检索结果-内蒙古大学图书馆

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hesheng Wang Weidong Chen Xiaojin Yu Tao Deng Xiaozhou Wang Rolf Pfeifer Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China hanghai Chest Hospital Shanghai Jiao Tong University Shanghai china. Artificial Intelligence Laboratory Department of Informatics University of Zurich Andreasstrasse 15 (Office 2.32) 8050 Zurich Switzerland

ISBN: (纸本)9781467363563

Aim at enhancing dexterous and safe operation in unstructured environment, a cable-driven soft robotic manipulator is designed in this paper. Due to soft material it made of and nearly infinite degree of freedom it owns, the soft robotic manipulator has higher security and dexterity than traditional rigid-link manipulator, which make it suitable to perform tasks in complex environments that is narrow, confined and unstructured. Though the soft robotic manipulator possesses advantages above, it is not an easy thing for it to achieve precise position control. In order to solve this problem, a kinematic model based on piecewise constant curvature hypothesis is proposed. Through building up three spaces and two mappings, the relationship between the length variables of 4 cables and the position and orientation of the soft robotic manipulator end-effector is obtained. Afterwards, a depth-independent image Jacobian matrix is introduced and an image-based visual servo controller is presented. Applied by adaptive algorithm, the controller could estimate unknown position of the feature point online, and then Lyapunov theory is used to prove the stability of the proposed controller. At last, experiments are conducted to demonstrate rationality and validity of the kinematic model and adaptive visual servo controller.

关键词： visual servo control adaptive visual servo controller kinematic model kinematics visual servo control Degree of freedom Position control Robot Manipulator visual servoing controllers servo control FLEXIBLE MATERIALS servo controller

来源：评论

学校读者我要写书评

暂无评论

Image-Based Auto-Focus Microscope System with visual servo control for Micro-Stereolithography

引用

MICROMACHINES 2024年第10期15卷 1250-1250页

作者： Liu, Yijie Li, Xuexuan Jiang, Pengfei Wang, Ziyue Guo, Jichang Luo, Chao Wei, Yaozhong Chen, Zhiliang Liu, Chang Ren, Wang Zhang, Wei Qu, Juntian Zhang, Zhen China Coal Technol & Engn Grp Co Ltd Coal Min Res Inst Beijing 100013 Peoples R China CCTEG Intelligent Strata Control Technol Tianjin C Tianjin 300392 Peoples R China Tsinghua Univ Dept Mech Engn State Key Lab Tribol Adv Equipment Beijing 100084 Peoples R China Tsinghua Univ Beijing Key Lab Precis Ultraprecis Mfg Equipments Beijing 100084 Peoples R China State Key Lab Intelligent Min & Strata Control Beijing 100013 Peoples R China Tsinghua Univ Shenzhen Int Grad Sch Shenzhen 518055 Peoples R China Tsinghua Univ Shenzhen Key Lab Adv Technol Marine Ecol Shenzhen 518055 Peoples R China

Micro-stereolithography (mu SL) is an advanced additive manufacturing technique that enables the fabrication of highly precise microstructures with fine feature resolution. One of the primary challenges in mu SL is achieving and maintaining precise focus throughout the fabrication process. For the successful application of mu SL, it is essential to maintain the sample surface within a focal depth of several microns. Despite the growing interest in auto-focus devices, limited attention has been directed towards auto-focus systems in image-based auto-focus microscope systems for precision mu SL. To address this challenge, we propose an image-based auto-focus microscope system incorporating visual servo control. In the optical design, a transflective beam splitter is employed, allowing the laser beam to pass through for fabrication while reflecting the focused beam on the sample surface to the microscope and camera. Utilizing captured spot images and the Foucault knife-edge test, a deep learning-based laser spot image processing algorithm is developed to determine the focus position based on spot size and the number of spot pixels on both sides. Experimental results demonstrate that the proposed auto-focus system effectively determines the relative position of the focal point using the laser spot image and achieves auto-focusing through visual servo control.

