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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： O. Cáceres Morene D.M. Martínez Gila D. Aguilera Puerto J. Gámez García J. Gómez Ortega Robotics Automation and Computer Vision Group Universidad de Jaen Jaen JaÃ©n ES Plastic Technological Center ANDALTEC Jaen Spain Robotics Automation and Computer Vision Group University of Jaén Spain

Ones of the most important parameters to measure of olive oil quality are acidity and peroxide index and, currently, they are measured in a laboratory using samples of olives extracted from a batch in the reception process. The aim of this work is to provide an automatic inspection system, based on computer vision-visible and infrared (IR) channels-, to infer automatically these parameters. The proposal uses the differences in superficial textures, the defects in IR pictures and a color estimation in CIELab. Furthermore, a different image preprocessing has been employed and an Artificial Neural Networks have been used as estimation technique. The system has reached good estimation results with R=96.3 in acidity and R=93.9 in peroxide index.

关键词： Indexes Image color analysis Estimation Image segmentation computer vision Production Artificial neural networks

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Leader tracking for a walking logistics robot

Leader tracking for a walking logistics robot

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： M. Perdoch D. M. Bradley J. K. Chang H. Herman P. Rander A. Stentz National Robotics Engineering Center Carnegie Mellon University ETH Zurich Computer Vision Laboratory

A key challenge of developing robots that work closely with people is creating a user interface that allows a user to communicate complex instructions to a robot quickly and easily. We consider a walking logistics support robot, which is designed to carry heavy loads to locations that are too difficult to reach with a wheeled or tracked vehicle. In this application the robot is carrying equipment and supplies for a group of pedestrians, and the primary task for the user interface is to keep the robot traveling with the overall group in the right formation. This paper presents a marker tracking system that uses near infrared cameras, retro-reflective markers, and LIDAR to allow a particular user to designate himself as the robot's leader, and guide the robot along a desired path. We provide an extensive quantitative evaluation to show that the proposed system is able to detect and track a leader through unconstrained and cluttered off-road environments under a wide variety of illumination and motion conditions.

关键词： Strips Detectors Laser radar Radar tracking Cameras Legged locomotion

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Autonomous underwater panel operation by GIRONA500 UVMS: A practical approach to autonomous underwater manipulation

Autonomous underwater panel operation by GIRONA500 UVMS: A p...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Patryk Cieslak Pere Ridao Mariusz Giergiel Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland Computer Vision and Robotics Research Institute CIRS Building Girona Catalonia Spain

This paper proposes a controller for the GIRONA500 Underwater Vehicle Manipulator System and reports experimental results for an autonomous floating-base valve-turning manipulation application. The selected method is based on kinematic control, avoiding the need for a complex, and difficult to obtain, hydrodynamic model. The method relies on the decoupled control of the vehicle and manipulator velocities using a combination of the task priority redundancy resolution and the task concurrence approaches. The paper discusses the manipulation tasks needed, their hierarchical organisation, and a set of strategies that were needed to complement the `standard' task-priority approach to successfully solve the floating-base manipulation problem in water tank experimental conditions.

关键词： Vehicles Kinematics Manipulators Joints Jacobian matrices Valves

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Joint Attention Using Human-Robot Interaction: Impact of Sensory Preferences of Children with Autism

Joint Attention Using Human-Robot Interaction: Impact of Sen...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Pauline Chevalier Jean-Claude Martin Brice Isableu Christophe Bazile David-Octavian Iacob Adriana Tapus Robotics and Computer Vision Lab U2IS ENSTA ParisTech Université Paris-Saclay 828 bd des Maréchaux 91762 Palaiseau cedex France Cognition Perception Use LIMSI-CNRS Orsay 91403 France CIAMS Univ. Paris-Sud Université Paris-Saclay 91405 Orsay Cedex France Groupement des Associations Partenaires de l'Action Sociale France

ISBN: (纸本)9781509039302

Individuals suffering from Autistic Spectrum Disorder (ASD) have impaired skills in social communication and joint attention. In this paper, we explain how we designed and evaluated a Joint Attention (JA) task for individuals with ASD using the Nao humanoid robot. The interaction was tested in children and teenagers with ASD (N=11). Their proprioceptive and visual integration of cues were first assessed, with the hypothesis that individuals with an overreliance on proprioceptive cues and with a hyporeactivity to visual cues would have more difficulties conducting successful interactions with the robot. We observed that participants with an overreliance on proprioceptive cues and hyporeactivity to visual cues showed different behaviors in responding to joint attention. They followed the prompting of the Nao robot more slowly than individuals with an overreliance on visual cues and a hyporeactivity to proprioceptive cues. Defining such individual profiles prior to the social interaction with a robot and working closely with caregivers could provide promising strategies for designing successful and adapted Human-Robot Interaction (HRI) for individuals with ASD.

