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2016 International Conference on Machine Learning and Cybernetics, ICMLC 2016

作者： Ma, Zhe Su, Jian-Bo Research Center of Intelligent Robotics Department of Automation Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781509003891

In terms of visual feedback, the process of visual servoing could be characterized by the changes of the visual features. The concept of feature completeness for visual servoing is introduced. If there exists a feature set that varies from the initial state to the target state while the prescribed task is finished, then the feature set is complete for this task. With such a feature set, the visual servoing task is transformed to designing the control algorithm to alter every feature to the corresponding final state optimally. Visual servoing systems are firstly categorized in terms of feature completeness. Then how feature completeness affects the performance of task fulfillment is discussed. The strategy of visual servoing control is investigated based on complete feature sets, incomplete feature sets as well as redundant feature sets, respectively. Finally, simulation and corresponding results are described to demonstrate how feature completeness functions and the advantage of this technique. © 2016 IEEE.

关键词： Visual servoing

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Common Limitations of Image Processing Metrics: A Picture Story

arXiv

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arXiv 2021年

作者： Reinke, Annika Tizabi, Minu D. Sudre, Carole H. Eisenmann, Matthias Rädsch, Tim Baumgartner, Michael Acion, Laura Antonelli, Michela Arbel, Tal Bakas, Spyridon Bankhead, Peter Benis, Arriel Blaschko, Matthew Buettner, Florian Cardoso, M. Jorge Chen, Jianxu Cheplygina, Veronika Christodoulou, Evangelia Cimini, Beth A. Collins, Gary S. Engelhardt, Sandy Farahani, Keyvan Ferrer, Luciana Galdran, Adrian van Ginneken, Bram Glocker, Ben Godau, Patrick Haase, Robert Hamprecht, Fred Hashimoto, Daniel A. Heckmann-Nötzel, Doreen Hirsch, Peter Hoffman, Michael M. Huisman, Merel Isensee, Fabian Jannin, Pierre Kahn, Charles E. Kainmueller, Dagmar Kainz, Bernhard Karargyris, Alexandros Karthikesalingam, Alan Kavur, A. Emre Kenngott, Hannes Kleesiek, Jens Kleppe, Andreas Koehler, Sven Kofler, Florian Kopp-Schneider, Annette Kooi, Thijs Kozubek, Michal Kreshuk, Anna Kurc, Tahsin Landman, Bennett A. Litjens, Geert Madani, Amin Maier-Hein, Klaus Martel, Anne L. Mattson, Peter Meijering, Erik Menze, Bjoern Moher, David Moons, Karel G.M. Müller, Henning Nichyporuk, Brennan Nickel, Felix Noyan, M. Alican Petersen, Jens Polat, Gorkem Rafelski, Susanne M. Rajpoot, Nasir Reyes, Mauricio Rieke, Nicola Riegler, Michael A. Rivaz, Hassan Saez-Rodriguez, Julio Sánchez, Clara I. Schroeter, Julien Saha, Anindo Selver, M. Alper Sharan, Lalith Shetty, Shravya Smeden, Maarten V.A.N. Stieltjes, Bram Summers, Ronald M. Taha, Abdel A. Tiulpin, Aleksei Tsaftaris, Sotirios A. Calster, Ben V.A.N. Varoquaux, Gaël Wiesenfarth, Manuel Yaniv, Ziv R. Jäger, Paul Maier-Hein, Lena Division of Intelligent Medical Systems and HI Helmholtz Imaging Heidelberg Germany Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Division of Intelligent Medical Systems Heidelberg Germany NCT Heidelberg DKFZ University Medical Center Heidelberg Germany MRC Unit for Lifelong Health and Ageing UCL Centre for Medical Image Computing Department of Computer Science University College London London United Kingdom School of Biomedical Engineering and Imaging Science King’s College London London United Kingdom Division of Medical Image Computing Heidelberg Germany Instituto de Cálculo CONICET – Universidad de Buenos Aires Buenos Aires Argentina Centre for Medical Image Computing University College London London United Kingdom McGill University Montréal Canada Division of Computational Pathology Dept of Pathology & Laboratory Medicine Indiana University School of Medicine IU Health Information and Translational Sciences Building Indianapolis United States University of Pennsylvania Richards Medical Research Laboratories FL7 PhiladelphiaPA United States Institute of Genetics and Cancer University of Edinburgh Edinburgh United Kingdom Department of Digital Medical Technologies Holon Institute of Technology Holon Israel European Federation for Medical Informatics Le Mont-sur-Lausanne Switzerland Center for Processing Speech and Images Department of Electrical Engineering KU Leuven Kasteelpark Arenberg 10 - box 2441 Leuven3001 Belgium Frankfurt/Mainz DKFZ UCT Frankfurt-Marburg Germany Heidelberg Germany Goethe University Frankfurt Department of Medicine Germany Goethe University Frankfurt Department of Informatics Germany Frankfurt Cancer Insititute Germany Leibniz-Institut für Analytische Wissenschaften – ISAS – e.V. Dortmund Germany Department of Computer Science IT University of Copenhagen Copenhagen Denmark Imaging Platform Broad Institute of MIT and Harvard CambridgeMA United States Centre for St

