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Visual servoing of mobile robots using non-central catadioptric cameras

Visual servoing of mobile robots using non-central catadiopt...

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作者： Aliakbarpour, Hadi Tahri, Omar Araujo, Helder Institute of Systems and Robotics University of Coimbra Portugal Computer Science Department University of Missouri-Columbia United States

This paper presents novel contributions on image-based control of a mobile robot using a general catadioptric camera model. A catadioptric camera is usually made up by a combination of a conventional camera and a curved mirror resulting in an omnidirectional sensor capable of providing 360° panoramic views of a scene. Modeling such cameras has been the subject of significant research interest in the computer vision community leading to a deeper understanding of the image properties and also to different models for different types of configurations. Visual servoing applications using catadioptric cameras have essentially been using central cameras and the corresponding unified projection model. So far only in a few cases more general models have been used. In this paper we address the problem of visual servoing using the so-called radial model. The radial model can be applied to many camera configurations and in particular to non-central catadioptric systems with mirrors that are symmetric around an axis coinciding with the optical axis. In this case, we show that the radial model can be used with a non-central catadioptric camera to allow effective image-based visual servoing (IBVS) of a mobile robot. Using this model, which is valid for a large set of catadioptric cameras (central or non-central), new visual features are proposed to control the degrees of freedom of a mobile robot moving on a plane. In addition to several simulation results, a set of experiments was carried out on Robot Operating System (ROS)-based platform which validates the applicability, effectiveness and robustness of the proposed method for image-based control of a non-holonomic robot. © 2014 Elsevier B.V. All rights reserved.

关键词： Mobile robots

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Towards an immersive and natural gesture controlled interface for intervention underwater robots

Towards an immersive and natural gesture controlled interfac...

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OCEANS - Europe

作者： Juan C. García Bruno Patrão Javier Pérez João Seabra Paulo Menezes Jorge Dias Pedro J. Sanz Universitat Jaume I Castello de la Plana Comunitat Valenciana ES Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department of Computer Science and Engineering Universitat Jaume I Spain Khalifa University of Science and Technology and Research Abu UAE Dhabi

During underwater intervention missions, one of the critical issues, from the human-machine interaction perspective, concerns the operator's stress, which should be able to control the intervention system, mainly due to the high complexity of information displayed through specifically designed Graphical User Interface, and the usually available master-slave control architecture. So, this paper introduces a new approach with the aim to minimize the aforementioned drawbacks and, in the meantime, increasing the user's immersive feeling. Preliminary results are discussed highlighting the pros and cons of this novel procedure.

关键词： Cameras Robot vision systems Graphical user interfaces Proposals

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Infeasibility-free inverse kinematics method

Infeasibility-free inverse kinematics method

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IEEE/SICE International Symposium on System Integration

作者： Wael Suleiman Fumio Kanehiro Eiichi Yoshida Electrical and Computer Engineering Department Université de Sherbrooke Sherbrooke Quebec Canada Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Ibaraki Japan CNRS-AIST JRL (Joint Robotics Laboratory) Tsukuba Ibaraki Japan

ISBN: (纸本)9781467372435

The problem of inverse kinematics is revisited in the present paper. The paper is focusing on the problem of solving the inverse kinematics problem while respecting velocity limits on both the robot's joints and the end-effector. Even-though the conventional inverse kinematics algorithms have been proven to be efficient in many applications, defining an admissible trajectory for the end-effector is still a burdensome task for the user, and the problem can easily become unsolvable. The main idea behind the proposed algorithms is to consider the sampling time as a free variable, hence adding more flexibility to the optimization problem associated with the inverse kinematics. We prove that the reformulated problem has always a solution if the end-effector path is in the reachable space of the robot, thus solving the problem of infeasibility of conventional inverse kinematics methods. To validate the proposed approach, we have conducted three simulations scenarios. The simulation results point that while the conventional inverse kinematics methods fail to track precisely a desired end-effector trajectory, the proposed algorithms always succeed.

关键词： Kinematics Optimization Robots Trajectory Algorithm design and analysis Jacobian matrices Angular velocity

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A robust nonlinear controller for nontrivial quadrotor maneuvers: Approach and verification

A robust nonlinear controller for nontrivial quadrotor maneu...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Yuyi Liu J. M. Montenbruck P. Stegagno F. Allgower A. Zell Department of Computer Science University of Tubingen Tubingen Germany Autonomous Robotics and Human-Machine Systems group Max Planck Institute for Biological Cybernetics Tubingen Germany Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Eberhard Karls Universitat Tubingen Tubingen Baden-WÃ¼rttemberg DE

This paper presents a nonlinear control approach for quadrotor Micro Aerial Vehicles (MAVs), which combines a backstepping-like regulator based on the solution of a certain class of global output regulation problems for the rigid body equations on SO(3), a robust controller for the system with bounded disturbances, as well as a trajectory generator using a model predictive control method. The proposed algorithm is endowed with strong convergence properties so that it allows the quadrotor MAVs to reach almost all the desired attitudes. The control approach is implemented on a high-payload-capable quadcopter with unstructured dynamics and unknown disturbances. The performance of our algorithm is demonstrated through a series of experimental evaluations and comparisons with another control method on normal and aggressive trajectory tracking tasks.