关键词： Visualization Robot sensing systems Variable speed drives Medical treatment Games Head Manipulator sensing systems Variable speed drives Visualization MEDICAL TREATMENT heart atrium septum defect Head Robot Human machine interaction autism Joints Joints Medicine Game theory

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Automatic classification of olives for oil production using computer vision

Automatic classification of olives for oil production using ...

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IEEE International Conference on Industrial Technology (ICIT)

作者： D. Martinez Gila D. Aguilera Puerto J. Gámez García J. Gómez Ortega Group of Robotics Automation and Computer Vision University of Jaén. Agrifood Campus of International Excellence Jaén Spain

ISBN: (纸本)9781479978014

One of the most important parameters in olive oil production is the correct reception and classification of olive fruits in batches before starting the oil extraction process. This work proposes an automatic inspection system based on computer vision to classify automatically different lots of olives for oil production when the milling process starts. The classification is based on the differentiation, on line, between ground and tree olives. For this purpose, the samples of olives have been obtained by picking berries directly from the tree or from the ground. The feature vector of the samples has been obtained on the basis of the olive image histograms. Moreover, different image processing algorithms have been employed and lineal classification techniques such as Fisher Discriminant Analysis. The system has reached good classification results distinguishing between soil and tree olives batches with success ratios of 100%.

关键词： Soil Production Histograms computer vision Image color analysis Cameras Principal component analysis

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Designing of microcontroller based Syringe Pump with variable and low delivery rates for the administration of small volumes

Designing of microcontroller based Syringe Pump with variabl...

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International Symposium for Design and Technology of Electronics Packages (SIITME)

作者： Muhammad Ahmed Khan Sameed Tehami Osama Mazhar Electrical Engineering & Information Technology Technische Hochschule Ingolstadt Ingolstadt Germany Computer Vision and Robotics University of Burgundy Burgundy France

Delivering medications and fluids intravenously is a common practice in modern medical procedures. Administering medications or fluids directly into a patient's blood circulation results in a predictable and immediate absorption of the drug or fluid administered, this may play a vital role in the treatment of certain acute conditions which require immediate action by drugs or fluids. Syringe Pumps are highly useful in delivering a precise quantity of the substance at specific periods of time as required. This research presents a proposal to create a cost effective working prototype of syringe pump for variable and low delivery rates for the administration of small volumes. The presented Syringe Pump utilizes a lead-screw mechanism that is driven by a stepper motor which itself is controlled by an electronic circuit based on an 89S52 microcontroller that works as the brain of the system and controls all other peripherals like LCD, Keypad and other components. Due to the possibility of the complete prototyping of the syringe pump locally from the electronic hardware designing to the code writing and to the mechanical assembly designing and fabrication it allows us in future to modify this design in accordance to the need of any related industry at home letting off the dependency on manufacturers from other parts of the world and may even allow us to export this cheaper product abroad.

关键词： Hardware Software Microcontrollers Pumps Algorithm design and analysis Drugs

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Hardware and software designing of USB based plug n play data acquisition device with C# and LabView compatibility

Hardware and software designing of USB based plug n play dat...

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International Symposium for Design and Technology of Electronics Packages (SIITME)

作者： Sameed Tehami Muhammad Ahmed Khan Osama Mazhar Electrical Engineering & Information Technology Technische Hochschule Ingolstadt Ingolstadt Germany Computer Vision and Robotics University of Burgundy Burgundy France

As interdisciplinary sciences getting popular with every passing day, the need of electronic devices interfacing with a PC is also increasing. Very useful products (Arduino, RasberryPi, etc) made their way in commercial market to cater such needs however they require programming skills, specific IDE's (integrated development environments) and lack compatibility with useful tools such as NI (National Instrument) LabView[1] and C#. Since these two (C# and LabView) are supposed to be widely used for their user friendliness, but unfortunately are not prioritised as a development option due to lack of supporting hardware which is either too expensive, rare or too complex. Hence in this research the data acquisition device (DAQ) has been designed and developed to provide a hassle free solution for those who choose LabView to avoid programming or programmers who want to control and observe electronic devices such as sensors/actuators as a part of their research projects. This device is connected to PC over USB and interfaces with C# and LabView using a Direct Link Library (.dll file). It can control up to 8 Digital Inputs, 8 Digital outputs, 8 Analog Inputs and 2 Analog (PWM) outputs. Moreover some Virtual Instruments such as 4 Channel Oscilloscope, Function Generator, Logic Analyzer and PID controller has also been developed in C# to cater the needs of students and researchers.