While the importance of automatic image analysis is continuously increasing, recent meta-research revealed major flaws with respect to algorithm validation. Performance metrics are particularly key for meaningful, objective, and transparent performance assessment and validation of the used automatic algorithms, but relatively little attention has been given to the practical pitfalls when using specific metrics for a given image analysis task. These are typically related to (1) the disregard of inherent metric properties, such as the behaviour in the presence of class imbalance or small target structures, (2) the disregard of inherent data set properties, such as the non-independence of the test cases, and (3) the disregard of the actual biomedical domain interest that the metrics should reflect. This living dynamically document has the purpose to illustrate important limitations of performance metrics commonly applied in the field of image analysis. In this context, it focuses on biomedical image analysis problems that can be phrased as image-level classification, semantic segmentation, instance segmentation, or object detection task. The current version is based on a Delphi process on metrics conducted by an international consortium of image analysis experts from more than 60 institutions worldwide. © 2021, CC BY.

关键词： Medical imaging

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Design and implementation of modularized 7-DOFs dual arm manipulator

Design and implementation of modularized 7-DOFs dual arm man...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Ren C. Luo Zhi-Xian Liao International Center of Excellence in Intelligent Robotics and Automation Research National Taiwan University Taipei Taiwan

ISBN: (纸本)9781467380768

This paper introduces the analytical inverse kinematic solution of modularized seven DOFs redundant manipulator with offsets at shoulder and elbow or wrist, and uses the analytical solution of manipulator to achieve dual arm intuitive teaching. Furthermore, this paper verify the method of select proper joint as redundant axis which could enhance the ability of obstacle avoidance in the corresponding workspace. Intuitive teaching and playing are successfully implemented to verify the prof-of-concept.

关键词： inverse kinematic seven degree of freedom redundant manipulator offsets with shoulder and elbow offsets with shoulder and wrist dual arm intuitive teaching Modularity Obstacle avoidance Arm spiral arm offsets Elbow Wrist Intuitive Shoulder Dual Pedagogy Teaching Redundant manipulators

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3D point cloud based indoor mobile robot in 6-DoF pose localization using Fast Scene Recognition and Alignment approach

3D point cloud based indoor mobile robot in 6-DoF pose local...

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International Conference on Multisensor Fusion and Integration for intelligent Systems (MFI)

作者： Ren C. Luo Vincent W.S. Ee Chung-Kai Hsieh International Center for Intelligent Robotics and Automation Research National Taiwan University Taipei Taiwan Department of Electrical Engineering International Center for Intelligent Robotics and Automation Research Taipei Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan

ISBN: (纸本)9781467397087;9781467397094

This paper describes an algorithm for localization of a robot which can efficiently estimate robot in 6 degrees-offreedom (DoF) pose which consist of position and orientation with large scale point cloud data without giving the initial pose. We introduce the Fast Scene Recognition and Alignment algorithm to reduce the computation time needed for the point cloud alignment by matching robot's scene only with the retrieved Sub-Map in database. Our developed algorithm is to extract Sub-Maps descriptor by cascading several features, and learn a Distance-Metric to increase the precision of place recognition due to the environmental changes. We then align the robot's scene with Sub-Map to estimate robot pose. Our technique has been implemented and tested extensively in different buildings. The experimental results show that our Fast Scene Recognition and Alignment system can localize mobile robot in a variety of large scale 3D point cloud dataset efficiently.

