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vision-based robot Manipulator for Industrial Applications 1

Vision-based Robot Manipulator for Industrial Applications

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1st International conference on robotics and Smart Manufacturing (RoSMa)

作者： Ali, Md. Hazrat Aizat, K. Yerkhan, K. Zhandos, T. Anuar, O. Nazarbayev Univ Sch Engn Astana 010000 Kazakhstan

This paper presents a multi-stage process of the development of a vision-based object sorting robot manipulator for industrial applications. The main aim of this research is to integrate vision system with the existing Scorbot in order to widen the capability of the integrated camera-robot system in industrial applications. Modern industrial robot Scorbot-ER 9 Pro is the focus of this research. Currently, the robot does not have an integrated vision system. Thus;a camera has been integrated to the robot gripper to achieve the target objectives. The main difficulties include establishing a relevant sequence of operations, developing a proper communication between camera and robot as well as the integration of the system components such as Matlab, Visual Basics, and Scorbase. (C) 2018 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC -ND license (https://creativecommons orgilicense4by-tic-rd14 01) Peer-review under responsibility of the scientific committee of the International conference on robotics and Smart Manufacturing.

关键词： robot vision image processing programming

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Military Surveillance robot Implementation Using robot Operating System 1

Military Surveillance Robot Implementation Using Robot Opera...

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1st International conference on Data Science and Analytics, PuneCon 2018

作者： Prakash, Aditya Walambe, Rahee Dept of Electronics and Telecommunication Symbiosis Institute of Technology Pune India

ISBN: (纸本)9781538672785

robots are becoming more and more prevalent in many real world scenarios. Housekeeping, medical aid, human assistance are a few common implementations of robots. Military and Security are also major areas where robotics is being researched and implemented. robots with the purpose of surveillance in war zones and terrorist scenarios need specific functionalities to perform their tasks with precision and efficiency. In this paper, we present a model of Military Surveillance robot developed using robot Operating System. The map generation based on Kinect sensor is presented and some test case scenarios are discussed with results. © 2018 IEEE.

关键词： computer vision

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An Autonomous Indoor Exploration robot Rover and 3D Modeling with Photogrammetry 1

An Autonomous Indoor Exploration Robot Rover and 3D Modeling...

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1st International ECTI-Northern-Section conference on Electrical, Electronics, computer and Telecommunications Engineering (ECTI-NCON)

作者： Graven, Olaf Hallan Srisuphab, Ananta Silapachote, Piyanuch Sirilertworakul, Variya Ampornwathanakun, Worrapol Anekwiroj, Pakawat Maitrichit, Nagorn Univ Coll Southeast Norway Dept Sci & Ind Syst Kongsberg Norway Mahidol Univ Fac Informat & Commun Technol Bangkok Thailand

ISBN: (纸本)9781538635520

An autonomous robot rover has been designed and developed. The proposed robot rover is capable of self-localization and self-exploration of a room or an area inside a building. Self-driving and self-navigating in unknown environments, our robot constantly scans its surrounding, incrementally and dynamically constructing a global map of the visited room. Immediately after it detects an obstacle or an obstruction, the robot car does not only stop or diverge its route in order to avoid crashing into it, but also marks its location on the map as dangerously hazard. All unoccupied spaces are registered as a safe path. While exploring, the robot is programmed to take a large number of photographs of its surrounding, which includes multiple views of each scene from multiple different angles. These images collected are used to create a three-dimensional model of the interior of the room by photogrammetric methods. In addition to a general exploration of desired regions, a robot may be presented with a selected target object. It must then chooses its own path to locate the object and to circle around it in order to take many photographs of it from all directions and to create a corresponding 3D model.

关键词： Autonomous automobiles Cameras Three-dimensional displays Laser radar Solid modeling robot vision systems

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Visual Search and Recognition for robot Task Execution and Monitoring 1

Visual Search and Recognition for Robot Task Execution and M...

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1st International conference on Applications of Intelligent Systems (APPIS)

作者： Mauro, Lorenzo Puja, Francesco Grazioso, Simone Ntouskos, Valsamis Sanzari, Marta Alati, Edoardo Freda, Luigi Pirri, Fiora Sapienza Univ Rome ALCOR Lab DIAG Rome Italy

ISBN: (纸本)9781614999294;9781614999287

Visual search of relevant targets in the environment is a crucial robot skill. We propose a preliminary framework for the execution monitor of a robot task, taking care of the robot attitude to visually searching the environment for targets involved in the task. Visual search is also relevant to recover from a failure. The framework exploits deep reinforcement learning to acquire a common sense scene structure and it takes advantage of a deep convolutional network to detect objects and relevant relations holding between them. The framework builds on these methods to introduce a vision-based execution monitoring, which uses classical planning as a backbone for task execution. Experiments show that with the proposed vision-based execution monitor the robot can complete simple tasks and can recover from failures in autonomy.

