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colloquium on vision systems in robotic and industrial control.

作者： Anon

This conference proceedings contains 7 papers. The main subjects are industrial vision systems, parallel processing systems, pattern recognition systems, hardware architecture for industrial vision systems, increasing the intelligence of robot vision systems, a binocular stereo matching algorithm, and artificial intelligence applications to vision systems.

关键词： ROBOTS, industrial

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A Macro-Micro vision Integrated Micromanipulation System for Self-Initialization and Resilient control

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2025年 22卷 11250-11263页

作者： Wang, Tiexin Long, Yun Weng, Tianle Yang, Liangjing Zhejiang Univ Univ Illinois Urbana Champaign Inst ZJU UIUC Inst Haining 314400 Peoples R China Zhejiang Univ Sch Mech Engn Hangzhou 310027 Peoples R China Univ Illinois Mech Sci & Engn Dept Champaign IL 61801 USA

robotic micromanipulation systems (RMS) enable precise and repeatable operations under a microscope. Traditional RMS rely solely on microscopic visual feedback, necessitating time-consuming manual positioning to bring the tool tip within the microscope field-of-view (Micro-FOV), which limits efficiency and heavily depends on operator skill. This paper proposes an innovative RMS that integrates macro and micro vision to automate the aforementioned tool tip positioning and facilitate resilient control. The system utilizes an external camera to obtain the macro field-of-view (Macro-FOV), containing the tool and fiducial markers, and estimates the tool tip's 3D position by triangulation. Visual servoing is then used to guide the tool tip towards the Micro-FOV. Under the Micro-FOV, a tool-sweep detector based on partitioned difference images is used to sequentially locate the tool's shaft and tip. After auto-focusing, the system executes tool tip and Petri dish resilient control.based on our developed self-calibration and self-recalibration mechanisms. During the operation, the system provides an intuitive user interface that includes both macro and micro information, improving the visualization and productivity of micromanipulation. Experiments show that the self-initialization scheme can be implemented across different macro camera viewpoints, reducing the average tip positioning time from 65.70 to 50.08 seconds compared to manual operation, thereby decreasing manual labor intensity and improving efficiency. The self-recalibration mechanism achieves precision and resilient control. with an average error of 0.95 mu m over 25 continuous trials. Additionally, the system exhibits robustness against vibration and visual interference, underscoring its potential for diverse biomedical applications.

关键词： Microscopy Visualization Cameras Calibration Automation User interfaces Three-dimensional displays Visual servoing Process control Petri dishes robotic micromanipulation tool tip localization vision-based control

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vision-Guided robotic System: Image Processing and Kinematic Integration 3rd

Vision-Guided Robotic System: Image Processing and Kinematic...

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3rd World Conference on Intelligent and 3D Technologies, WCI3DT 2024

作者： Wan, Changcheng School of Geospatial Engineering and Science Sun Yat-sen University Zhuhai China

ISBN: (纸本)9789819791279

This paper explores the development and implementation of a sophisticated vision-guided robotic manipulation system, underpinning advancements in manufacturing, healthcare, and service robotics through the integration of image processing and kinematic control. The system employs a serial-link robotic arm equipped with a high-resolution camera, facilitating real-time environment interaction through precise object tracking and manipulation. Central to the research is the design of the robotic arm’s kinematic model, the application of advanced image processing for object detection and tracking, and the formulation of control.strategies translating visual data into accurate manipulative actions. The study underscores the significance of merging image processing with robotic control.to adapt dynamically to changing environments, leveraging techniques such as background subtraction, median filtering, and binary thresholding for efficient object isolation. The implementation of kinematic equations enables the calculation of the robotic arm’s movements to interact with objects accurately, considering spatial positioning and geometric constraints. Experimental results demonstrate the system’s efficacy in enhancing operational efficiency and flexibility in diverse application scenarios, achieving over 95% tracking accuracy and rapid response times. This research contributes to the robotic manipulation field, highlighting the potential of combining image processing and kinematic control.to innovate robotic system designs, with broad implications for industrial automation and assistive technologies. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Median filters

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Scalable, Training-Free Visual Language robotics: a modular multi-model framework for consumer-grade GPUs

Scalable, Training-Free Visual Language Robotics: a modular ...

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IEEE/SICE International Symposium on System Integration

作者： Marie Samson Bastien Muraccioli Fumio Kanehiro CNRS-AIST JRL (Joint Robotics Laboratory) National Institute of Advanced Industrial Science and Technology (AIST) Japan

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

The integration of language instructions with robotic control. particularly through vision Language Action (VLA) models, has shown significant potential. However, these systems are often hindered by high computational costs, the need for extensive retraining, and limited scalability, making them less accessible for widespread *** this paper, we introduce SVLR (Scalable Visual Language robotics) 1 , an open-source, modular framework that operates without the need for retraining, providing a scalable solution for robotic control. SVLR leverages a combination of lightweight, open-source AI models including the vision-Language Model (VLM) Mini-InternVL, zero-shot image segmentation model CLIPSeg, Large Language Model Phi-3, and sentence similarity model all-MiniLM to process visual and language inputs. These models work together to identify objects in an unknown environment, use them as parameters for task execution, and generate a sequence of actions in response to natural language instructions. A key strength of SVLR is its scalability. The framework allows for easy integration of new robotic tasks and robots by simply adding text descriptions and task definitions, without the need for retraining. This modularity ensures that SVLR can continuously adapt to the latest advancements in AI technologies and support a wide range of robots and *** operates effectively on an NVIDIA RTX 2070 (mobile) GPU, demonstrating promising performance in executing pick-and-place tasks. While these initial results are encouraging, further evaluation across a broader set of tasks and comparisons with existing VLA models are needed to assess SVLR’s generalization capabilities and performance in more complex scenarios.

