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TER: A system for robotic Tele-echography 4th

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4th International conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2001

作者： Gonzales, Adriana Vilchis Cinquin, Philippe Troccaz, Jocelyne Guerraz, Agnès Hennion, Bernard Pellissier, Franck thorel, Pierre Courages, Fabien Gourdon, Alain Poisson, Gérard Vieyres, Pierre Caron, Pierre Mérigeaux, Olivier Urbain, Loïc Daimo, Cédric Lavallée, Stéphane Arbeille, Philippe Althuser, Marc Ayoubi, Jean-Marc Tondu, Bertrand Ippolito, Serge TIMC/IMAG lab Domaine de la Merci La Tronche cedexF-38706 France France Telecom R and D 28 chem du vieux Chêne BP 98 Meylan cedexF-38243 France Laboratoire Vision et Robotique 63 avenue de Lattre de Tassigny Bourges cedexF-18020 France SINTERS BP1311 Toulouse cedex 01F-31106 France PRAXIM Le Grand Sablon 4 av. de l’Obiou La TroncheF-38700 France CHU Trousseau Unité de Médecine et Physiologie Spatiale ToursF-37044 France CPDPN CHU de Grenoble BP 217 Grenoble cedex 9F-38043 France LESIA Electrical and CS Eng. Dept INSA Campus de Rangueil ToulouseF-31077 France

ISBN: (纸本)3540426973

the quality of ultrasound based diagnosis highly depends on the operator’s skills. Some healthcare centres may not have the required medical experts on hand when needed and therefore may not benefit from highly specialized ultrasound examinations. the aim of this project is to provide a reliable solution in order to perform expert ultrasound examinations in distant geographical areas and for the largest population possible. TER is a tele-robotic system designed and developed by a French consortium composed of universities, hospitals and industrial companies. One originality of TER is the development of a compliant slave robot actuated by muscles. this slave robot is teleoperated by an expert clinician who remotely performs the exam. In this paper, we present the architecture of TER and describe its components. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Slave robots

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URBI: towards a universal robotic body interface

URBI: towards a universal robotic body interface

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IEEE-RAS International conference on Humanoid robots

作者： J.-C. Baillie Laboratory of Electrical and Computer Engineering ENSTA Paris France

the recent development of cheap and powerful humanoid and animal-like robots has been accompanied by the development of a variety of softwares, libraries and other interfaces to control the robots. the diversity and complexity of these interfaces slow down the development of robotics and we believe that there is a need for a standard which could be universal, powerful and easy to implement. URBI, a universal robotic body interface, aims at providing the ground for such a standard. It is based on a client/server architecture. the server is running on the robot and accessed by the client, typically via TCP/IP. URBI includes a scripted language used from the client and capable of controlling the joints of the robot or access its sensors, camera, speakers or any accessible part of the machine. We describe here how URBI differs from currently existing solutions, and present its specifications and capabilities using practical examples. We also introduce the URBI C++ library which provides a simple and yet powerful way to program a client and to make a full use of the functionalities of URBI. We also give examples of URBI running on an Aibo ERS7 and analyse the performances of this implementation over the wireless connection.

关键词： Humanoid robots robot sensing systems Software libraries robot control Standards development TCPIP Natural languages robot vision systems Cameras Performance analysis

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Navigation assistance for a BCI-controlled humanoid robot

Navigation assistance for a BCI-controlled humanoid robot

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IEEE International conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Damien Petit Pierre Gergondet Andrea Cherubini Maxime Meilland Andrew I. Comport Abderrahmane Kheddar CNRS-AIST Joint Robotics Laboratory (JRL) Tsukuba Japan CNRS-UM2 LIRMM Interactive Digital Human group Montpellier France CNRS-I3S Laboratory University of Nice Sophia Antipolis France