关键词： Data acquisition Universal Serial Bus Hardware Software Prototypes Nickel Libraries

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Learning multiple strategies to perform a valve turning with underwater currents using an I-AUV

Learning multiple strategies to perform a valve turning with...

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OCEANS

作者： Arnau Carrera Narcís Palomeras Natàlia Hurtós Petar Kormushev Marc Carreras Computer Vision and Robotics Group (VICOROB) University of Girona 17071 Girona Spain Department of Advanced Robotics Istituto Italiano di Tecnologia via Morego 30 16163 Genova Italy

ISBN: (纸本)9781479987375

Recent efforts in the field of intervention-autonomous underwater vehicles (I-AUVs) have started to show promising results in simple manipulation tasks. However, there is still a long way to go to reach the complexity of the tasks carried out by ROV pilots. This paper proposes an intervention framework based on parametric Learning by Demonstration (p-LbD) techniques in order to acquire multiple strategies to perform an autonomous intervention task adapted to different environment conditions. The manipulation skills of a pilot are acquired thought a set of demonstrations done under different environment circumstances, in our case different levels of water current. The proposed algorithm is able to learn these different strategies and depending on the estimated water current, autonomously reproduce a combined strategy to perform the task. The p-LbD algorithm as well as its interplay with the rest of the modules that take part in the proposed framework are described in this paper. We also present results on a free-floating valve turning task, using the Girona 500 I-AUV equipped with a manipulator and a customized end-effector. The obtained results show the feasibility of the p-LbD algorithm to perform autonomous intervention tasks combining the learned strategies depending on the environment conditions.

关键词： I-AUVs p-LbD complexity

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Olive batches automatic classification in mill reception using computer vision

Olive batches automatic classification in mill reception usi...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： D. Aguilera Puerto O. Caceres Moreno D. M. Martinez Gila J. Gamez Garcia J. Gomez Ortega Plastic Technological Center ANDALTEC Spain Robotics Automation and Computer Vision Group Universidad de Jaen Jaen JaÃ©n ES

Olive batches classification is crucial to obtain the best possible oil in milling extracting process. Nowadays, this selection is done manually and it takes place before starting the milling process. This work proposes an automatic classification system of olives batch, based on computer vision, whose goal is the online differentiation of the olives batch according to their quality level. The proposed system has been installed and tested in production condition, working with real lots of olives brought to the mill for the famer. Two full setups have been installed in the factory: before and after the olive washing process. The proposed methodology uses a feature vector of the samples that concatenates the olive image histograms from different colour spaces and the result values of two algorithms used to determine the texture (image entropy and grey level co-occurrence matrix). As classifier, an artificial neural network (ANN) was used. For the experimental validation, 6325 images from 100 batches were analysed showing good classification results (success ratios of 97.1% before the washing stage and 96.4% after).

关键词： Image color analysis Cleaning Entropy Histograms Machine vision computer vision Artificial neural networks

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An orientation assignment heuristic to the dubins traveling salesman problem

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8864卷 457-468页

作者： Macharet, Douglas G. Campos, Mario F.M. Computer Vision and Robotics Laboratory Computer Science Department Universidade Federal de Minas Gerais Belo HorizonteMG Brazil

In this paper we deal with the DTSP, which is the optimization problem where a path that goes through a set of two-dimensional points must be calculated considering the use of robots modeled as Dubins vehicles. Assuming that the sequence of visits is initially obtained accordingly to the ETSP, we propose an heuristic to assign orientations for each point in order to achieve a path which is length minimized and respects the vehicle’s nonholonomic constraints. The heuristic takes into account the vehicle’s minimum turning radius and distance between neighbors points to proportionally adjust the orientation on each point, allowing the definition of shorter Dubins curves connecting them. The methodology was horoughly evaluated through numerous trials in different simulated scenarios, providing statistical examination of the final results. © Springer International Publishing Switzerland 2014.

关键词： Vehicles

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