In minimally invasive surgery (MIS) the 3D perception and hand-eye coordination is reduced. A high degree of sensory-motor skills is required by the surgeon to mediate action and perception. The incorporation of robot...
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In minimally invasive surgery (MIS) the 3D perception and hand-eye coordination is reduced. A high degree of sensory-motor skills is required by the surgeon to mediate action and perception. The incorporation of robotic assistants is capable of integrating the required egocentric information to aid the surgeon providing a sense of presence. In this work we propose a robotic vision system as a tool to locate surgical instruments with respect to the surgeon. It estimates the absolute position of the port of entry, in which surgical instruments are inserted to access the patient body. The proposed algorithm shows that it is possible to estimate the orientation of the instruments with respect to the laparoscopic camera applying determined movements through the robotic assistant.
Providing required quality of water delivered to the consumers is still a challenging operational task at drinking water distribution systems. Water quality meets the quality requirements at the outputs from the treat...
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The paper considers a feedback optimising control of drinking water distribution systems (DWDS). Although the optimised pump and valves scheduling and disinfectant injection control attracted considerable attention ov...
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The predictive integrated water quantity and quality yields better performance then different approaches. However, it requires solving a nonlinear, non-convex optimization problem. Therefore, a specialized optimizatio...
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MultiScale - Principal Component Analysis (MS-PCA) is a very suitable method for fault detection of wastewater treatment processes. It will be shown that MS-PCA can notice non-measurable process abnormalities signific...
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State Space Wavelet Network is a specific neural network with non trivial structure. Such a structure implies problems with the network training. In SSWN, during the training process, weights and wavelons parameters a...
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Implementation of integrated control algorithms requires suitable hardware and software platforms. Proposed solution must allow realizing control and monitoring tasks, while ensuring high reliability and security of p...
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The design of interval observer for estimation of unmeasured state variables for application to drinking water distribution systems is described in this paper. In particular, it considers the design of such observer f...
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To better identify the objects in remote sensing images, the multispectral images with high spectral resolution and low spatial resolution, and the panchromatic images with high spatial resolution and low spectral res...
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To better identify the objects in remote sensing images, the multispectral images with high spectral resolution and low spatial resolution, and the panchromatic images with high spatial resolution and low spectral resolution need to be fused. Many fusion techniques are discussed in the recent years to obtain images with high spectral resolution and also high spatial resolution. In this paper an image fusion technique, based on integrating both the Intensity-Hue-Saturation (IHS) and the Discrete Wavelet Frame Transform (DWFT), is proposed for boosting the quality of remote sensing images. A panchromatic and multispectral image from Landsat-7(ETM+) satellite has been fused using this new approach. Experimental results show that the proposed technique improves the spectral and spatial qualities of the fused images. Moreover, when this technique is applied to noisy and de-noised remote sensing images it can preserve the quality of the fused images. Comparison analyses between different fusion techniques are also presented and show that the proposed technique outperforms the other techniques.
Increasingly, personalised robots - robots especially designed and programmed for an individual's needs and preferences - are being used to support humans in their daily lives, most notably in the area of service ...
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Increasingly, personalised robots - robots especially designed and programmed for an individual's needs and preferences - are being used to support humans in their daily lives, most notably in the area of service robotics. Arguably, the closer the robot is programmed to the individual's needs, the more useful it is, and we believe that giving people the opportunity to program their own robots, rather than programming robots for them, will push robotics research one step further in the personalised robotics field. However, traditional robot programming techniques require specialised technical skills from different disciplines and it is not reasonable to expect end-users to have these skills. In this paper, we therefore present a new method of obtaining robot control code - programming by demonstration through system identification - which algorithmically and automatically transfers human behaviours into robot control code, using transparent, analysable mathematical functions. Besides providing a simple means of generating perception-action mappings, they have the additional advantage that can also be used to form hypotheses and theoretical analysis of robot behaviour. We demonstrate the viability of this approach by teaching a Scitos G5 mobile robot to achieve wall following and corridor passing behaviours.
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