Transformer for 3D Multi-Object Tracking 20

InterTrack: Interaction Transformer for 3D Multi-Object Trac...

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20th conference on robots and vision (CRV)

作者： Willes, John Reading, Cody Waslander, steven L. Univ Toronto Robot Inst Toronto ON Canada

ISBN: (纸本)9798350341393

3D multi-object tracking (MOT) is a key problem for autonomous vehicles, required to perform well-informed motion planning in dynamic environments. Particularly for densely occupied scenes, associating tracks to new detections remains challenging as existing systems tend to omit critical contextual information. Our proposed solution, InterTrack, introduces the Interaction Transformer for 3D MOT to generate discriminative object representations for data association. We extract state and shape features for each track and detection, and efficiently aggregate global information via attention. We then perform a learned regression on each track/detection feature pair to estimate affinities, and use a robust two-stage data association and track management approach to produce the final tracks. We validate our approach on the nuScenes 3D MOT benchmark, where we observe significant improvements, particularly on classes with small physical sizes and clustered objects. As of submission, InterTrack ranks 1st in overall AMOTA among methods using CenterPoint [1] detections.

关键词： Motion planning

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A Networked robot System for Wireless Network Emulation 1

A Networked Robot System for Wireless Network Emulation

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1st International conference on robot Communication and Coordination, RoboComm 2007

作者： Chiueh, Tzi-Cker Krishnan, Rupa De, Pradipta Chiang, Jui-Hao Computer Science Department Stony Brook University United States

ISBN: (纸本)9789639799080

A major barrier to advancing modern wireless networking research is the lack of an effective wireless network simulation platform that simultaneously offers high fidelity, scalability, reproducibility and ease of use. MiNT [8], [7] is an innovative wireless network emulation platform that is specifically designed to satisfy all these desirable properties. To support reconfigurable network topology and wireless node mobility, MiNT is built on a networked robot system that carries wireless networking equipments and is designed to be completely tetherless, capable of supporting 24X7 operation, and low-cost. This paper describes the design, implementation and evaluation of this networked robot system. Each robot node in MiNT is an irobot’s Roomba, which is modified to house an embedded PC equipped with multiple wireless networking interfaces and to re-charge the embedded PC through Roomba’s built-in self-charging mechanism. For robot navigation and movement, MiNT’s networked robot system supports a computer vision-based robot positioning mechanism and a collision avoidance-driven trajectory planning component. Finally, MiNT provides an interactive control interface and visualization interface to give users real-time visibility into and full control over the MiNT testbed. Copyright © 2011-2012 ICst

关键词： Wireless networks

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BIODEVICES 2008 - Proceedings of the 1st International conference on Biomedical Electronics and Devices

BIODEVICES 2008 - Proceedings of the 1st International Confe...

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BIODEVICES 2008 - 1st International conference on Biomedical Electronics and Devices

ISBN: (纸本)9789898111173

The proceedings contain 113 papers. The topics discussed include: brain computer interface - comparison of neural networks classifiers;autoregressive features for a thought-to-speech converter;treatment of mitral valve insufficiency by shape memory polymer based active annuloplasty;biomaterial for soft tissue replacements;preclinical testing of a new venous valve;multiparameter single locus integrated multilayer polymer microsensor system;novel controller for rebreather diving systems - true sensor signal validation and safe oxygen injection;probabilistic workpsace scan modes of a robot manipulator commanded by EEG signals;ICT and persons with disabilities - the solution or the problem?;multivariate, multiorgan and multiscale integration of information in biomedical signal processing;outthinking and enhancing biological brains;omnidirectional vision tacking system based on Kalman filtering and omnicamshift;and a reconfigurable system for movement rehabilitation and diagnostics with FES.

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Utilizing geographic information system data for unmanned aerial vehicle position estimation

Utilizing geographic information system data for unmanned ae...

引用

canadian conference on computer and robot vision

作者： Patterson, Timothy McClean, Sally Morrow, Philip Parr, Gerard School of Computing and Information Engineering University of Ulster Cromore Road Coleraine BT52 1SA United Kingdom

ISBN: (纸本)9780769543628

For many sensing applications Unmanned Aerial Vehicles (UAVs) can provide a lightweight and highly portable solution. Inevitably they may encounter malfunctions, the most serious of which may require the UAV to land as soon as possible. From a safety prospective it is insufficient to assume the UAV can safely reach a previously determined safe landing site. It is therefore desirable to utilize a reliable source of knowledge such as Geographic Information System (GIS) data to aid in autonomous safe landing site detection. However, before this knowledge can be exploited the UAVs position must be known. This position is commonly estimated using GPS the failure of which may be the very reason an abort command has been issued. Presented in this paper is a method of UAV position estimation which can be executed in the event of GPS failure. Preliminary results are presented based on aerial imagery from the Antrim Plateau region of Northern Ireland which indicate potential in the approach used. © 2011 IEEE.

关键词： Geographic information systems

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Neural Markov Random Field for stereo Matching

Neural Markov Random Field for Stereo Matching

引用

IEEE/CVF conference on computer vision and Pattern Recognition (CVPR)

作者： Guan, Tongfan Wang, Chen Liu, Yun-Hui Chinese Univ Hong Kong Hong Kong Peoples R China Univ Buffalo Spatial AI & Robot Lab Buffalo NY USA

ISBN: (纸本)9798350353013;9798350353006

stereo matching is a core task for many computer vision and robotics applications. Despite their dominance in traditional stereo methods, the hand-crafted Markov Random Field (MRF) models lack sufficient modeling accuracy compared to end-to-end deep models. While deep learning representations have greatly improved the unary terms of the MRF models, the overall accuracy is still severely limited by the hand-crafted pairwise terms and message passing. To address these issues, we propose a neural MRF model, where both potential functions and message passing are designed using data-driven neural networks. Our fully data-driven model is built on the foundation of variational inference theory, to prevent convergence issues and retain stereo MRF's graph inductive bias. To make the inference tractable and scale well to high-resolution images, we also propose a Disparity Proposal Network (DPN) to adaptively prune the search space of disparity. The proposed approach ranks 1st on both KITTI 2012 and 2015 leaderboards among all published methods while running faster than 100 ms. This approach significantly outperforms prior global methods, e.g., lowering D1 metric by more than 50% on KITTI 2015. In addition, our method exhibits strong cross-domain generalization and can recover sharp edges. The codes at https://***/aeolusguan/NMRF.

关键词： Markov Random Field Neural Message Passing stereo Matching Transformer

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