This paper describes the development of a remote laboratory in the area of automatic and robotic engineering. The laboratory is based on an educational platform around a robotic arm that allows emulating a practical l...
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This paper describes the development of a remote laboratory in the area of automatic and robotic engineering. The laboratory is based on an educational platform around a robotic arm that allows emulating a practical laboratory in which engineering students can confirm their theoretical results comparing them with the real paths traced by the robot. Thus, the research work presented in the article is directed towards the adaptation of concepts in the field of robotics and control in a remote laboratory.
High accuracy 3D laser measurement systems are used in applications like inspection and Reverse Engineering (RE). With automatic RE in mind, we have designed and built a system that is based on a laser profile scanner...
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High accuracy 3D laser measurement systems are used in applications like inspection and Reverse Engineering (RE). With automatic RE in mind, we have designed and built a system that is based on a laser profile scanner mounted on a standard industrial robot with a turntable. This paper is concerned with the relatively complex accuracy issues of such a system. The different parts of the system are analyzed individually and a brief discussion of how they interact is given. Finally a detailed analysis of the scanner head along with experimental results is presented.
Robots can do more for the human society than wandering around collecting garbage, entertaining children and playing soccer. In this paper we present an ongoing research toward the realization of robots as embodied kn...
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Robots can do more for the human society than wandering around collecting garbage, entertaining children and playing soccer. In this paper we present an ongoing research toward the realization of robots as embodied knowledge media. In this framework, the robot is used to extract knowledge from expert humans through natural interactions, and then to present this knowledge to other humans who need it. Robots have the potential of working as better knowledge media than passive artifacts or computers mainly because of their unique ability to embody the knowledge into both the interaction and the physical context and their potential of achieving presentation by demonstration which will be more effective in transferring tacit knowledge. In this paper, the robots as knowledge media theoretical framework will be presented with introduction to the ongoing research conducted in our laboratory toward implementing a humanoid robot that can realize it detailing the past and current contributions and proposing the future research map for this important area of robotic applications.
Manipulator operations are complicated by sensor noise, mechanical compliance, and system bias. These uncertainties are compounded in field environments, such as those encountered in humanitarian demining. By taking a...
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ISBN:
(纸本)0780395050
Manipulator operations are complicated by sensor noise, mechanical compliance, and system bias. These uncertainties are compounded in field environments, such as those encountered in humanitarian demining. By taking advantage of the generally flat and static structure of the terrain, a series of adaptive corrections and filters refine a sensed topographical model and generate a trajectory that is robust to inherent inaccuracies and modeling errors. Experimental testing on a mobile robot using stereo-vision as modeling sensor indicates that this method provides a tracking precision of 5 mm on relatively flat ground. As such, it will keep the attached mine sensors close to the ground, improving effectiveness.
This paper presents several methods for estimating the relative position of a central catadioptric camera (including perspective cameras) and a laser range tinder in order to obtain depth information in the panoramic ...
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ISBN:
(纸本)0780395050
This paper presents several methods for estimating the relative position of a central catadioptric camera (including perspective cameras) and a laser range tinder in order to obtain depth information in the panoramic image. The problem is analysed from a robotic perspective and according to the available information (visible or invisible laser beam, partial calibration, drift of laser data,...) The feasibility of the calibration is also discussed. The feature extraction process and real data are presented.
An algorithm for the estimation of the position and orientation of a moving object using a hybrid eye-in-hand/eye-to-hand multi-camera system is presented. Based on the extended Kalman filter, this approach exploits t...
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ISBN:
(纸本)0780395050
An algorithm for the estimation of the position and orientation of a moving object using a hybrid eye-in-hand/eye-to-hand multi-camera system is presented. Based on the extended Kalman filter, this approach exploits the data provided by all the cameras without "a priori" discrimination, allowing real-time estimation. The proposed formulation can be used with different kinds of image features and different representations of the object orientation. A simulation case study is reported to test the feasibility and the effectiveness of the proposed technique.
The purpose of this paper is to present a temporary fixing system based on a thermal glue that is well-adapted to micro-robotics. In the paper, this system is used to design a tool changer but can be generalized to ot...
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ISBN:
(纸本)0780395050
The purpose of this paper is to present a temporary fixing system based on a thermal glue that is well-adapted to micro-robotics. In the paper, this system is used to design a tool changer but can be generalized to other micro-robotic applications. A thermal modeling and an identification procedure are presented to propose a strategy to control the system. This system takes place into a micromanipulation station to gain flexibility, space and complexity. Indeed, to perform sequences of micromanipulation tasks (i.e. micro-assembly sequences), only one manipulator, able to use sequentially several end-effectors, has to be used instead of several dedicated to one specific task.
This paper presents a unified framework for online visual perception. The twin problems of visual feature extraction and representation are explicitly addressed. Simple paradigms for supervised and unsupervised featur...
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ISBN:
(纸本)9781424403417
This paper presents a unified framework for online visual perception. The twin problems of visual feature extraction and representation are explicitly addressed. Simple paradigms for supervised and unsupervised feature extraction are presented to represent the extremes in visual perception system design. Visual feature representation is addressed through a combination of Isomap, a non-linear dimensionality reduction algorithm, and Expectation Maximization (EM), a statistical learning scheme. A joint probability distribution of this representation is computed offline based on existing training data. Example applications based on real visual data from heterogenous, unstructured environments demonstrate the versatility of the generative models.
Many roboticsapplications require a human operator to monitor multiple robots that collaborate to achieve the operator's goals. Most approaches to such monitoring focus on each robot independently of its peers. W...
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ISBN:
(纸本)0780395050
Many roboticsapplications require a human operator to monitor multiple robots that collaborate to achieve the operator's goals. Most approaches to such monitoring focus on each robot independently of its peers. When robots are tightly-coordinated, the operator is thus cognitively burdened to build a mental picture of the state of coordination. We report on extensive experiments (approximately 100 hours) with up to 25 human operators, working in two coordinated multi-robot tasks. In these, we contrasted standard displays, which assume each robot is independent, with an ecological socially-attentive display that makes the state of coordination explicit. The results show significant improvements in task completion time, number of failures, and the failure rate. Moreover, the display reduces the variance in operator control, thus leading to significantly more consistent operator performance.
The applications of robotics are becoming more and more common in non-traditional industries such as the medical industry including robotic surgery and sample microtoming as well as food industry that include the proc...
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ISBN:
(纸本)0780395050
The applications of robotics are becoming more and more common in non-traditional industries such as the medical industry including robotic surgery and sample microtoming as well as food industry that include the processing of meats, fruits and vegetables. In this paper, the influence of the blade edgeshape and its slicing angle on the cutting of biomaterials are formulated and discussed based on the stress analysis that has been presented in Part I. Through modeling the cutting force, an optimal slicing angle can be formulated to maximize the feed rate while minimizing the cutting forces. Moreover, the method offers a means to predict cutting forces between the blade and the biomaterials, and a basis for design of robust force control algorithms for automating the cutting of biomaterials.
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