Cullets optical sorting represents one of the oldest selection procedure applied to the field of solid waste recycling. From the original sorting strategies, mainly addressed to separate non-transparent elements (cera...
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ISBN:
(纸本)081945561X
Cullets optical sorting represents one of the oldest selection procedure applied to the field of solid waste recycling. From the original sorting strategies, mainly addressed to separate non-transparent elements (ceramics, stones, metal particles, etc.) from transparent ones (glass fragments), the attention was addressed to define procedures and actions able to separate the cullets according to their color characteristics and, more recently, to recognize transparent ceramic glass from glass. Cullets sorting is currently realized adopting, as detecting architecture, laser beam technology based devices. The sorting logic is mainly analogical. An "on-off" logic is applied. Detection is, in fact, based on the evaluation of the "characteristics" of the energy (transparent or non-transparent fragment) and the spectra (fragment color attributes) received by a detector after that cullets were crossed by a suitable laser beam light. Such an approach presents some limits related with the technology utilized and the material characteristics. The technological limits are linked to the physical dimension and the mechanical arrangement of the optics carrying out and in the signals, and with the pneumatic architectures enabling the modification of cullets trajectory to realize sorting, according to their characteristics (color and transmittance). Furthermore such devices are practically "blind" in the recognition of ceramic glasses, whose presence in the final selected material to melt, damage the full recycled glass fusion compromising the quality of the final product. In the following it will be described the work developed, and the results achieved, in order to design a full integrated classical digital imaging and spectrophotometric based approach addressed to develop suitable sorting strategies able to perform, at industrial recycling scale, the distinction of cullets both in terms of color and material typologies, that is "real glass" from "ceramic glass" fragments.
This paper describes a novel application of active learning techniques in the field of robotic grasping. A vision-based grasping system has been implemented on a humanoid robot. It is able to compute a set of feasible...
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ISBN:
(纸本)9781586034528
This paper describes a novel application of active learning techniques in the field of robotic grasping. A vision-based grasping system has been implemented on a humanoid robot. It is able to compute a set of feasible grasps and to execute any of them and measure their actual reliability. An algorithm aimed at predicting the performance of an untested grasp using the results observed on previous similar attempts is presented. The previous experience is stored using a set of vision-based grasp descriptors. Moreover, a second algorithm that actively selects the next grasp to be executed in order to improve the predictive quality of the accumulated experience is introduced. An exhaustive database of experimental data is collected and used to test and validate both algorithms.
Motion vision (visual odometry, the estimation of camera egomotion) is a well researched field, yet has seen relatively limited use despite strong evidence from biological systems that vision can be extremely valuable...
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Motion vision (visual odometry, the estimation of camera egomotion) is a well researched field, yet has seen relatively limited use despite strong evidence from biological systems that vision can be extremely valuable for navigation. The limited use of such visiontechniques has been attributed to a lack of good algorithms and insufficient computer power, but both of those problems were resolved as long as a decade ago. A gap presently yawns between theory and practice, perhaps due to perceptions of robot vision as less reliable and more complex than other types of sensing. We present an experimental methodology for assessing the real world precision and reliability of visual odometry techniques in both normal and extreme terrain. This paper evaluates the performance of a mobile robot equipped with a simple vision system in common outdoor and indoor environments, including grass, pavement, ice, and carpet. Our results show that motion visionalgorithms can be robust and effective, and suggest a number of directions for further development.
Standard bundle adjustment techniques for Euclidean reconstruction consider camera intrinsic parameters as unknowns in the optimization process. Obviously, the speed of an optimization process is directly related to t...
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Standard bundle adjustment techniques for Euclidean reconstruction consider camera intrinsic parameters as unknowns in the optimization process. Obviously, the speed of an optimization process is directly related to the number of unknowns and to the form of the cost function. The scheme proposed in this paper differs from previous standard techniques since unknown camera intrinsic parameters are not considered in the optimization process. Considering fewer unknowns in the optimization process produces a faster algorithm, which is more adapted to time-dependent applications such as robotics. Computationally expensive metric reconstruction, using for example several zooming cameras, considerably benefits from an intrinsics-free bundle adjustment.
There has been a great interest in the recent years in visual coordination and target tracking for mobile robots cooperating in unstructured environments. This paper describes visual servo control techniques suitable ...
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ISBN:
(纸本)081945155X
There has been a great interest in the recent years in visual coordination and target tracking for mobile robots cooperating in unstructured environments. This paper describes visual servo control techniques suitable for intelligent task planning of cooperative robots operating in unstructured environment. In this paper, we have considered a team of semi-autonomous robots controlled by a remote supervisory control system. We have presented an algorithm for visual position tracking of individual cooperative robots within their working environment. Initially, we present a technique suitable for visual servoing of a robot toward its landmark targets. Secondly, we present an image-processing technique that utilizes images from a remote surveillance camera for localization of the robots within the operational environment. In this algorithm, the surveillance camera can be either stationary or mobile. The supervisor control system keeps tracks of relative locations of individual robots and utilizes relative coordinate information of the robots to plan their cooperative activities. We presented some results of this research effort that illustrates effectiveness of the proposed algorithms for cooperative robotic systems visual team working and target tracking.
