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检索条件"机构=Department of Robotics Engineering and Computer Science"

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Extraction of 3D images using pitch-actuated 2D laser range finder for robotic vision

Extraction of 3D images using pitch-actuated 2D laser range ...

引用

2010 8th IEEE International Workshop on Robotic and Sensors Environments, ROSE 2010

作者： Ben-Tzvi, Pinhas Charifa, Samer Shick, Michael Robotics and Mechatronics Lab. Department of Mechanical and Aerospace Engineering George Washington University Washington DC United States Computer Sciences Corporation Alexandria VA United States Department of Computer Science George Washington University Washington DC United States

ISBN: (纸本)9781424471461

Volumetric mapping is essential for recognizing the 3D environment and consequentially for the decision making process for special-task mobile robots (such as stair climbing, inspection, or search and rescue). In this paper, we propose a fast surface detection algorithm based on point cloud data from a small pitch-actuated laser range finder mounted on a mobile manipulator arm. The developed algorithm is mainly composed of two steps: (i) gradient based classification;and (ii) Recursive Connected Component Labeling (RCCL) algorithm. The algorithm was experimentally validated. A complete segmentation of different planes in the environment was also successfully accomplished. © 2010 IEEE.

关键词： computer vision

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

引用

IEEE International Conference on Imaging Systems and Techniques

作者： Nalpantidis, Lazaros Sirakoulis, Georgios Ch. Carbone, Andrea Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Autoagent Laboratory for Cognitive Robotics Department of Computer and Systems Science University of Rome La Sapienza Via Ariosto 25 00185 Rome Italy

ISBN: (纸本)9781424464944

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed. © 2010 IEEE.

关键词： Stereo vision

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Development of alignment inspection system for ball grid array packaging

Development of alignment inspection system for ball grid arr...

引用

2010 International Symposium on Optomechatronic Technologies, ISOT 2010

作者： Lee, Hyunki Jeon, Jeong Yul Ko, Kwang Ill Cho, Hyungsuck Kim, Min Young R and D Robot Vision Team Kohyoung Co. Ltd. Seoul Korea Republic of Robotics Engineering Department DGIST Daegu Korea Republic of School of Electrical Engineering and Computer Science Kyungpook National University Daegu Korea Republic of

ISBN: (纸本)9781424476848

The ball grid array (BGA) has become one of the most popular packaging alternatives for high I/O devices in the industry with many advantages: high interconnection density and less packaging space and so on. In these days, the size of chip becomes small and the size of ball grid also becomes small, so the process of BGA alignment becomes more important and difficult. In this paper, the BGA alignment system before the oven process step is managed. The main difficult of inspecting the BGA alignment is that the substrate is always tilted due to irregular carrier size and in-line process. In this paper, to overcome this problem, tilt angle of substrate is measured by phase measuring profilometry (PMP), and then the compensated alignment offset calc ulation algorithm is suggested. The performance of our system is checked by a series of real experiments. © 2010 IEEE.

关键词： Ball grid arrays

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Bézier curve based dynamic obstacle avoidance and trajectory learning for autonomous mobile robots

Bézier curve based dynamic obstacle avoidance and trajector...

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2010 10th International Conference on Intelligent Systems Design and Applications, ISDA'10

作者： Chaudhry, Tayyab Gulrez, Tauseef Zia, Ali Zaheer, Shyba Intelligent Machines and Robotics Research Group Department of Computer Science COMSATS Institute of Information Technology Lahore M.A. Jinnah Campus Defence Road Lahore Pakistan Department of Electrical Engineering College of Engineering and Applied Sciences Al Ghurair University Dubai United Arab Emirates

ISBN: (纸本)9781424481354

This paper addresses the problem of avoiding dynamic obstacles while following the learned trajectory through non-point based maps directly through laser data. The geometric representation of free configuration area changes while a moving obstacle enters into the safety region of autonomous mobile robot. We have applied the Bézier curve properties to the free configuration eigenspaces to satisfy the dynamic obstacle avoidance path constraints. The algorithm is designed to accurately represent the mobile robot's characteristics while avoiding obstacle such as minimum turning radius. Moreover, we also discuss the obstacle avoided path feasibility as a vectorial combination of free configuration eigen-vectors at discrete time scan-frames to manifest a trajectory, which once followed and mapped onto the two control signals of mobile robot will enable it to build an efficient and accurate online environment map. Preliminary results in Matlab have been shown to validate the idea, while the same has been implemented in Player/stage (robotics real-time software) to analyze the performance of the proposed system. © 2010 IEEE.