关键词： auto-focus laser visual servo control micro-stereolithography deep learning machine vision

来源：评论

学校读者我要写书评

暂无评论

Mix Frame visual servo control Framework for Autonomous Assistive Robotic Arms

引用

SENSORS 2022年第2期22卷 642-642页

作者： Arif, Zubair Fu, Yili Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China

Assistive robotic arms (ARAs) that provide care to the elderly and people with disabilities, are a significant part of Human-Robot Interaction (HRI). Presently available ARAs provide non-intuitive interfaces such as joysticks for control and thus, lacks the autonomy to perform daily activities. This study proposes that, for inducing autonomous behavior in ARAs, visual sensors integration is vital, and visual servoing in the direct Cartesian control mode is the preferred method. Generally, ARAs are designed in a configuration where its end-effector's position is defined in the fixed base frame while orientation is expressed in the end-effector frame. We denoted this configuration as 'mixed frame robotic arms'. Consequently, conventional visual servo controllers which operate in a single frame of reference are incompatible with mixed frame ARAs. Therefore, we propose a mixed-frame visual servo control framework for ARAs. Moreover, we enlightened the task space kinematics of a mixed frame ARAs, which led us to the development of a novel "mixed frame Jacobian matrix". The proposed framework was validated on a mixed frame JACO-2 7 DoF ARA using an adaptive proportional derivative controller for achieving image-based visual servoing (IBVS), which showed a significant increase of 31% in the convergence rate, outperforming conventional IBVS joint controllers, especially in the outstretched arm positions and near the base frame. Our Results determine the need for the mixed frame controller for deploying visual servo control on modern ARAs, that can inherently cater to the robotic arm's joint limits, singularities, and self-collision problems.

关键词： visual servo control assistive robotic arms IBVS autonomous robots mix frame Jacobian matrix

来源：评论

学校读者我要写书评

暂无评论

Automated Rust Removal: Rust Detection and visual servo control

引用

AUTOMATION IN CONSTRUCTION 2022年第0期134卷 104043-104043页

作者： Tian, Yang Zhang, Guoteng Morimoto, Kenji Ma, Shugen Ritsumeikan Univ Dept Robot Kusatsu Shiga 5258577 Japan

Rust removal is one of the most hazardous and difficult tasks in the restoration of steel structures such as bridges and towers. Robotic systems provide an alternative technology for performing the task safely and efficiently. The capability to automatically remove rust considering the condition of the rusted area is a significant function of robotic systems. In this paper, we propose an approach for identifying rust as a key technology in the rust removal process. Rust detection can be performed automatically by processing a sequence of camera images. For the utilization of the approach in practical applications, it is designed to be robust to variations in the conditions of rusted areas caused by the presence of working tools or rust powders in the images. A fuzzy force controller that replicates the human behavior during rust removal is designed to construct a visual servo control framework for the rust removal process. The proposed approach is validated using experiments conducted on a rust-grinding robotic prototype.

关键词： Rust removal Rust detection visual servo control Grinding

来源：评论

学校读者我要写书评

暂无评论

Dynamic visual servo control methods for continuous operation of a fruit harvesting robot working throughout an orchard

引用

COMPUTERS AND ELECTRONICS IN AGRICULTURE 2024年 219卷

作者： Chen, Mingyou Chen, Zengxing Luo, Lufeng Tang, Yunchao Cheng, Jiabing Wei, Huiling Wang, Jinhai Foshan Univ Coll Mech & Elect Engn Foshan 528000 Peoples R China South China Agr Univ Coll Engn Key Lab Key Technol Agr Machine & Equipment Guangzhou 510642 Peoples R China Foshan Zhongke Innovat Res Inst Intelligent Agr & Foshan 528042 Peoples R China Nanfang Coll Sch Elect & Comp Engn Guangzhou 510970 Peoples R China Zhongkai Univ Agr & Engn Coll Urban & Rural Construct Guangzhou 510006 Peoples R China