The proceedings contains 33 papers from the conference on SPIE - intelligentrobots and computervision XXI: algorithms, techniques, and Active vision. The topics discussed include: learning for intelligent mobile rob...
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The proceedings contains 33 papers from the conference on SPIE - intelligentrobots and computervision XXI: algorithms, techniques, and Active vision. The topics discussed include: learning for intelligent mobile robots;remote operation of robotics systems using WLAN- and CORBA-based architecture;autonomous cross-country driving using active vision;Web-based telerobotics system in a virtual reality environment;automatic calibration and neural networks for robot guidance;recursive least squares approach to calculate motion parameters for a moving camera;and effective color representation for image segmentation under nonwhite illumination.
This paper describes the development of a miniature assembly cell for microsystems. The cell utilizes a transparent electrostatic gripper all-owing the use of computervision for part alignment with respect to the gri...
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ISBN:
(纸本)081945155X
This paper describes the development of a miniature assembly cell for microsystems. The cell utilizes a transparent electrostatic gripper all-owing the use of computervision for part alignment with respect to the gripper. Part to assembly alignment is achieved via optical triangulation using a fiber-coupled laser and a position sensitive detector (PSD). The system layout, principle of operation and design are described along with the visual and optical control algorithms and their implementation. Experimental measurements of the performance of the stage indicate normal and tangential gripping forces in the range of 0.03-2.5 mN and 1.-9. mN respectively. The visual search algorithm limits the feature tracking speed to 111ms /search. The alignment accuracy of the visual and optical proportional position feedback controls were determined to be +/-7 mum and +/-10 mum respectively.
The domain and technology of mobile robotic space exploration are fast moving from brief visits to benign Mars surface regions to more challenging terrain and sustained exploration. Further, the overall venue and conc...
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ISBN:
(纸本)081945155X
The domain and technology of mobile robotic space exploration are fast moving from brief visits to benign Mars surface regions to more challenging terrain and sustained exploration. Further, the overall venue and concept of space robotic exploration are expanding-"from flatland to 3D'-from the surface;to sub-surface and aerial theatres on disparate large and small planetary bodies, including Mars, Venus, Titan, Europa, and small asteroids. These new space robotic system developments are being facilitated by concurrent, synergistic advances in software and hardware technologies for robotic mobility, particularly as regard on-board system autonomy and novel thermo-mechanical design. We outline these directions of emerging mobile science mission interest and technology enablement, including illustrative work at JPL on terrain-adaptive and multi-robot cooperative rover systems, aerobotic mobility, and subsurface ice explorers.
Our work describes generic solutions for controlling various different robots through IEEE 802.11b Wireless LAN. Our goals have been to develop a remote-operating architecture for robots with different configurations ...
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ISBN:
(纸本)081945155X
Our work describes generic solutions for controlling various different robots through IEEE 802.11b Wireless LAN. Our goals have been to develop a remote-operating architecture for robots with different configurations of sensors and actuators, as well as, controlling multiple robots through a wireless network. Our earlier development work on network-distributed control architecture for mobile robots provides a suitable platform for remote operation. In CORBA based architecture, new sensors or actuators, and new automatic functionality are easy to append. In addition to functionality, we have been developing user interfaces that contain generally useful components for multiple purposes and a possibility to control different shapes of robots and multiple robots at the same time. As a basic idea, the user interface should always be easily customizable, platform portable and require only a minimum amount of installation packages.
This paper describes results of a tool development process and still on-going research program in multilevel algorithm design and validation for multisensor systems. Our work covers both the algorithm design process i...
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ISBN:
(纸本)081945155X
This paper describes results of a tool development process and still on-going research program in multilevel algorithm design and validation for multisensor systems. Our work covers both the algorithm design process including the simulation efforts and the implementation of the algorithms into the sensor node prepared for real-time processing within a vision system network. The sensor node hardware is based on the System on Programmable Chip (SOPC)-Technology. This gives us the flexibility to interface different kinds of sensor elements (matrix-, line-sensors) and the processing-power to provide real-time possibilities in height data-rate applications. At the point today our hardware module for vision applications also uses a CPU module. This results in a high flexibility concerning the communication efforts. Our design can provide the use of CPU-modules within the SOPC design also. Mapping algorithms into a distributed sensor network will be done in either a centralized or decentralized way. That means the algorithm will be running on one sensor node or a part of the algorithm is implemented on some others nodes within the network. Beginning at the design and simulation level different kind of levels are opened for optimization, test and validate the developed algorithm. We present the architectural framework that supports the multilevel test and validation process.
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