关键词： Visualization Robot kinematics Scalability Large language models Pipelines Robot control System integration Cognition Object recognition Robots

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vision BASED STACK PICKING, PARTS CENTERING AND ORIENTATION IN AN FMS CELL.

VISION BASED STACK PICKING, PARTS CENTERING AND ORIENTATION ...

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colloquium on vision systems in robotic and industrial control.

作者： Page, G.J. British Robotic Systems Ltd UK British Robotic Systems Ltd UK

This digest note describes one system that has been supplied by BRSL to perform the vision processing tasks in an FMS cell. The FMS cell is designed to produce a range of machined parts from the appropriate rough castings. All the parts are circular and made of ferro-magnetic material. Two robots move the parts from machine to machine within the cell. There is also a supervisory computer that directs all machining operations. The vision system is treated as one of the sensor peripherals of the central supervisory computer.

关键词： ROBOTS, industrial

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industrial vision systems - CURRENT AND NEAR FUTURE.

INDUSTRIAL VISION SYSTEMS - CURRENT AND NEAR FUTURE.

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colloquium on vision systems in robotic and industrial control.

作者： Batchelor, B.G. Univ of Wales Cardiff Wales Univ of Wales Cardiff Wales

This article discusses inspection as a multi-disciplinary activity, involving mechanical handling (including robotics), illumination, optics, sensors, analog signal processing, digital electronics, computer system architecture, software, and algorithms. Inspection systems design with the intention of integrating the system into existing quality assurance and manufacturing processes and practices are considered.

关键词： ROBOTS, industrial

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colloquium ON systems ASPECTS OF roboticS.

COLLOQUIUM ON SYSTEMS ASPECTS OF ROBOTICS.

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colloquium on systems Aspects of robotics.

作者： Anon

This conference proceedings contains 6 papers. The main subjects are a two robot cell, robotic systems design, intelligent sensors for robotic systems, control.interface capability of robotic devices, distributed comp... 详细信息

关键词： ROBOTS, industrial

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HARDWARE ARCHITECTURES FOR industrial vision systems.

HARDWARE ARCHITECTURES FOR INDUSTRIAL VISION SYSTEMS.

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colloquium on vision systems in robotic and industrial control.

作者： Adaway, W.G.L. Thomas, W.V.

Awareness of the capabilities of machine vision is increasing. This has brought about a demand for systems of increasing power and flexibility to meet the growing range of applications. systems that rely on software processing only, even using the most powerful microprocessors, such as the 68000, are sometimes unable to meet the task. Recent developments in the machine vision industry have resulted in a number of novel hardware architectures designed to meet this demand. Practical, cost effective implementation of these ideas is made possible because of the density of modern memory and integrated devices. This paper discusses the range of hardware architectures for image processing applications.

关键词： ROBOTS, industrial

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A MICROCOMPUTER-BASED MODEL ROBOT SYSTEM WITH PULSE-WIDTH MODULATION control

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IEEE MICRO 1985年第1期5卷 7-21页

作者： WAINWRIGHT, RE MOSS, RH DELCO PROD DAYTONOH UNIV MISSOURI ROLLAMO 65401

Constructed of relatively inexpensive but realistic and durable elements, this model is a practical tool for training in robot operation and for research in robotic control.systems.

关键词： Space vector pulse width modulation Pulse modulation Service robots Robot sensing systems robotics and automation Robot vision systems Electrical equipment industry Costs Hardware industrial training

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INCREASING THE INTELLIGENCE OF ROBOT vision systems.

INCREASING THE INTELLIGENCE OF ROBOT VISION SYSTEMS.

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colloquium on vision systems in robotic and industrial control.

作者： Aleksander, I. Imperial Coll of Science & Technology Engl Imperial Coll of Science & Technology Engl

Many have argued that the development of robotics and flexible manufacturing systems can proceed without the need to think of artificial vision, or indeed, artificial intelligence. Much of their argument has resulted from the fact that current vision systems and scene analysis programs have proved to be impractical in realistic situations. For example, many vision systems will not operate in dirty environments or in situations where the lighting is not perfect. In artificial intelligence, too, only systems that operate in highly simplified worlds have been demonstrated over the past few years. The central point of this paper is that the situation has changed very rapidly and that the poor demonstrations of the past are not indicative of the possibilities of the future. The outstanding single factor that has brought this change about is a remarkable fall in the cost of electronic equipment.

关键词： ROBOTS, industrial

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