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94 篇 会议

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检索条件"任意字段=21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016"

共 94 条记录，以下是21-30 订阅

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Utilization of textured stereovision for registration of 3D models of objects 21

Utilization of textured stereovision for registration of 3D ...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Kornuta, Tomasz stefanczyk, Maciej Warsaw Univ Technol Inst Control & Computat Engn Nowowiejska 15-19 PL-00665 Warsaw Poland IBM Res 650 Harry Rd San Jose CA 95120 USA

ISBN: (纸本)9781509018666

RGB-D sensors triggered a rapid progress in the field of robot visual perception. A typical visual perception subsystem relies on finding the correspondences between features extracted from RGB-D images retrieved from robot sensors and models of objects. In this paper we introduce a multi-camera setup supplemented with an additional pattern projector used for registration of high-resolution images of objects. The objects are placed on a fiducial board with two dot patterns enabling robust extraction of masks of the placed objects and estimation of their initial poses. The acquired dense point clouds constituting subsequent object views undergo pairwise registration and at the end are optimized with a graph-based technique derived from SLAM. The combination of all those elements resulted in a system for generation of consistent 3D models of objects. We present details of the developed system and conclude the paper with discussion of the achieved results.

关键词： Graphic methods

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Evaluation of Calibration Results Using the Least Median of Squares Method in the Case of Linear Multivariate models 21

Evaluation of Calibration Results Using the Least Median of ...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Buchczik, Dariusz Ilewicz, Witold Silesian Tech Univ Inst Automat Control Measurement & Control Syst Grp PL-44100 Gliwice Poland

ISBN: (纸本)9781509018666

Robust estimation procedures make it possible to reduce the leverage of outliers on the measurement results. Application of the least median of squares (LMS) method to determine the calibration curves of measuring instruments involves the need to evaluate the obtained results. This paper proposes the method of estimating the variance of the LMS regression coefficients, which allows the evaluation of the quality of the set regression coefficients. The concept of an a priori estimation consists in performing an estimation before the measurement experiment. The a posteriori estimation uses the data from the previously conducted measurement experiment, thus making it possible to obtain much more accurate results compared with the a priori method. Simulation tests were carried out in order to compare the estimation results with the ones obtained in the course of the simulated experiment. The obtained results confirm that the proposed concepts are correct.

关键词： calibration robust estimators least median of squares method

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Application of Vision Information to Planning Trajectories of Adept Six-300 Robot 21

Application of Vision Information to Planning Trajectories o...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Tadeusz, Szkodny Silesian Tech Univ Fac Automat Control Elect & Comp Sci Akad 16 St PL-44100 Gliwice Poland

ISBN: (纸本)9781509018666

This article(1) presents the algorithms of calculations of the manipulation object coordinate position and orientation, for the planning movement of the robot Adept Six-300. Two cameras Edimax IC-7100P observe objects in the robot environment. To geometric calibration of these cameras it was used the original algorithm that does not require calculation of the projection matrix or fundamental matrix. Thanks to this used algorithm is faster and more accurate than methods with these arrays. The input of these algorithms are the coordinates of the characteristic points of the manipulation object, obtained by these two cameras. On the basis of these input data the coordinates of the position and orientation of the object seen by the cameras are calculated. For these coordinates the joint variables of the manipulator are calculated by means of the program that takes into account the singular configurations and that optimize a quality indicator. These variables describe the trajectory approaching of the gripper to the object, grasp and pick up it. All calculations are doing in external computer constituting a server that cooperates with cameras and robot controller, by means of the Ethernet.

关键词： Computer Vision for other Robotic Applications Computer Vision for automation Motion and Path Planning

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Collision-free path planning in indoor environment using a quadrotor 21

Collision-free path planning in indoor environment using a q...

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21st international conference on methods and models in automation and robotics, mmar 2016

作者： Copot, Cosmin Hernandez, Andres Mac, Thi Thoa De Keyse, Robin Department of Electromechanics Op3Mech University of Antwerp Groenenborgerlaan 171 Antwerp2020 Belgium Department of Electrical Energy Systems and Automation DySC Ghent University Ghent-Zwijnaarde9052 Belgium

ISBN: (纸本)9781509018666

This paper presents a new approach of a path planing algorithm applied in an indoor environment. Path planning or motion planning is an essential part of navigating mobile agents. The goal of path planning is to specify a collision-free trajectory between the start state and the goal state for a mobile agent. The estimation of the absolute position inside the testing environment is performed based on visual ground patterns and image processing technique. A graph search algorithm, A-, find the shortest path considering not only a distance cost but also an additional cost function for controlling the safety. An illustrative example of a quadrotor is used to evaluate the robustness of algorithm. © 2016 IEEE.