We present an assisted navigation scheme designed to control a humanoid robot via a brain computer interface in order to let it interact with the environment and with humans. the interface is based on the well-known steady-state visually evoked potentials (SSVEP) and the stimuli are integrated into the live feedback from the robot embedded camera displayed on a Head Mounted Display (HMD). One user controlled the HRP-2 humanoid robot in an experiment designed to measure the performance of the new navigation scheme based on visual SLAM feedback. the new navigation scheme performance is tested in an experience where the user is asked to navigate to a certain location in order to perform a task. It results that without the navigation assistance it is much more difficult to reach the appropriate pose for performing the task. the detailed results of the experiments are reported in this paper, and we discuss the possible improvements of our novel scheme.

关键词： Navigation Collision avoidance Humanoid robots Cameras robot vision systems Manuals

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YuMi-Chess: Applying Synthetic Image Generation in Real World Scenarios

YuMi-Chess: Applying Synthetic Image Generation in Real Worl...

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Electrical, computer, Communications and Mechatronics Engineering (ICECCME), International conference on

作者： Johannes Metzler Paul Philipp Seiler Till Haas Dirk Reichelt Chair of Information Management HTWD University of Applied Sciences Dresden Germany

ISBN: (数字)9798350391183

ISBN: (纸本)9798350391190

In this paper, we present a comprehensive approach to utilizing synthetic image data for computer vision tasks in real-world industrial applications. Specifically, we focus on an ABB vision-guided industrial robot designed to play chess, which exemplifies many pick-and-place tasks in industrial environments. Today's vision systems in robotics, which rely heavily on convolutional neural networks (CNNs), have achieved high accuracy but require extensive real-world data for training, which is often resource-intensive to collect. To mitigate this, we leverage synthetic data generation, which replicates the visual diversity of actual industrial environments, thereby enhancing model generalization while reducing dependency on real data collection. Our work builds on previous research by extending capabilities to not only recognize chess pieces but also determine their spatial positions within the robot's coordinate space, handle unusual edge cases, like fallen pieces and calibrating methods for the chessboard. We integrate a advanced chess engine to improve decision-making in the robot's chess-playing abilities. this study demonstrates that synthetic data can significantly streamline the development and deployment of robust vision-guided robotic applications, providing a scalable solution for various industrial tasks.

关键词： Training Visualization Service robots robot kinematics Neural networks Production Streaming media Recording robots Synthetic data

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4th International conference on robotics, computer vision and Intelligent Systems, ROBOVIS 2024

4th International Conference on Robotics, Computer Vision an...

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4th International conference on robotics, computer vision and Intelligent Systems, ROBOVIS 2024

ISBN: (纸本)9783031590566

the proceedings contain 29 papers. the special focus in this conference is on robotics, computer vision and Intelligent Systems. the topics include: Park Marking Detection and Tracking Based on a Vehicle On-Board System of Fisheye Cameras;analysis of Age Invariant Face Recognition Efficiency Using Face Feature Vectors;uncertainty Driven Active Learning for Image Segmentation in Underwater Inspection;Enhancing Connected Cooperative ADAS: Deep Learning Perception in an Embedded System Utilizing Fisheye Cameras;Weapon Detection Using PTZ Cameras;improving Semantic Mapping with Prior Object Dimensions Extracted from 3D Models;Offline Deep Model Predictive Control (MPC) for Visual Navigation;BiGSiD: Bionic Grasping with Edge-AI Slip Detection;GAT-POSE: Graph Autoencoder-Transformer Fusion for Future Pose Prediction;UCorr: Wire Detection and Depth Estimation for Autonomous Drones;a Quality-Based Criteria for Efficient View Selection;Multi-UAV Weed Spraying;human Comfort Factors in People Navigation: Literature Review, Taxonomy and Framework;region Prediction for Efficient robot Localization on Large Maps;utilizing Dataset Affinity Prediction in Object Detection to Assess Training Data;Optimizing Mobile robot Navigation through Neuro-Symbolic Fusion of Deep Deterministic Policy Gradient (DDPG) and Fuzzy Logic;DAFDeTr: Deformable Attention Fusion Based 3D Detection Transformer;MDC-Net: Multimodal Detection and Captioning Network for Steel Surface Defects;operational Modeling of Temporal Intervals for Intelligent Systems;A Meta-MDP Approach for Information Gathering Heterogeneous Multi-agent Systems;interacting with a Visuotactile Countertop;a Color Event-Based Camera Emulator for robot vision;fast Point Cloud to Mesh Reconstruction for Deformable Object Tracking;estimation of Optimal Gripper Configuration through an Embedded Array of Proximity Sensors;the Twinning Technique of the SyncLMKD Method;intuitive Multi-modal Human-robot Interaction via Posture and Voice;virtual Mo

