This paper describes the design and implementation of a Miniature Anchored robotic Videoscope for Expedited Laparoscopy (MARVEL) and Camera Module (CM) that features wireless communications and control. The CM decreas...
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This paper describes the design and implementation of a Miniature Anchored robotic Videoscope for Expedited Laparoscopy (MARVEL) and Camera Module (CM) that features wireless communications and control. The CM decreases the surgical-tool bottleneck experienced by surgeons in state-of-the art Laparoscopic Endoscopic Single-Site (LESS) procedures for minimally invasive abdominal surgery. The system includes: (1) a near-zero latency video wireless communications link, (2) a pan/tilt camera platform, actuated by two motors that provides surgeons a full hemisphere field of view inside the abdominal cavity, (3) a small wireless camera, (4) a wireless illumination control.system, and (5) a wireless human-machine interface (HMI) to control.the CM. An in-vivo experiment on a porcine subject was carried out to test the performance of the system. The robotic design is a Research Platform for a broad range of experiments in a range of domains for faculty and students in the Colleges of Engineering and Medicine and at Tampa General Hospital. This research is the first step in developing semi-autonomous wirelessly control.ed and networked laparoscopic devices to enable a paradigm shift in minimally invasive surgery and other domains such as Wireless Body Area Networks.
In-hand manipulation (IHM) is an important ability for robotic hands. This ability refers to changing the position and orientation of a grasped object without dropping it from the hand workspace. One major challenge o...
In-hand manipulation (IHM) is an important ability for robotic hands. This ability refers to changing the position and orientation of a grasped object without dropping it from the hand workspace. One major challenge of IHM is to achieve a large range of manipulation (especially rotation), regardless of the shape, size, and the orientation during manipulation of the grasped object. There are two main challenges - the manipulation range (due to the range of motion of the hand) and keeping the object grasped under all shapes and orientations. Specifically, even when the contact points between the hand and the object switch and the positions of these points change due to its shape and changing orientation, constant grasp of the object is required. This paper presents an IHM method for a robotic hand with belts, based on the prediction of the contact-point changes via image information. The focus is on a robotic hand that has a two-fingered parallel gripper with conveyor belts which can continuously manipulate an object through a large range. A stereo camera is attached to the hand. First, the contour of the grasped object is acquired from the camera. From the contour, the switching of the contact points between the surfaces of the belts and the object is predicted. Then, the positions of the contact points in the next frame are estimated by rotating the contour. The velocities of the belts are calculated based on the prediction of the switching. The fingers are control.ed to follow the estimated positions of the contact points, via a feed-forward control. The effectiveness of the proposed method is verified through in-hand manipulation experiments for 22 objects of various shapes and sizes.
In the majority of vision applications, sensor calibration is a prerequisite to proper use of the sensor for both measurement and control. The objective in camera calibration is to estimate a set of parameters to cons...
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In the majority of vision applications, sensor calibration is a prerequisite to proper use of the sensor for both measurement and control. The objective in camera calibration is to estimate a set of parameters to construct a mapping between the 3D position of a target point and its 2D image coordinates. In this paper an autonomous stereo camera calibration technique with applications in industrial outdoor visual servoing systems is presented. The stereo camera model obtained was used to estimate the pose of the target object during the robot servoing process. The heavy-duty stereo camera rig was installed on the torso of an outdoor 3DOF robotic manipulator. An efficient iterative least- squares parameter estimation algorithm was used to estimate the transformation parameters between the 3D world coordinates of the target object and its 2D image coordinates in the stereo image planes. The stereo camera calibration is entirely an autonomous process as the robot moves the calibration tool within its workspace and the stereo camera model is produced after the data collection process. The stereo cameras are treated as a single unit and a single transformation is obtained for the stereo camera pair in the system. The calibration process is fast, efficient and no human interaction is required during the process.
An agile workcell has been developed for light mechanical assembly in collaboration with industrial sponsors. The workcell includes multiple Adept robots, a Bosch conveyor system, multiple flexible parts feeders at ea...
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An agile workcell has been developed for light mechanical assembly in collaboration with industrial sponsors. The workcell includes multiple Adept robots, a Bosch conveyor system, multiple flexible parts feeders at each robot's workstation, CCD cameras for parts feeding and hardware registration, and a dual VMEbus control.system. Our flexible pairs feeder design uses multiple conveyors to singulate the parts and machine vision to locate them. Specialized hardware is encapsulated on modular grippers and modular worktables which can be quickly interchanged for assembly of different products. Object-oriented software (C++) running under VxWorks, a real-time operating system, is used for workcell control. An agile software architecture was developed for rapid introduction of new assemblies through code re-use. A simulation of the workcell was developed so that control.er software could be written and tested off-line, enabling the rapid introduction of new products.
Our paper investigates recent developments in roboticvision and path-following technologies, with a focus on the latest advancements in roboticvisionsystems, including object detection and path-following. We explor...
Our paper investigates recent developments in roboticvision and path-following technologies, with a focus on the latest advancements in roboticvisionsystems, including object detection and path-following. We explore the integration of these systems into tracking algorithms, emphasizing the significance of Model Prediction control. Additionally, our study addresses route monitoring applications in industrial contexts and investigates path-following techniques tailored for robotic arms tracking in autonomous robots and unmanned aerial vehicles. The paper culminates in a comprehensive analysis of the integration of roboticvision and path tracking. Through this research, we aim to bridge existing gaps in the literature, providing insights into the limitations of current methods and proposing more robust approaches. The findings offer practical implications for industrial applications, autonomous robotics, and unmanned aerial vehicles. Overall, this study contributes to the evolving field of roboticvision and path-following technologies, paving the way for future research and advancements.
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