Fruit-picking robots are crucial for achieving efficient orchard harvesting. To genuinely meet the commercial production needs of farmers, the new generation of fruit-picking robots must be capable of demonstrating complete and continuous observation, movement, and picking behaviors throughout complex orchards, akin to real human employees. This poses systematic challenges, as many prior researches have focused solely on a part of the continuous operation of the entire orchard, such as fruit positioning, navigation, path planning, or grasping. These isolated basic functions are important but insufficient for fulfilling operational requirements on a macro scale and continuous situation. Developing an efficient control method for each basic module and constructing their internal coordination is vital for transitioning a harvesting robot from a functional prototype to a practical machine. In this context, this study tackles the visual servo control problem for efficient locomotion, picking, and their seamless integration. A set of vision algorithms for locomotion destination estimation, realtime self-positioning, and dynamic harvesting is proposed. Additionally, a solid coordination mechanism for continuous locomotion and picking behavior is established. Each method offers distinct advantages, such as improved accuracy, adaptability to varying conditions, and enhanced picking efficiency, enabling the robot to operate autonomously and continuously. Comprehensive field experiments validated the soundness of the methods. The primary contribution of this study lies in addressing the challenge of continuous operation in an entire orchard as a systematic problem and providing new insights into control methods for the future development of highly autonomous, practical, and user-oriented fruit harvesting systems.

关键词： Fruit picking robot Machine vision Continuous operation visual servo control Autonomous

来源：评论

学校读者我要写书评

暂无评论

Robust Image-based visual servo control of an Uncertain Missile Airframe

引用

IFAC Proceedings Volumes 2014年第3期47卷 5085-5090页

作者： Murat T. Aygun William MacKunis Siddhartha Mehta Embry-Riddle Aeronautical University Daytona Beach FL 32114 USA Physical Sciences Department Embry-Riddle Aeronautical University Daytona Beach FL 32114 USA Research and Eng. Education Facility University of Florida Shalimar FL 32579 USA

A nonlinear vision-based guidance law is presented in this paper for a missile-target scenario in the presence of model uncertainty and unknown target evasive maneuvers. To this end, projective geometric relationships are utilized to combine the image kinematics with the missile dynamics in an integrated visual dynamic system . The guidance law is designed using an image-based visual servo control method in conjunction with a sliding-mode control strategy, which is shown to achieve asymptotic target interception in the presence of the aforementioned uncertainties. A Lyapunov-based stability analysis is presented to prove the theoretical result, and numerical simulation results are provided to demonstrate the performance of the proposed robust controller for both stationary and non-stationary targets.

关键词： robust control missiles computer vision visual servo control image-based guidance systems autonomous lyapunov stability

来源：评论

学校读者我要写书评

暂无评论

2-D Automatic Micrograsping Tasks Performed by visual servo control

2-D Automatic Micrograsping Tasks Performed by Visual Servo ...

引用

2007 IEEE International Symposium on Industrial Electronics (ISIE 2007), vol.5

作者： Lu Ren Lidai Wang James K. Mills Dong Sun Department of Mechanical and Industrial Engineering University of Toronto Toronto ONT Canada Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

In this paper, we propose a visual servo control approach and develop the corresponding software to perform micrograsping tasks in a two-dimension plane (2-D). Specifically, using a 6 degree-of-freedom (DOF) robotic manipulator to manipulate a micro-gripper and automatically grasp a micro-part. In the proposed control scheme, two types of position feedback signals are utilized. One is the relative positions of the micro-part with respect to the micro-gripper measured by the developed computer vision system, which is used for visual servo control. The other is the absolute displacements of the micro-part measured by the fixed linear encoders, which is used to check the corresponding motions. The whole control software is developed by LabVIEW, to improve operation speed. Furthermore, a two-stage grasping strategy is employed: in the first stage, pattern-matching is performed once and the bonded micro-gripper is controlled, to directly reach a specific position adjacent to the mating edge of a designated micro-part with the same y coordinate;in the second stage, pattern-matching is performed at each control update interval while the micro-gripper is displaced towards the micro-part with steps on the order of one micron magnitude, until the micro-part is completely grasped. Experiments conducted on a 6-DOF experimental manipulator demonstrate the efficiency and validity of the proposed control approach and grasping strategy.