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Multiple moving object monitoring in robot vision

Multiple moving object monitoring in robot vision

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IEEE International conference on Engineering Technologies and Applied Sciences (ICETAS)

作者： Davood Pour Yousefian Barfeh Ricky V. Bustamante Felino P. Lansigan Editha C. Jose Eduardo R. Mendoza Vladimir Y. Mariano College of Engineering and Computer Studies Lyceum of the Philippines University-Laguna Calamba City Philippines College of Arts and Sciences University of the Philippines-Los Baños Laguna Philippines Physics and Center for Nanoscience Ludwig Maximilian University Munich Germany School of Science and Technology RMIT University HCMC Vietnam

In this study, the researchers propose and implement an algorithm as an autonomous robot having a stationary camera to monitor many targets (moving objects). the robot uses apportioning to grasp position of all moving objects. through apportioning, the scene is parted into three major regions while each region has different sub-regions. the status of the robot system can be in three modes of unsafe mode, safe mode and over-safe mode based on the position of all targets. Regarding each mode, the robot accomplishes suitable movement to pursue monitoring of the targets. All movements of the robot are based on two rules. First rule focuses on maintaining the system in the safe mode, while the second rule pays attention to fairness. the robot is implemented and tested in indoor with different factors such as FPS, resolution, minimum number of frames for motion detection, and minimum area of change for motion detection.

关键词： Monitoring Target tracking Motion detection Cameras robots Partitioning algorithms

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vision-based Control for Open-source Mobile robots

Vision-based Control for Open-source Mobile Robots

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Vocational Education and Training (ICOVET), International conference on

作者： Ryosuke Miyata Yunan He Osamu Fukuda Nobuhiko Yamaguchi Hiroshi Okumura Anik Nur Handayani Graduate School of Science and Engineering Saga University Saga Japan Universitas Negeri Malang Malang Indonesia

ISBN: (数字)9781728181318

ISBN: (纸本)9781728181325

In this research, we developed an AI autonomous mobile robot based on open-source software. this robot is capable of voice recognition and object recognition, and with these functions, the robot can find and approach the object specified though a user's voice. Since the robot is controlled with the voice commands, the user can control the robot intuitively. We used a software platform named robot Operating System (ROS) to speed up the development. All functions including voice recognition, object recognition, and robot control are implemented in a single board computer based on open source software. We conducted the preliminary experiments and verified the performance of the developed system.

关键词： robots Speech recognition Image recognition Mobile robots robot kinematics robot sensing systems Artificial intelligence

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Online vision-Based 3D Reconstruction for Shared Human-robot Workspaces

Online Vision-Based 3D Reconstruction for Shared Human-Robot...

