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检索条件"任意字段=2023 International Conference on Robotics, Control and Vision Engineering, RCVE 2023"

共 1303 条记录，以下是181-190 订阅

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Assessment of a Modular Upper-Limb Exoskeleton with Powered Assistance 2

Assessment of a Modular Upper-Limb Exoskeleton with Powered ...

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2nd international conference on Automation, robotics and Computer engineering, ICARCE 2023

作者： Wu, Kaida Xiang, Peihao Ramon, Rodrigo Aravelli, Aparna Lagos, Leonel Bai, Ou Florida International University Department of Electrical and Computer Engineering MiamiFL United States Florida International University Applied Research Center MiamiFL United States

ISBN: (纸本)9798350308341

Upper extremity exoskeletons can provide support to workers for carrying tasks while reducing workers' muscle fatigue and the prevalence of work-related musculoskeletal disorders in workers' elbows. Nevertheless, current upper-limb exoskeletons suffer from issues like excessive weight, inconvenient wearability, high rigidity, poor human-machine interaction, and limited modularity. To address these issues, this study introduces a design for a lightweight, powered-assistive, and modular upper-limb exoskeleton. The research developed a prototype specifically tailored for the elbow joint. The experiment encompassed three control modes (Constant torque, Gravity compensation, and Impedance control) to assess the efficacy of the exoskeleton. Subjects engaged in 'pick-hold-drop' tasks with varying loads (4kg, 3kg, 2kg), simulating real load-bearing scenarios, performed five times. The experimental results indicate that the proposed design provided effective assistance to the subjects. During the 'hold' phase, the EMG Maximum Voluntary Contraction (MVC) values of the subjects' biceps muscles notably decreased, averaging a reduction of 9.29%. © 2023 IEEE.

关键词： Muscle

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Active Target Location and Grasping Based on Language-vision-Action 17th

Active Target Location and Grasping Based on Language-Vision...

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17th international conference on Intelligent robotics and Applications

作者： Zhu, Xinxin Liu, Jin Xie, Jialong Wang, Chaoqun Zhou, Fengyu Shandong Univ Sch Control Sci & Engn Ctr Robot 17923 Jingshi Rd Jinan 250061 Peoples R China

ISBN: (纸本)9789819607822;9789819607839

This paper investigates a challenging scene in robot daily grasping services, where the target exists obstruction and visual ambiguity. Specifically, the fine-grained visual information of the target object is obstructed, e.g., text information. Besides, there are multiple objects similar to the appearance of the target object in the scene. To tackle this issue, this paper proposes an active target location and grasping framework based on joint language-vision-action. Firstly, we take the textual label information of the target object as a clue to guide the robot to explore objects. Then, to obtain more fine-grained text information about the objects in the scene, we enable the robot actively to pick up the object for observation like humans. Consequently, the robot can acquire the target object with detailed context from multiple objects and eliminate visual ambiguity. Finally, extensive experiments are conducted in both simulation and real-world scenes to verify the effectiveness of the proposed active target location and grasping system.

关键词： obstruction visual ambiguity fine-grained visual information active target location

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vision-Guided UAV Landing on a Swaying Ocean Platform in Simulation

Vision-Guided UAV Landing on a Swaying Ocean Platform in Sim...

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2023 IEEE international conference on Real-Time Computing and robotics, RCAR 2023

作者： Chen, Lingpeng Liu, Chongfeng Guo, Shuqi Qian, Huihuan The Chinese University of HongKong School of Science and Engineering Shenzhen China The Chinese University of HongKong Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

ISBN: (纸本)9798350327182

This paper presents a new method for the autonomous landing of an unmanned aerial vehicle (UAV) on a moving ocean platform in simulation. The method uses GNSS data and a lightweight boat detection algorithm to guide the UAV toward the unmanned surface vehicle (USV). Once the USV is within the view of the down-looking camera, the UAV estimates its relative position by detecting a set of ArUco markers on the USV landing pad. During the descent process, to compensate for the heave motion of the USV caused by waves, the system utilizes data from a buoy equipped with a wave sensor. Simulation experiments demonstrate the reliability and effectiveness of the proposed approach. © 2023 IEEE.

关键词： Unmanned surface vehicles

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Proceedings - 2023 3rd international conference on robotics and control engineering, RobCE 2023

Proceedings - 2023 3rd International Conference on Robotics ...

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3rd international conference on robotics and control engineering, RobCE 2023

ISBN: (纸本)9781450398107

The proceedings contain 40 papers. The topics discussed include: design and development of a semi-physical simulation for supernumerary robotic limbs;cross-media control and parameter tuning for water-air amphibious multi-rotor vehicle;a super-twisting-sliding-mode controller for four-rotor UAV;visual prediction based teleoperation control;planar problem motion stabilization using the rotational motion and the light pressure forces at the collinear libration point;Opensim-based dynamics simulation of upper limb;path planning based on electronic navigational charts for USV;research on the application of blockchain technology in big data auditing;human-like motion planning of anthropomorphic arms based on hierarchical strategy;design and application of the automatic Enteromorpha cleaning boat for offshore;and swing-up and balance control of rotary double inverted pendulum.