关键词： Artificial Intelligence computer vision and Pattern Recognition robotics

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Towards a Wearable Interface for Immersive Telepresence in robotics 5th

Towards a Wearable Interface for Immersive Telepresence in R...

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5th International conference on Arts and Technology, Interactivity and Game Creation (ArtsIT) / 1st International conference on Design, Learning and Innovation (DLI)

作者： Martinez-Hernandez, Uriel Szollosy, Michael Boorman, Luke W. Kerdegari, Hamideh Prescott, Tony J. Univ Leeds Inst Design Robot & Optimisat Leeds W Yorkshire England Univ Sheffield Sheffield Robot Lab Sheffield S Yorkshire England

ISBN: (纸本)9783319769080;9783319769073

In this paper we present an architecture for the study of telepresence, immersion and human-robot interaction. The architecture is built around a wearable interface that provides the human user with visual, audio and tactile feedback from a remote location. We have chosen to interface the system with the iCub humanoid robot, as it mimics many human sensory modalities, including vision (with gaze control) and tactile feedback, which offers a richly immersive experience for the human user. Our wearable interface allows human participants to observe and explore a remote location, while also being able to communicate verbally with others located in the remote environment. Our approach has been tested from a variety of distances, including university and business premises, and using wired, wireless and Internet based connections, using data compression to maintain the quality of the experience for the user. Initial testing has shown the wearable interface to be a robust system of immersive teleoperation, with a myriad of potential applications, particularly in social networking, gaming and entertainment.

关键词： Telepresence Immersion Wearable computing Human-robot interaction Virtual reality

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Design of a PC-based Open Industrial robot Control System Integrated with Real-Time Machine vision 1

Design of a PC-based Open Industrial Robot Control System In...

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1st World robot conference (WRC) / Symposium on Advanced robotics and Automation (SARA)

作者： Liu, Yanan Hu, Tianliang Ni, Hepeng Zhang, Chengrui Lin, Bao Judd, Euan Univ Bristol Bristol Robot Lab Bristol BS16 1QY Avon England Shandong Univ Sch Mech Engn Jinan 250061 Shandong Peoples R China Shandong Univ Key Lab High Efficiency & Clean Mech Manufacture Minist Educ Jinan 250061 Shandong Peoples R China

ISBN: (纸本)9781538676752

This paper presents a new industrial robot control system integrated with real-time image processing based on a Windows PC. This enables both machine vision and robot control tasks to be carried out on a single general-purpose computer rather than using two separate systems to perform different tasks. To accomplish this, a three-layer software structure is developed along with a series of standard peripheral devices in the hardware layout. Real-time performance of the system is tested and we demonstrate the system on a DELTA parallel manipulator. Experimental results show that the manipulator can pick up 120 objects on a moving conveyor per minute. This work demonstrates the feasibility of integrating real-time machine vision tasks with robot control tasks without dedicated hardware.

关键词： Real-time systems Hardware robot control Machine vision Microsoft Windows standards

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Disparity-Based Robust Unstructured Terrain Segmentation 1st

Disparity-Based Robust Unstructured Terrain Segmentation

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1st Chinese conference on Pattern Recognition and computer vision (PRCV)

作者： Zhang, Pengbo Ma, Xinzhu Wang, Zhihui Li, Haojie Luo, Zhongxuan Dalian Univ Technol 321 Tuqiang St Dalian Liaoning Peoples R China

ISBN: (纸本)9783030033415;9783030033408

Autonomous robot navigation in unstructured outdoor environment is still a challenging problem, and the terrain segmentation is one of the key tasks in robot navigation. Previous methods work well on common terrains like urban roads, but tend to fail in wild conditions due to different illumination, weather and road variations. In this paper, we propose a novel two branches terrain segmentation network based on disparity map and ground plane fitting, introducing geometric characteristics into the network. The terrain segmentation main branch uses convolutional feature layers with multiple sampling rates filters, which effectively considers local and global context information and smooths the holey information in the disparity map. The enhancement branch exploits plane geometry property of the ground plane deviation map calculated from the disparity map, which adaptively generates reference feature maps for improving the robustness of identifying traversable areas under conditions of unseen terrains. Experimental results demonstrate excellent performance of the proposed method on terrain segmentation both qualitatively and quantitatively.