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Electrical, computer, Communications and Mechatronics Engineering (ICECCME), International conference on

作者： Philip Keller Genessis Perez Rivera Tristan Schnell Rüdiger Dillmann FZI Forschungszentrum Informatik Karlsruhe Germany

ISBN: (数字)9798350391183

ISBN: (纸本)9798350391190

In applications where robot arms collaborate with humans, the corresponding shared workspaces are very dynamic and not as predictable as purely robotic ones. Unknown obstacles, such as arbitrary boxes or tools placed by humans, might appear at any time and require the robot to react accordingly. Often, expensive Lidar- or depth-sensors are applied in these scenarios. Instead, we propose an approach to check for obstacles and prevent potential collisions in the corresponding workspace that is entirely based on less expensive RGB cameras. the workspace is monitored with an extrinsically calibrated multi-view camera setup. Our proposed hybrid approach combines learning-based feature matching and traditional image processing methods to achieve online 3D reconstruction. Even less textured objects and surfaces can be perceived and modelled as simplified collision objects. We present several experiments and show the effectiveness of learning-based feature matching and the advantages of combining them with accurate computer vision methods. Further, we show that our approach runs in near real-time on our demonstrator using a multi-view setup with three cameras.

关键词： Surface reconstruction three-dimensional displays Mechatronics robot vision systems Cameras Real-time systems Surface texture Collision avoidance Surface treatment Monitoring

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Depth Camera based Autonomous Mobile robot for Indoor Environments

Depth Camera based Autonomous Mobile Robot for Indoor Enviro...

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International conference for Convergence of Technology (I2CT)

作者： Akshay Krishnan Sowrabh Nayak Anup Rao U. Sudarshan Patilkulkarni Sri Jayachamarajendra College of Engineering Mysuru India

ISBN: (数字)9781538652329

ISBN: (纸本)9781538652336

As a consequence of the recent developments in the fields of Artificial Intelligence, computer vision and advancements in the processing capabilities of embedded processors, robots are gaining widespread acceptance for applications in indoor environments. the basic requirements of a robot that is meant for interior applications include the ability to localize itself in the environment and navigate through it. While localization using specific markers has its advantages, a more generic solution would involve the use of a 2D map and adequate algorithms to navigate the area using this map. this paper proposes a design for an autonomous robot that can achieve the basic requirements of navigation in a static environment using low-cost 3D cameras like Kinect. the designed robot uses particle filters to localize in a 2D map. Once localized, it uses A* algorithm for global path planning. Once a path is available, feedback from odometry is used by a PID controller to achieve motion control.

关键词： Navigation Cameras robot vision systems Mobile robots Indoor environments

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Teleoperation in the Age of Mixed Reality: VR, AR, and ROS Integration for Human-robot Direct Interaction

Teleoperation in the Age of Mixed Reality: VR, AR, and ROS I...

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Electronics and Sustainable Communication Systems (ICESC), 2020 International conference on

作者： P. Nandhini P. Chellammal J.S. Jaslin S. Harthy Ruby Priya M. Uma R Kaviyaraj Department of Computer Science and Engineering Sri shanmugha college of Engineering and Technology Sankari India Department of Computer Science and Engineering J.J College of Engineering and Technology Trichy India. Department of computational intelligence SRM institute of science and technology Kattankulathur India

robotic systems that can be operated remotely are becoming more and more common in a variety of industries, including construction, disaster relief, space exploration, and industrial applications. Teleoperation, however, necessitates skilled operators who can handle sophisticated data processing and programming. this research introduces a unique teleoperation method that makes use of Virtual Reality (VR) and the robot Operating System (ROS) to overcome this problem. By creating a 3D representation of the robot’s workspace in Unity and connecting it to the actual robot with ROS, this technique optimizes control. Programming is not necessary because the robot’s vision serves as the foundation for the user interface. through ROS integration, a target point is established in Unity and sent to the robot as the end effector position. By simply setting up a new environment, reducing the requirement for knowledgeable operators, and improving situational awareness, this method may be used to any sort of robot. For even greater situational awareness, this technique may also be used with augmented reality (AR). AR can give the operator real-time information about the robot’s surroundings by superimposing digital information over the physical world. this can be achieved by including AR markers in the physical surroundings that the VR system can detect. In the operator’s field of view, the system can then superimpose information such as sensor data or robot status onto the real-world environment.

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