关键词： Microassembly visual servo control 2-D

来源：评论

学校读者我要写书评

暂无评论

Pipeline tracking for fully-actuated autonomous underwater vehicle using visual servo control

Pipeline tracking for fully-actuated autonomous underwater v...

引用

American control Conference

作者： Szymon Krupinski Guillaume Allibert Minh-Duc Hua Tarek Hamel I3S UNS-CNRS Sophia Antipolis France ISIR UPMC-CNRS Paris France

ISBN: (纸本)9781457710957

This paper describes a nonlinear image-based visual servo control algorithm for the pipeline tracking problem of a fully-actuated underwater vehicle. The dynamic model of a generic autonomous underwater vehicle (AUV), incorporating all significant forces and torques is developed and a generic velocity control strategy is proposed. The desired velocities in the plane orthogonal to the direction of the pipeline along with the yaw velocity are derived from the image sequence using bi-normalised Plucker coordinates of the pipeline borders. The desired velocity along the pipeline is specified by the operator and finally the desired velocities in pitch and roll angles are set to zero. The asymptotic stability of the visual servo control strategy is proved and simulation testing is carried out to show performance of the control approach.

关键词： visual servo control pipeline Autonomous underwater vehicles image sequences servo control underwater vehicles asymptotic stability region Torque

来源：评论

学校读者我要写书评

暂无评论

2.5D visual servo control in the presence of time-varying state and input delays

2.5D visual servo control in the presence of time-varying st...

引用

American control Conference

作者： I. Chakraborty S. S. Mehta E. Doucette W. E. Dixon Department of Mechanical and Aerospace Engineering University of Florida Department of Industrial and Systems Engineering University of Florida Research and Engineering Education Facility Air Force Research Laboratory Munitions Directorate Eglin AFB

ISBN: (纸本)9781509045839

State and input delays are ubiquitous in networked visual servo control systems due to image acquisition, transmission, and processing latencies. In addition, the delays can be time-varying due to network uncertainties and the complexity of the images to be processed. This paper revisits the popular 2.5D visual servo control problem but considers the presence of state and input delays. Specifically, the objective is to regulate a monocular camera to a desired position and orientation in the presence of time-varying state and input delays. A partial differential equation based robust controller is developed that uses a linear transformation to map the time dependent control input to a new control input of two variables. This transformation facilitates development of a robust controller that compensates for the uncertain time-varying state delays and the known time-varying input delays. A Lyapunov-based stability analysis is presented that guarantees uniformly ultimately bounded (UUB) regulation error.

关键词： time varying visual servo control Robust controllers control input servo control Differential equations ENTERING monocular camera delay presences linear transformations

来源：评论

学校读者我要写书评

暂无评论

A Framework of Networked visual servo control System with Distributed Computation

A Framework of Networked Visual Servo Control System with Di...

引用

International Conference on control, Automation, Robotics and Vision

作者： Haiyan Wu Lei Lou Chih-Chung Chen Sandra Hirche Kolja Kuhnlenz Institute of Automatic Control Engineering (LSR) Technische Universitat Munchen

ISBN: (纸本)9781424478149

In this paper, a networked visual servo control system with distributed computation is proposed to overcome the low sampling rate problem in vision-based control systems. A real-time image data transmission protocol based on Real-time Transport Protocol (RTP) is developed. The captured images are sent to different processing nodes connected over a communication network and processed in parallel. Thus, a high sampling rate of the visual feedback is achieved under a cloud image processing architecture. The varying image processing delay caused by the varying number of extracted features and the random transmission delay are modeled as a random process with Bernoulli distribution. By using the input-delay approach, the resulted networked visual servo control system is reformulated into a stochastic continuous-time system with time-varying delay. Experiments on two 1-DoF linear motor modules are carried out to validate the proposed approach. A visual servo control system without parallel distributed computation is implemented for comparison. The experimental results demonstrate significant performance improvement by the proposed approach.

关键词： visual servo control servo control system networks(communications) Binomial Distribution performance boost Continuous time systems Transport delay arithmetic Stochastic Processes visual Feedback sampling rate Distribute

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：