Fast pattern detection and identification is a fundamental problem for many applications of real-time vision Systems. The desirable characteristics for a solution are that it requires little computation, localizes a p...
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ISBN:
(纸本)0780377362
Fast pattern detection and identification is a fundamental problem for many applications of real-time vision Systems. The desirable characteristics for a solution are that it requires little computation, localizes a pattern robustly and with high accuracy, and can identify a large number of unique pattern identifiers so that many of these markers can be tracked within a field a view. We will present a system that can accurately track a broad class of patterns both accurately and quickly, when used with a suitable low level vision system that can return calibrated coordinates of regions in a image. Both pattern design and the detection algorithm are considered together to find a solution meeting the above criteria. Along the way, assumptions are verified to make informed choices without relying on guesswork, and allowing similar systems to be designed on a solid experimental and statistical basis.
Much of the current research in human-robot interaction is concerned with single systems and single or few users. These systems and their interfaces are generally tightly-coupled and well-defined. For large-scale huma...
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ISBN:
(纸本)0780377362
Much of the current research in human-robot interaction is concerned with single systems and single or few users. These systems and their interfaces are generally tightly-coupled and well-defined. For large-scale human-robot applications, the systems may be unknown prior to designing the interface for potential human interaction. This presents a difficult goal for allowing multiple users to interact with many possibly unknown systems. In this paper, we present an interaction infrastructure aligned with providing this interface. It operates in two phases that accommodate both many-to-many interaction and generalized, one-to-one interaction between users and robotic systems. Our previous research has demonstrated the infrastructure to scale to a large number of users and several systems in simulation. The experiments in this paper substantiate these results in a smaller-scale real robotic environment.
In this paper, we present a micromachined flextensional droplet ejector array for use to eject liquids. By placing a fluid behind one face of a vibrating circular plate that has an orifice at its center, we achieve co...
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ISBN:
(纸本)0780377362
In this paper, we present a micromachined flextensional droplet ejector array for use to eject liquids. By placing a fluid behind one face of a vibrating circular plate that has an orifice at its center, we achieve continuous and drop-on-demand ejection of the fluid. We present results of ejection of water and isopropanol. The ejector is harmless to sensitive fluids and can be used to eject fuels, organic polymers, photoresists, low-k dielectrics, adhesives, chemical and biological samples. Micromachined two-dimensional array flextensional droplet ejectors were realized using planar silicon micromachining techniques. Typical resonant frequency of the micromachined device ranges from 400 kHz to 4.5 MHz. The ejections of water thru 4 mum diameter orifice at 3.45 MHz and 10 pm diameter orifice at 2.15 MHz were demonstrated by using the developed micromachined two-dimensional array ejectors. The unique features of the device are that the fluid is not pressurized, the fluid container is chemically or biologically compatible with most fluids, and the vibrating plate contains the orifice as the ejection source.
Automated Guided Vehicles (or AGVs for short) have become an important option in material handling. In many applications, such as container terminals, the service area is often arranged into rectangular blocks, which ...
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ISBN:
(纸本)0780377362
Automated Guided Vehicles (or AGVs for short) have become an important option in material handling. In many applications, such as container terminals, the service area is often arranged into rectangular blocks, which leads to a mesh-like path topology. Therefore, developing efficient algorithms for AGV routing on the mesh topology has become an important research topic. In this paper, we present a discrete time model, based on which a simple routing algorithm on the mesh topology is presented. The algorithm works by carefully choosing suitable parameters such that the vehicles using a same junction will arrive at different points in time, and hence no conflicts will occur during the routing;meanwhile, high routing performance can be achieved. Analyses of the task completion time and the requirements on timing control during the AGV routing are also presented.
This Volume 1 of the conference proceedings contains 248 papers. Topics discussed include mobile robot navigation, control of biped robot, mobile robot wheel mechanisms, agriculture and off road robotics, three dimens...