关键词： Three-dimensional displays Cameras Robot kinematics Feature extraction Robot vision systems Databases

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Grasp envelopes: Extracting constraints on gripper postures from online reconstructed 3D models

Grasp envelopes: Extracting constraints on gripper postures ...

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IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Todor Stoyanov Robert Krug Rajkumar Muthusamy Ville Kyrki AASS Research Center Orebro University Sweden Intelligent Robotics Group Department of Electrical Engineering and Automation Aalto University Finland

ISBN: (纸本)9781509037636

Grasping systems that build upon meticulously planned hand postures rely on precise knowledge of object geometry, mass and frictional properties - assumptions which are often violated in practice. In this work, we propose an alternative solution to the problem of grasp acquisition in simple autonomous pick and place scenarios, by utilizing the concept of grasp envelopes: sets of constraints on gripper postures. We propose a fast method for extracting grasp envelopes for objects that fit within a known shape category, placed in an unknown environment. Our approach is based on grasp envelope primitives, which encode knowledge of human grasping strategies. We use environment models, reconstructed from noisy sensor observations, to refine the grasp envelope primitives and extract bounded envelopes of collision-free gripper postures. Also, we evaluate the envelope extraction procedure both in a stand alone fashion, as well as an integrated component of an autonomous picking system.

关键词： Grippers Grasping Planning Manipulators Three-dimensional displays Robot sensing systems Grasp three-dimensional displays Manipulator sensing systems Grippers Manipulators envelopes body position ENVELOPE Environmental models integrating element

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Intuitive maneuver of multi-DoFs laparoscopic system for minimally invasive surgery

Intuitive maneuver of multi-DoFs laparoscopic system for min...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Ren C. Luo Jung-Yu Tsai Keng-Ming Lee Chen Hsuan Tsung Center for Intelligent Robotics and Automation Research (iCeiRA) National Taiwan University Taipei Taiwan Hiwin Technologies Corp Taichung Taichung TW

Robot-assisted minimally invasive surgery (RMIS) has become widespread because of its accuracy, stability and intuition. In the traditional laparoscopic surgery, an assistant is essential to help the surgeon in controlling the laparoscope. However, surgeons need to communicate with the assistant, and it is also difficult for an assistant manipulate the laparoscope to an anatomical position that the surgeon desired. Accordingly, the objective of this paper is to develop the Intuitively Robotic Laparoscope System (IRLS) with a more intuitive means to conquer these problems. With the gyroscope mounted on the head, the surgeon can dominate the laparoscope maneuver directly. To maneuver multi degree of freedoms and increase safety, a pedal is used as a power and mode switch. Furthermore, an algorithm is also adopted to adjust the angle collected by the gyroscope to make this system more ergonomic. Finally, an experimental result demonstrates that the data from the gyroscope being used is feasible and the error is acceptable.

关键词： Gyroscopes Laparoscopes Endoscopes Magnetic heads Switches Minimally invasive surgery

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Effective online trajectory generation of waist and arm for enhancing humanoid robot walking

Effective online trajectory generation of waist and arm for ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Ren C. Luo Chien-An Chen Anne Spalanzani International Center of Excellence in Intelligent Robotics and Automation Research Electrical Engineering Department National Taiwan University Taipei INRIA Grenoble Rhone Alpes France

ISBN: (纸本)9781509008742

Inspired by the human torso, humanoid robots usually equipped with active waist joints. For arbitrary walking patterns or whole body motions, the well-designed waist trajectories can greatly enhance the motion of robot legs and allow the robot to perform larger walking step length or crossing higher stair gaps. In this paper, we develop an effective online algorithm for generating waist and arm trajectories for humanoid robots having a waist joint. The waist trajectory generation problem is formulated into a Quadratic Programming problem. The Receding Horizon Control technique is used to make the algorithm relative faster to integrate it into online control systems and have the ability to confront perturbations. The arm swinging motion is then generated to eliminate the angular momentum generated by the swinging leg and the waist motion. Finally, we apply our algorithm on RENBO, which is the humanoid robot developed in our lab. The experimental result and analysis demonstrate that the algorithm can generate continuous and smooth waist and arm trajectory, making the resulting leg motion much smoother.

