Stereo matching is an important part of point cloud acquisition of three-dimensional objects. Aiming at the problem of low timeliness and accuracy of disparity map generated by traditional SGM algorithm, this paper pr...
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Exoskeleton developed for military purpose is to enhance one's endurance and strength, and to reduce operator's energy expenditure during walking with payloads under the assistance of exoskeleton. the idea to ...
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the proceedings contain 62 papers. the topics discussed include: design of a 2-DOF XZ precision positioning platform using novel Z-shaped flexure hinges;multi-modal microfluidic bend sensor for soft and robotic sensin...
ISBN:
(纸本)9798350330397
the proceedings contain 62 papers. the topics discussed include: design of a 2-DOF XZ precision positioning platform using novel Z-shaped flexure hinges;multi-modal microfluidic bend sensor for soft and robotic sensing applications;the microrobotic system for activation of the insect sensilla on the base of microtweezers with shape memory effect;a study of MEMS 3-axis force sensor integrated with self-calibration function;modular wavelength adaptation of the dynamic optical microenvironment;moisture-based doneness assessment of chicken meat using complimentary split-ring resonator – a preliminary study;towards micro nanorobotic platform for single virusonics;development and characterization of a COC pillars-based microfluidic device for nanoparticle separation;and robotic-based selection, manipulation and characterization of 3D microscale particles with complex structures in SEM.
We propose a novel control approach for cooperative dual-arm object manipulation. Our scheme has three typical features: (1) the two arms withthe object together form a new kinematic chain, where the base of the seco...
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ISBN:
(纸本)9789898565211
We propose a novel control approach for cooperative dual-arm object manipulation. Our scheme has three typical features: (1) the two arms withthe object together form a new kinematic chain, where the base of the second arm is the end-effector of the new robot;(2) the object between the robots is defined as a virtual mechanism, therefore manipulating the object is accomplished by controlling the virtual mechanism;(3) the proposed scheme allows cooperative dual-arm systems performing a task while moving on mobile platforms. the proposed algorithm is verified with experiments on a dual-arm system with Kuka LWR robots, and simulations with 2 different robots: Kuka LWR on a fixed support and Mitsubishi PA10 robot on a mobile platform Nomad XR400.
the main contribution of this article the implementation of a new method for the usage of submaping algorithms, which surpasses the limitations arising from the need of statistical independence between the submaps, wh...
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ISBN:
(纸本)9781467307024
the main contribution of this article the implementation of a new method for the usage of submaping algorithms, which surpasses the limitations arising from the need of statistical independence between the submaps, when mapping large scale areas. this method relies on the commonly used structure of SLAM (Simultaneous Localization and Mapping) mandatory for building submaps which share information, but stay conditionally independent. this approach is able to recover the final map, without introducing other approximations ignoring the ones already introduced by the EKF (Extended Kalman Filter), all this in a linear time. the algorithm has been tested for the case of local submaps because the effects of linearization errors are smaller in this way. the obtained maps are more accurate and consistent compared with ones obtained by EKF or EIF (Extended Information Filter) methods, which are not using local coordinates.
this paper considers a hybrid remanufacturing and manufacturing system on a closed-loop supply chain. the system manufactures a set of new products characterized by a multi-level structure through multi-stage assembly...
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ISBN:
(纸本)9789897580406
this paper considers a hybrid remanufacturing and manufacturing system on a closed-loop supply chain. the system manufactures a set of new products characterized by a multi-level structure through multi-stage assembly operations. the required raw or basic parts can be acquired new from suppliers or provided as new by a de-manufacturing facility which performs a remanufacturing process from acquired old products returned by customers. the quality of returned products has impact on the quantity of recovered basic parts which can be assumed as good as new, and on the duration of the remanufacturing process. the considered problem is to determine the production lots for the system machines as well as the quantity of new basic parts and retuned products to be acquired in order to satisfy a deterministic demand in the time buckets of the planning period. the performance criterion to be minimized includes the acquisition costs for the new and returned items, inventory and production costs, recovering and disposal costs, and tardiness costs. A mixed-integer programming model is proposed and its effectiveness is demonstrated by experiments on a case study.
A scene analysis module for service robots is presented which uses SIFT in a stereo setting, a systematic handling of uncertainties and an active perception component. the system is integrated and evaluated on the DES...
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ISBN:
(纸本)9781617387197
A scene analysis module for service robots is presented which uses SIFT in a stereo setting, a systematic handling of uncertainties and an active perception component. the system is integrated and evaluated on the DESIRE two-arm mobile robot. Complex everyday scenes composed of various items from a 100-object database are analyzed successfully and efficiently.
this contribution shows our recent activities of human - robot voice-control system. the keynote lays in design of a system that allows easy control and programming of various robots by a uniform interactive interface...
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this contribution shows our recent activities of human - robot voice-control system. the keynote lays in design of a system that allows easy control and programming of various robots by a uniform interactive interface. Generally the robots are actuated by sets of control commands, sometimes by a manual control interface (touchpad, joystick). the operator has to know the control commands, syntax rules and other properties necessary for successful robot control. Our system offers commands like move left or elevate arm that are translated and sent into the corresponding device (robot). Speech recognition is based on an isolated-word HMM engine with distributed recognition system (DSR). the vocabulary may contain thousands of word and short phrases. It allows us to design an easy dialogue scenario for the robot control system. the system allows direct robot control like moving or programming short sequences. A video camera is included for displaying the working place and employed algorithms of image processing allow the system to detect the position of objects in the working area and facilitate robot's navigation.
this paper deals withthe attitude estimation of a rigid body equipped with a module of GAM sensors (rate gyros, accelerometers and magnetometers). A quaternion-based nonlinear observer is proposed in order to fuse al...
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ISBN:
(纸本)9781424446889
this paper deals withthe attitude estimation of a rigid body equipped with a module of GAM sensors (rate gyros, accelerometers and magnetometers). A quaternion-based nonlinear observer is proposed in order to fuse all information sources and to obtain an accurate estimation of the attitude. It is shown that the error dynamics can break up into two passive subsystems connected in "feedback". this property is a first and crucial result that could be used to show that the error dynamics is input-to-state stable (ISS) when the measurement disturbance is seen as an input and the error state as the state. the effectiveness of the observer is confirmed in a real-time application.
this paper presents a system for object recognition and localization within unknown indoor environments. the system includes a GUI design through which the user may describe an object of interest by means of color, si...
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ISBN:
(纸本)9781424478132
this paper presents a system for object recognition and localization within unknown indoor environments. the system includes a GUI design through which the user may describe an object of interest by means of color, size, and shape. A novel coarse to fine identification mechanism that incorporates multiple views of an object is then used to locate the described object within an unknown environment. the system includes a training stage in which representative information is extracted from database images. A stereo vision system, mounted on an indoor robot platform (Fig. 1), is used to retrieve the 3D location of potential match candidates in the scene and to inspect possible matches from three distinct viewpoints. Experimental evaluation is performed for indoor environments and promising results are shown for the application of this system.
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