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This Volume 1 of the conference proceedings contains 248 papers. Topics discussed include mobile robot navigation, control of biped robot, mobile robot wheel mechanisms, agriculture and off road robotics, three dimensional vision, computer aided scheduling, actuator design, bio-robotics, mobility and manipulation, micro robotics, mechanism design, geometry issues, in robotics, human robot interaction, simultaneous localization and mapping, mobile robot navigation, omnidirectional vehicles, helicopter/air vehicle, omnidirectional vision, diagnostics and networked manufacturing systems, actuators and drivers, medical diagnostic robotics, dexterous hand and control, distributed robotic systems, parallel robot, computational intelligence, haptic interface, localization, vision based navigation, multi-mobile robot system, underwater robotics, semiconductor factory automation, adaptive control, endoluminal surgery-microendoscopy, grasping analysis, micro systems, new challenges in biped locomotion, dynamic control of multi-legged robot, visual sensing and application, Petri Nets in automated systems design, control applications, human robot interaction and sensor applications.
A new 4 DOF parallel mechanism is proposed in this work. This device consists of four parallel kinematic chains and a foldable parallelogrammic platform that can be used to grasp any large or irregular-shaped object. ...
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ISBN:
(纸本)0780377362
A new 4 DOF parallel mechanism is proposed in this work. This device consists of four parallel kinematic chains and a foldable parallelogrammic platform that can be used to grasp any large or irregular-shaped object. Thus, out of 4-DOF motion space of the device, the one-DOF is used for gripping an irregular object and the other three-DOF is used for adjusting motion of the grasped object. Particularly, the three-DOF motion is restricted in the decoupled three-dimensional translational motion space in spite of revolute joint-based parallel structure. Thus, it is not only very compact, but also has distinctive feature of both grasping and micro-positioning that are one of important aspects required in real applications. In this work, we carry out the position and kinematic analysis for this mechanism, and develop the mechanism for experimental verification of its performance.
This Volume 2 of the conference proceedings contains 218 papers. Topics discussed include map building, mobile robot design and localization, humanoid robotics software platform, network robotics, stereo vision and vi...
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This Volume 2 of the conference proceedings contains 218 papers. Topics discussed include map building, mobile robot design and localization, humanoid robotics software platform, network robotics, stereo vision and visual tracking, manufacturing systems architecture and design, supply chain design, analysis and optimization, robotic surgery, grasping and manipulation, microrobotics, parallel robot, computational intelligence, human robot interaction, sensor localization and mapping, mobile robot navigation, control of quadruped walking robot, snake like robots, intelligent transportation systems, three dimensional vision, manufacturing systems architecture and design, control applications, rehabilitation robotics, multiple robots coordination, reconfigurable robot and special robot, mathematical optimization, mobile robot path planning, control of biped robot and cooperative control of multivehicle systems.
Body rotation under free fall along a desired trajectory can be found in many applications such as sports, entertainment, and manufacturing. An appropriately designed body path could lower the forces at the joints dur...
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Body rotation under free fall along a desired trajectory can be found in many applications such as sports, entertainment, and manufacturing. An appropriately designed body path could lower the forces at the joints during inversion and thus minimizing potential injury. This paper presents a method of developing dynamic models that characterize the interaction between the body of a live object undergoing inversion and the mechanical system driving the rotation. The method offers an effective means to analyze the sensitivity of the design and operational parameters on the body rotation. The models have been validated experimentally. The simulated and experimental results offer significant insights to the joint forces and a means to improve the body dynamics. While the results have immediate application in inverting live birds for poultry meat processing, we expect the model will provide a basis for analyzing body rotational dynamics in other applications such as gymnastics and roller coasters.
In the recent past, many researchers have developed control algorithms for visual servo applications. In this paper, we introduce a new hybrid switched system approach, in which a high-level decision maker selects bet...
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In the recent past, many researchers have developed control algorithms for visual servo applications. In this paper, we introduce a new hybrid switched system approach, in which a high-level decision maker selects between two visual servo controllers. We have evaluated our approach with simulations and experiments using three individual visual servo systems and three candidate switching rules. The proposed method is very promising for visual servo tasks in which there is a significant distance between the initial and goal configuration or the task is one that can cause an individual visual servo system to fail.
This paper presents some ideas and concept to address the current trend in robotics, where the working environment often comprises of a colony of mixed agents, both humans and robots working together. This is referred...
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