关键词： Terrain segmentation Disparity-based Plane geometry property Convolutional neural network

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Autonomous Underwater Vehicle for vision Based Tracking 1

Autonomous Underwater Vehicle for Vision Based Tracking

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1st International conference on robotics and Smart Manufacturing (RoSMa)

作者： Kumar, G. Santhan Painumgal, Unnikrishnan V. Kumar, M. N. V. Chaitanya Rajesh, K. H. V. Vignans Inst Informat Technol VSEZ Vadlapudi Post Visakhapatnam 530049 Andhra Pradesh India

This paper describes about the design, construction and control of an "Autonomous Underwater Vehicle for vision Based Tracking", built in Vignan's Institute of Information Technology, Centre for Innovation Lab. The underwater vision robot is essentially an Autonomous Underwater Vehicle (AUV) for study of marine animals by automatically tracking and following them using computer vision. The AUV can also be used as a platform for Photo-mapping of the Seafloor using the onboard camera and light arrangement. The robot is proposed to have 5 thrusters configurations to achieve 4 degrees of freedom controlled by an Inertial Measurement Unit (IMU) interfaced with control unit and powered by commercial LiPo battery packs. The robot is equipped with roll, pitch, heading, and depth sensors which provide sufficient feedback signals to automatically control the vehicle to track a pre-planned trajectory. The centre of gravity and centre of buoyancy of the vehicle are positioned in such a way that it is self-stabilized. Along with this the combinations of sensors and speed control drivers provide more stability to the system using a closed loop control system, without the operator involvement. The AUV also captures videos during its mission using the camera. It is planned to have a multi-core umbilical cable for video signal, water leakage alarm, feedback signals and battery charging lines. This will be only used for development and test purposes and will be removed during autonomous missions. Various control schemes can be applied for the vehicle to track different paths. The AUV is designed to the dimension of 575x210x175mm. The AUV uses O-rings for the hulls for good water sealing effect as well as for faster assembly and disassembly. We expect this AUV development to mature in to an advanced system can be used as a platform for study of the ocean by scientists, for environmental studies and for defense applications. (C) 2018 The Authors. Published by Elsevier Ltd.

关键词： Autonomous Underwater Vehicle vision Based Control System Image Tracking and Processing

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Synchronized video and motion capture dataset and quantitative evaluation of vision based skeleton tracking methods for robotic action imitation 1st

Synchronized video and motion capture dataset and quantitati...

引用

1st International conference on Information and Communication Technology for Development for Africa, ICT4DA 2017

作者： Atnafu, Selamawet Nicola, Conci Bahir Dar Institute of Technology Bahir Dar Ethiopia University of Trento Trento Italy

ISBN: (纸本)9783319951522

Marker-less skeleton tracking methods are being widely used for applications such as computer animation, human action recognition, human robot collaboration and humanoid robot motion control. Regarding robot motion control, using the humanoid’s 3D camera and a robust and accurate tracking algorithm, vision based tracking could be a wise solution. In this paper we quantitatively evaluate two vision based marker-less skeleton tracking algorithms (the first, Igalia’s Skeltrack skeleton tracking and the second, an adaptable and customizable method which combines color and depth information from the Kinect.) and perform comparative analysis on upper body tracking results. We have generated a common dataset of human motions by synchronizing an XSENS 3D Motion Capture System, which is used as a ground truth data and a video recording from a 3D sensor device. The dataset, could also be used to evaluate other full body skeleton tracking algorithms. In addition, sets of evaluation metrics are presented. © 2018, ICst Institute for computer Sciences, Social Informatics and Telecommunications Engineering.

关键词： Anthropomorphic robots

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vision Based Intelligent Vehicle steering Control Using Single Camera for Automated Highway System 1

Vision Based Intelligent Vehicle Steering Control Using Sing...

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1st International conference on robotics and Smart Manufacturing (RoSMa)

作者： Manivannan, P. V. Ramakanth, Pulidindi IIT Madras Dept Mech Engn Chennai 600036 Tamil Nadu India

Generally, stereoscope vision is used for guiding autonomous intelligent road vehicles, as image depth can be calculated easily. However, when one of the camera fails, it will advantages to have suitable guidance algorithm that can detect the lane marking using single camera. The primary objective of this work is to develop and implement control algorithms for identifying and guiding the intelligent road vehicle in the assigned lane using image-processing techniques, using single camera. It deals with dividing the video being taken by the camera, into several number of frames. Then, the obtained frames are processed using Image acquisition techniques in Matlab. It detects the lane to be followed through image processing, calculates the angle of movement required for the robot to stay in the assigned path and commands the steering system with appropriate control algorithms. The identification of lane is done using color detection and boundary marking techniques. The image initially undergoes Inverse Perspective Mapping (IPM) for viewing the 3-D space in a 2-dimensional array. Once the IPM of the acquired image undergoes lane detection algorithm, the angle of any curve in the lane is detected using angle detection module. The robot is also made to move at the center of the path using Fuzzy Logic algorithms, where it takes distance from the left detected edge as the input and outputs the angle to be moved by the robot to stay in the center. The developed algorithm has been tested using P3-DX Pioneer mobile in laboratory condition. The experimental result obtained show that the algorithm used by the vehicle to follow the center of the lane, with any given angle or position of initiation, has worked all the times under given experimental conditions, with a maximum error of 2cm. (C) 2018 The Authors. Published by Elsevier Ltd.

关键词： Automated Highway System Intelligent Vehicle Inverse Perspective Mapping Fuzzy Logic

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