关键词： Legged locomotion Trajectory Humanoid robots Hip Generators Torso

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Reverse engineering with trajectory generation based on Bezier curve at dual drive machine

Reverse engineering with trajectory generation based on Bezi...

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International Workshop on Advanced Motion Control (AMC)

作者： Ren C. Luo Yi-Wen Perng Pang-Fu Cheng Center for Intelligent Robotics and Automation Research (iCeiRA) National Taiwan University Taipei Taiwan iCeiRA National Taiwan University Taipei Taiwan (R.O.C.)

The objective of this paper is to design and implement a process about reverse engineering, which will generate smooth trajectories without using a high cost controller. Because contour of work pieces is more complex today, the trajectory planning and generation are essential in the whole process. In this paper, using Bezier curve to clarify the rough outline makes the process of reverse engineering more accurate and clearer. The pros and cons of Bezier curve and the comparison between Bezier curve and NURBS are mentioned. Additionally, we implement this system without a high level expensive controller, and to solve the complex curve problems efficiently and economically. We implement this system with Dual Drive Machine that is designed and implemented in our lab previously. Experimental results have been successfully conducted to prove the principle as proposed.

关键词： Reverse engineering Robot kinematics Trajectory Splines (mathematics) Surface topography Surface reconstruction

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Pose estimation of a rigid body and its supporting moving platform using two gyroscopes and relative complementary measurements

Pose estimation of a rigid body and its supporting moving pl...

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2016 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Yizhai Zhang Kehao Song Jingang Yi Zhansheng Duan Quan Pan Panfeng Huang Research Center of Intelligent Robotics Northwestern Polytechnical University Xi'an Shaanxi China Department of Control and Information Key Laboratory of Information Fusion Technology (LIFT) Xi'an Shaanxi China Department of Mechanical and Aerospace Engineering Rutgers University Piscataway NJ USA Department of Automation Xi'an Jiaotong University Xi'an Shaanxi China

We present a drift-free pose estimation scheme for rigid body and its supporting platform by fusing only two gyroscopes and the relative complementary measurements. The fusion design not only provides robust relative attitude estimation between the rigid body and the platform, but also is capable of identifying partial global absolute attitudes without capturing any absolute attitude information. The pose estimation is built on a special design of the coupled kinematic model with the relative measurements between the rigid body and its supporting platform. We compare the fusion design with an alternative kinematic model and the posterior Cramer-Rao bound analyses are presented to show the completely different estimation performances. An extended Kalman filter (EKF) implementation of the fusion design is presented for the bicycle riding application.

关键词： Pose estimation Kinematics Gyroscopes Magnetic sensors Mathematical model

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On-line Adaptive control for Minimizing Slippage Error While Mobile Platform and Manipulator Operate Simultaneously for robotics Mobile Manipulation

On-line Adaptive control for Minimizing Slippage Error While...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Ren C. Luo Yueh-Shiuan Tsai International Center of Excellence on Intelligent Robotics and Automation Research National Taiwan University

ISBN: (纸本)9781479917631

Mecanum wheels can apply a flexible mobility to a mobile robot, in this paper, a mobile manipulation robot is designed with combination of a Mecanum wheeled mobile platform and a 7-degrees of freedom (DoF) robot manipulator. Due to the mechanism of Omni-directional mobility, the Mecanum wheeled robot suffers with slip errors on the free rollers, these errors may be reduced with additional sensors and appropriate feedback control. However, while the mobile platform and the manipulator operate simultaneously, the displacement of the center of gravity of the whole robot increases the complexity to the motion control. To solve this problem, we analyze and model the effect of inconsistency of slippage errors caused by the unbalance of normal force on the wheels, and propose an on-line adaption slippage model for the Mecanum vehicle to generate a better control system to reduce these errors. We proof the effectiveness by using our proposed adaption model and on-line compensation control with experiments.

关键词： Yttrium

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