关键词： Motion planning

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A hierarchical global path planning based on multi-objective particle swarm optimization 21

A hierarchical global path planning based on multi-objective...

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21st international conference on methods and models in automation and robotics, mmar 2016

作者： Mac, Thi Thoa Copot, Cosmin Duc, Trung Tran De Keyser, Robin Department of Electrical Energy Systems and Automation Ghent University Belgium School of Mechanical Engineering Hanoi University of Science and Technology Viet Nam Op3Mech University of Antwerp Belgium

ISBN: (纸本)9781509018666

In this study, a novel hierarchical global path planning approach for mobile robot navigation in a clutter environment is proposed. This approach has a three - level structure to obtain a feasible, optimal and safe path. In the first level, the triangular decomposition method is used to quickly establish a geometric free configuration space of the robot. In the second level, Dijkstra's algorithm is applied to find a collision - free path used as input reference for the next level. Lastly, a proposed particle swarm optimization called constrained multi-objective particle swarm optimization (CMOPSO) with an accelerated update methodology is employed to generate the global optimal path with the focus on minimizing the path length and maximizing path smoothness. The simulations illustrates the superiority of this method in terms of solution quality and actual execution time. © 2016 IEEE.

关键词： Particle swarm optimization (PSO)

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stability analysis of a tri-wheel mobile robot

Stability analysis of a tri-wheel mobile robot

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international conference on methods and models in automation and robotics (mmar)

作者： Ryszard Beniak Tomasz Pyka Faculty of Electrical Engineering Opole University of Technology Opole Poland

This paper presents a solution to the stability problem for a tri-wheel mobile robot with non-slip castor wheel. It is assumed that the robot is moving on a flat ground. The stability analysis is conducted for a nonho... 详细信息

关键词： Mobile robots stability analysis Wheels Numerical stability Asymptotic stability Lyapunov methods

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Phase shift determination for azimuth angle estimation of echo arrival direction

Phase shift determination for azimuth angle estimation of ec...

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international conference on methods and models in automation and robotics (mmar)

作者： Bogdan Kreczmer Chair of Cybernetics and Robotics Wrocaw University of Technology Wroclaw Poland

The paper presents a method of echo azimuth angle estimation for ultrasonic range finders. The method is based on phase shift determination. Because of size of applied transducers it is not possible to determine the shift in a direct way. This problem is discussed and error analysis is presented as well as some experimental results.

关键词： Receivers Transducers Sonar Array signal processing Estimation Acoustics Microphones

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Robust control of bicycle model with CMG

Robust control of bicycle model with CMG

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international conference on methods and models in automation and robotics (mmar)

作者： Maciej Różewicz Adam Piłat Akademia Górniczo-Hutnicza im. Stanislawa Staszica Kraków

This paper is an extension of previous work, where authors developed a nonlinear model and its linear approximation of bicycle (or single track vehicle generally) with controlled moment gyro (CMG) used for stability algorithm in vertical direction. Also, simple stability was proposed. This extension focuses on robustness of control.

关键词： Uncertainty Mathematical model Bicycles Transfer functions Robustness stability analysis Analytical models

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Adaptation in active noise control — A simulation case study

Adaptation in active noise control — A simulation case stud...

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international conference on methods and models in automation and robotics (mmar)

作者： Małgorzata Michalczyk Teresa Główka Jarosław Figwer Institute of Automatic Control Silesian University of Technology Gliwice Poland

In this paper properties of adaptive algorithms utilising ideas of stochastic gradient search optimisation applied to noise reduction are discussed. A focus on their average rate of convergence as well as on the obtained noise reduction is given. The presented discussion is based on a simulation case study devoted to noise reduction using a feedforward adaptive active noise control system.

关键词： Adaptation models Microphones stochastic processes Noise reduction Adaptive systems Optimization Feedforward neural networks

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Computational intelligence method for ship trajectory planning

Computational intelligence method for ship trajectory planni...

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international conference on methods and models in automation and robotics (mmar)

作者： Mostefa Mohamed-Seghir Department of Ship Automation Gdynia Maritime University Gdynia Poland

This paper addresses the problem of ship trajectory planning in a collision situation. The objectives of this paper are twofold. The first objective is to propose the optimal safe ship trajectory in collision situation is presented as multistage decision-making in a fuzzy environment. The second objective is to use method based on the neural network to determine a safe ship trajectory planning. The maneuverability parameters of the ship and the navigator's subjective assessment in making a decision are taken under consideration in the process model.

关键词： Marine vehicles Neurons Trajectory Navigation Fuzzy sets Decision making Heuristic algorithms

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