关键词： Attitude control Trajectory Robustness Heuristic algorithms Mathematical model Tracking Aerodynamics

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On the use of UML documentation in software maintenance: Results from a survey in industry 15

On the use of UML documentation in software maintenance: Res...

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ACM/IEEE International Conference on Model Driven Engineering Languages and systems (MODELS)

作者： Ana M. Fernández-Sáez Danilo Caivano Marcela Genero Michel R.V. Chaudron Universidad de Castilla-La Mancha Ciudad Real Castilla-La Mancha ES Institute of Technologies and Information Systems University of Castilla-La Mancha Ciudad Real Spain Department of Informatics University of Bari Bari Italy Joint Computer Science and Engineering Department Chalmers University of Tech. & University of Gothenburg Gothenburg Sweden

ISBN: (纸本)9781467369084

This paper presents the findings of a survey on the use of UML in software maintenance, carried out with 178 professionals working on software maintenance projects in 12 different countries. As part of long-term research we are carrying out to investigate the benefits of using UML in software maintenance, the main objectives of this survey are: 1) to explore whether UML diagrams are being used in software industry maintenance projects; 2) to see what UML diagrams are the most effective for software maintenance; 3) to find out what the perceived benefits of using UML diagrams are; and 4) to contextualize the kind of companies that use UML documentation in software maintenance. Some complementary results based on the way the documentation is used (whether it is UML-based or not) during software maintenance are also presented.

关键词： Unified modeling language Software maintenance Companies Maintenance engineering Industries Sociology

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Quality-aware video decoding on thermally-constrained MPSoC platforms

Quality-aware video decoding on thermally-constrained MPSoC ...

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International Conference on Application Specific systems (ASAP), Architectures and Processors

作者： Deepak Gangadharan Jürgen Teich Samarjit Chakraborty Department of Computer Science Friedrich-Alexander University Institute for Real-Time Computer Systems TU Munich

Current mobile devices extensively run video players that are power hungry. Further, higher power densities as a result of technology scaling results in higher on-chip temperatures. Unlike general purpose computer systems, mobile devices that run on batteries cannot afford to have expensive cooling mechanisms. Therefore, in order to satisfy thermal constraints while running power hungry applications, dynamic thermal management (DTM) techniques have been employed. For multimedia applications, the techniques primarily relied on dynamic voltage and frequency scaling (DVFS) and dynamic power management (DPM) while taking care that maximum video quality is achieved. However, no prior work has exploited frame drops to lower the inserted idle times under predetermined quality constraints. In this work, we propose a DPM framework that utilizes frame drops to dynamically insert low idle times in order to satisfy a peak temperature constraint under a given quality constraint. This also reduces the end-to-end latency. The latencies are further reduced by maintaining lightweight workload histories. For the videos used in our experiments, it was observed that a small reduction in quality of 2 dB (reduction from 32 dB to 30 dB) due to frame drops in motion videos results in a maximum latency reduction of 1.7 sec.

关键词： Streaming media Quality of service Decoding Multimedia communication Degradation Measurement Thermal degradation

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Fiber optically sensorized multi-fingered robotic hand

Fiber optically sensorized multi-fingered robotic hand

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： L. Jiang K. Low J. Costa R. J. Black Yong-Lae Park Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA Intelligent Fiber Optic Systems (IFOS) Corp. Santa Clara CA USA Robotics Institute in the School of Computer Science and the Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA

We present the design, fabrication, and characterization of a fiber optically sensorized robotic hand for multi purpose manipulation tasks. The robotic hand has three fingers that enable both pinch and power grips. The main bone structure was made of a rigid plastic material and covered by soft skin. Both bone and skin contain embedded fiber optics for force and tactile sensing, respectively. Eight fiber optic strain sensors were used for rigid bone force sensing, and six fiber optic strain sensors were used for soft skin tactile sensing. For characterization, different loads were applied in two orthogonal axes at the fingertip and the sensor signals were measured from the bone structure. The skin was also characterized by applying a light load on different places for contact localization. The actuation of the hand was achieved by a tendon-driven under-actuated system. Gripping motions are implemented using an active tendon located on the volar side of each finger and connected to a motor. Opening motions of the hand were enabled by passive elastic tendons located on the dorsal side of each finger.