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Proceedings - 2023 Asia conference on Advanced robotics, Automation, and control engineering, ARACE 2023

Proceedings - 2023 Asia Conference on Advanced Robotics, Aut...

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2nd Asia conference on Advanced robotics, Automation, and control engineering, ARACE 2023

ISBN: (纸本)9798350328363

The proceedings contain 27 papers. The topics discussed include: a supervision method for online violence based on blockchain and deep learning;an iterative neighborhood blending method for multimodal product retrieval;artificial intelligence enterprise service quality evaluation system;Chinese continuous speech instruction recognition method based on improved convolutional neural network in noisy background;few-shot image semantic segmentation based on contextual information encoding strategy;indoor scene recognition based on YOLOv8 improved loss function;lightning short-impending prediction method based on SimVP spatio-temporal sequence prediction network;and MFEFNet: multi-scale feature extraction and fusion network for semantic segmentation of remote sensing images.

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vision Based Relative Position Estimation in Surgical robotics

Vision Based Relative Position Estimation in Surgical Roboti...

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2023 IEEE international conference on Network, Multimedia and Information Technology, NMITCON 2023

作者： Muthukrishnan, Ramkumar Kannan, Somasundar Prabhu, Radhakrishna Zhao, Yafan Bhowmick, Parijat Hasan, Md Junayed School of Engineering Robert Gordon University Aberdeen United Kingdom Indian Institute of Technology Electronics and Electrical Engineering Department Guwahati India Robert Gordon University National Subsea Centre Aberdeen United Kingdom

ISBN: (纸本)9798350300826

Teleoperation-based Robotic-Assisted Minimally In-vasive Surgery (RAMIS) has gained immense popularity in medical field. However, limited physical interaction between the surgeon and patient poses a significant challenge. In RAMIS, the surgeon operates the robotic system remotely, which can diminish the personal connection and raise concerns about immediate responsiveness to unforeseen situations. Additionally, patients may perceive RAMIS as riskier due to potential technological failures and a lack of direct surgeon control. Surgeons have identified accidental clashes between surgical instruments and tissues as a critical issue. This work presents a technique that measures the distance between a surgical tool and tissue by extracting feature points from a Static Virtual Marker (SVM) and employing a classic feature detection algorithm Fast Oriented and Rotated Brief (ORB). Using a customized surgical robot and a ROS-based transform measurement system, this approach was successfully validated in the Gazebo simulation environment, offering safer surgical operations. © 2023 IEEE.

关键词： Robotic surgery

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The Application of Technical vision for Automation of Measuring Cycles in CNC Machines

The Application of Technical Vision for Automation of Measur...

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2023 international Ural conference on Electrical Power engineering, UralCon 2023

作者： Krotova, Nataliya Pushkov, Roman Department of Computer Control Systems Msut 'STANKIN' Moscow Russia

ISBN: (纸本)9798350303391

This article describes a possible method for automating measurements on CNC machines that support measurements in semi-automatic mode by calling parameterized measurement cycles. The proposed method is based on the use of a vision system integrated with a CNC system and approximately determining the geometric parameters and coordinates of the workpiece to fill in the parameters of the measuring cycle. The requirements for the installation of the system hardware on the equipment are formulated. The methodology of measurement using the system is described. Algorithms for obtaining and software processing of images are described, including recognition of the area with the workpiece, automatic correction of brightness and contrast of input images and determination of the contours of the workpieces and their parameters. An algorithm for processing data on the obtained contours for calculating the approximate dimensions of the workpiece relative to the marks previously applied to the machine desktop is also described. The interaction of the vision system with the CNC system is described to run a template control program that causes a filled measuring cycle to determine the position and dimensions of the workpiece accurately. The prototype of the vision system is installed on real equipment. © 2023 IEEE.

关键词： Computer vision

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Adaptive Object Position Detection System Based On Global vision

Adaptive Object Position Detection System Based On Global Vi...