关键词： Robot sensing systems Tendons Bones Skin Optical fiber sensors

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Development of a robotic prototype system for the preparation and partition of radioactive products

Development of a robotic prototype system for the preparatio...

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2015 IEEE International Conference on Industrial Technology, ICIT 2015

作者： Guevara, Gabriela Lima, José Leitão, Paulo Do Carmo Baptista, Maria Polytechnic Institute of Bragança Campus Sta Apolónia Apartado 1134 Bragança5301-857 Portugal Robotics and Intelligent Systems Rua Dr. Roberto Frias Porto4200-465 Portugal LIACC Artificial Intelligence and Computer Science Laboratory Rua Dr. Roberto Frias Porto4200-465 Portugal Medical Physics Department Dr. Campos Costa - Consultório T.C. SA. Rua de Avis 13 Porto4050-075 Portugal

ISBN: (纸本)9781479978007

The ionizing radiation is used in the nuclear medicine field during the execution of diagnosis exams. The continuous exposure of humans to the radiation may cause organs and tissues damage, being its severity dependent of the quantity of the radiation and the exposure time. The main objective of this work is to design a virtual environment to carry out the simulation of the several stages for the preparation of radioactive products based on the use of a robotic arm. In this work, the V-REP robotic simulation tool was used for the specification and development of the manipulation processes, without the need to consider the real manipulator, being timely and costly efficient. During this study, the preparation process of the dosages in the diagnostic exams was analyzed, being posteriorly translated into mechanical processes for a better perception. The materials and equipment needed were designed as virtual 3D models and posteriorly imported into the V-REP simulation platform in order to be distributed and programmed to achieve a closer approximation to reality. © 2015 IEEE.

关键词： Ionizing radiation

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Increasing the autonomy levels for underwater intervention missions by using learning and probabilistic techniques 1

Increasing the autonomy levels for underwater intervention m...

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ROBOT 2013: 1st Iberian robotics Conference

作者： Sales, Jorge Santos, Luís Sanz, Pedro J. Dias, Jorge García, J.C. Computer Science and Engineering Dept University of Jaume-I Castellón Spain Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Robotics Institute Khalifa University Abu Dhabi United Arab Emirates

ISBN: (纸本)9783319034126

This paper represents research in progress in autonomous manipulation for underwater intervention missions within the context of the GRASPER project. This project focuses on developing manipulation skills for an Autonomous Underwater Vehicle (AUV). Current research in underwater robotics intends to increase autonomy for all kinds of robotic intervention operations that require physical interaction. Very few underwater systems have the capacity to carry out intervention without any kind of umbilical cables for tele-operating the actions. This article aims to investigate new approaches to follow with the aforementioned challenges, with the inclusion of learning and probabilistic techniques to increase the autonomy levels of an underwater manipulation system. With this goal, a collaboration research action has been established between the IRSLab at UJI (Spain), as experts in the underwater robotic manipulation domain, and the institute of systems and robotics from University of Coimbra (Portugal), experts in learning by interaction within a robotic manipulation context. © Springer International Publishing Switzerland 2014.

关键词： Autonomous underwater vehicles

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Self-adaptive harris corner detector on heterogeneous many-core processor 8

Self-adaptive harris corner detector on heterogeneous many-c...

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2014 8th Conference on Design and Architectures for Signal and Image Processing, DASIP 2014

作者： Paul, Johny Stechele, Walter Sousa, Éricles Lari, Vahid Hannig, Frank Teich, Jürgen Kröhnert, Manfred Asfour, Tamim Institute for Integrated Systems Technical University of Munich Germany Department of Computer Science University of Erlangen-Nuremberg Germany Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Germany

ISBN: (纸本)9791092279054

The recent years have shown the emergence of heterogeneous system architecture (HSA), which offers massive computational power assembled into a compact design. computer vision applications with massive inherent parallelism highly benefits from such heterogeneous processors with on-chip CPU and GPU units. The highly parallel and compute intensive parts of the application program can be mapped to the GPU while the control flow and high level tasks may run on the CPU. However, they pose considerable challenge to software development due to their hybrid architecture. Sharing of resources (GPU or CPU) among applications running concurrently, leads to variations in processing interval and prolonged processing intervals leads to low quality results (frame drops) for computer vision algorithms. In this work, we propose resource-awareness and self organisation within the application layer to adapt to available resources on the heterogeneous processor. The benefits of the new model is demonstrated using a widely used computer vision algorithm called Harris corner detector. A resource-aware runtime-system and a heterogeneous processor were used for evaluation and the results indicate a well constrained processing interval and reduced frame-drops. Our evaluations demonstrate up to 20% improvements in processing rate and accuracy of the detected corner points for Harris corner detection. © 2014 European Electronic Chips & systems design Initiative - ECSI.

关键词： Graphics processing unit

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