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2023 IEEE international conference on Real-Time Computing and robotics, RCAR 2023

作者： Hu, Cairong Ding, Ke Wu, Wenbo Lin, Jinhui Liu, Qianwei Lu, Junjun Yuan, Zhuo Guangdong University of Technology China Guangzhou University School of Mechanical and Electrical Engineering China Foshan University School of Mechanical and Electrical Engineering and Automation China South China Agricultural University College of Engineering China University of Sydney Australia

ISBN: (纸本)9798350327182

Currently, due to the subjectivity, complexity, and high error rate of manually detecting large and complex objects, coping with such objects has become difficult. Therefore, there is a need for an algorithm that automates object detection in robotic operations. Although there are already some automated object detection algorithms for large and complex objects, existing solutions have low autonomy and still require manual assistance in planning detection points, making them unable to handle changes in object position. This essay proposes an adaptive object position detection algorithm based on global vision, which guides robots to adapt to object positions and perform automatic detection without manual *** developed algorithm functions as follows. Firstly, a overlook 3D sensor is utilized to acquire the global point cloud information of the scene and locate the object. Secondly, the PPF algorithm is employed to match features for the necessary detection points of the object, enabling rough positioning to acquire spatial location information of the required detection points. Thirdly, all the obtained information of the required detection points is used for trajectory planning, guiding a high-precision eye-in-hand detection robot to achieve precise detection. The algorithm's performance is verified through scene construction and testing on an automobile skid model. © 2023 IEEE.

关键词： Skids

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Humanoid Robots that Move on Two Feet and Are Led by vision Systems 3

Humanoid Robots that Move on Two Feet and Are Led by Vision ...

引用

3rd international conference on Technological Advancements in Computational Sciences, ICTACS 2023

作者： Singh, Kamred Udham Kumar, Ankit Kumar, Gaurav Singh, Teekam Kumar, Santosh Yadav, Satya Prakash School of Computing Graphic Era Hill University Dehradun India Gla University Department of Computer Engineering & Applications UP Mathura India Graphic Era Deemed to Be University Department of Computer Science and Engineering Dehradun India Jaipuria Institute of Management Department of Management Jaipur302033 India Glbitm Department of Computer Science and Engineering UP Greater Noida India

ISBN: (纸本)9798350342338

At the convergence of robotics and computer vision lies a crucial research field that focuses on the development of vision-guided walking for humanoid robots. The ability of humanoid robots to walk independently while simultaneously seeing and comprehending their surroundings via the use of visual inputs offers tremendous potential. Humanoid robots are developed to reproduce human-like qualities and skills. This abstract discusses current developments in the area of vision-guided walking for humanoid robots as well as the approaches that have been used. Through the use of computer vision methods in conjunction with walking algorithms, humanoid robots are given the capacity to traverse situations that are both complex and dynamic while exhibiting increased flexibility. For this, real-time sensing of the environment, object identification and avoidance of obstacles, as well as analysis of the terrain, are required in order to arrive at intelligent judgements while moving. vision-guided walking not only makes robotic locomotion more secure and effective, but it also paves the way for a wide range of potential applications, including exploration, human-robot interaction, search and rescue, and many more. Visual sensing systems, sensor fusion procedures, gait generation methods, motion planning, and control strategies. These topics are discussed in relation to vision-guided walking. Different types of sensors, such as cameras, depth sensors, and LiDAR, are being investigated to see how they can best provide a holistic understanding of the surrounding environment. In addition, the abstract draws attention to the difficulties caused by sensor noise, occlusions, fluctuations in illumination, and the need for real-time processing. In places an emphasis on the role that methods of machine learning play in the improvement of vision-guided walking. The use of deep learning algorithms gives robots the ability to learn from data, hence enhancing their capacity to understand and r

关键词： Head movement in robot Humanoid robots Planning and control Proprioceptive sensors Sensors vision guided

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vision-Based Hybrid Detection for Pick and Place Application in Robotic Manipulators

Vision-Based Hybrid Detection for Pick and Place Application...

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2023 international conference on robotics and Automation in Industry, ICRAI 2023

作者： Anjum, Muhammad Umar Khan, Umar Shabaz Qureshi, Waqar Shahid Hamza, Ameer Khan, Wajih Ahmed College of Electrical and Mechanical Engineering National University of Sciences and Technology Department of Mechatronics Engineering Islamabad Pakistan

ISBN: (纸本)9781665464727

Pick and place using cobots is a common application in industry. In a cyber-physical system, a smarter cobot with vision sensing can decrease the uncertainty in decision-making for acquiring the position of objects in a scene. In this paper, a UR5 cobot is used as a cobot to automatically detect objects on a tabletop utilizing a monocular wrist camera. An improved statistical method and error reduction approach is designed by formulation of a mathematical relation for estimating the position of the object (w.r.t to the manipulator coordinate system) using the object detected in the camera coordinate system. Firstly, correspondence between simulated world coordinates and image coordinates is used to make a relation. This is followed by an error reduction approach by capturing multiple images and gradually moving towards the target centre. The object location accuracy of 99.785% was achieved using the statistical method. The error is reduced up to 2mm which is compensated since the gripper is still able to pick up the object. Our proposed method can be used to accurately approach an object's location and can be used effectively in pick-and-place applications using robotic manipulators. Fruit sorting has been used as a sample application however the proposed method is generic and can be applied to any object. © 2023 IEEE.

关键词： Decision making

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