关键词： Trajectories

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The design of a single degree of freedom open-loop spatial mechanism that incorporates geared connections

The design of a single degree of freedom open-loop spatial m...

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2009 ASME International Mechanical engineering Congress and Exposition, IMECE2009

作者： Bari, Joseph M. Crane III, Carl D. Dooner, David B. Mckinley, Javier Roldan University of Florida Center for Intelligent Machines and Robotics Gainesville FL United States University of Puerto Rico at Mayaguez Department of Mechanical Engineering Mayaguez Puerto Rico LaGuardia Community College C.U.N.Y. Mathematics Engineering and Computer Science United States

ISBN: (纸本)9780791843772

A means has been discovered to apply gear pairing to create a one degree of freedom open-loop spatial mechanism. A specially chosen geometry consisting of three pairs of parallel joint axes is constricted by five sets of gears, three of which are parallel planar, allows for a reconfigurable mechanism that is suited for repetitive tasks. Previous work has examined three-dimensional rigid body guidance in closed-loop geared mechanisms, but has not come to a solution for the open-loop case. Gear pairs are designed based upon a desired position and orientation path for the end effector. Numerical optimization is performed to obtain physically realizable gear profiles. Noncircular gear centrodes must be continuous and smooth as well as mono-directional, that is, gear ratios of a given pair may not switch signs. These constraints eliminate non-realizable or non-optimal gears in favor of simple, more easily produced profiles. Variable parameters include link lengths, joint offsets and twist angles. Numerical examples are presented. Copyright © 2010 by ASME.

关键词： Gears

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Design and development of portable RFID for attendance system

Design and development of portable RFID for attendance syste...

引用

International Conference on Information Retrieval and Knowledge Management: Exploring the Invisible World, CAMP'10

作者： Wahab, Mohd Helmy Abd Mutalib, Ariffin Abdul Kadir, Herdawatie Abdul Mohsin, Mohamad Farhan Mohamad Department of Computer Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia College of Arts and Science Universiti Utara Malaysia Sintok Kedah Malaysia Department of Mechatronic and Robotics Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia

ISBN: (纸本)9781424456512

This paper describes an ongoing project for recording examination attendance using Radio Frequency Identification (RFID). The project is carried out to test in a university, where the system which is named Portable Examination Attendance System (PEAS) is integrated with the existing system for record extraction. The use of RFID technology enables the university management to avoid attendance forms from damages such as tear, lost, and misplaced. This paper describes about the design and development of PEAS in terms of hardware technology and software. In addition, some related works are reviewed and addressed to support this project. As a conclusion, this paper states some future works of this project. ©2010 IEEE.

关键词： Radio frequency identification (RFID)

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Recovery of occluded face using direct combined model-based particle filter

Recovery of occluded face using direct combined model-based ...

引用

International Conference on System science and engineering (ICSSE)

作者： Ching-Ting Tu Jenn-Jier James Lien Robotics Laboratory Department of Computer Science and Information Engineering National Cheng Kung University Tainan County Taiwan

In this paper, we present a Bayesian framework for recovering the occluded facial image without the aid of manual face alignment or user-specified occlusion region. The proposed Bayesian framework unifies the recovery stage with face alignment and occlusion detection, and such complex probability distribution is represented by a particle set. Into this framework, each particle is one possible solution of the recovered face which is composed of several patches. First, the occluded facial patches of each particle are detected, and then are recovered by inferring their local facial details from other non-occluded patches. Further, by including the global facial geometry as a constraint, the recovered results are robust to the local image noise which then cause the alignment parameters are accurately calculated. Particularly, we also propose a novel direct combined model (DCM)-based particle filter that utilizes the face specific prior knowledge to perform such particle-based solution efficiently and robustly. Our extensive experiment results demonstrate that the recovered images are quantitatively closer to the ground truth without manual involvement.

关键词： Nose Manuals Mouth Robots

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Load distribution algorithm based on transcoding time estimation for distributed transcoding servers

Load distribution algorithm based on transcoding time estima...

引用

2010 International Conference in Information science and Applications, ICISA 2010

作者： Seo, Dongmahn Kim, Jongwoo Jung, Inbum Imaging Media Center Robotics/Systems Division Korea Institute of Science and Technology Seoul 136-791 Korea Republic of Department of Computer and Communications Engineering College of Information Technology Kangwon National University Chuncheon Gangwon 200-701 Korea Republic of

ISBN: (纸本)9781424459438

As a result of improvements in wireless communication technologies, a multimedia data streaming service can be provided for mobile clients such as PDAs and cellular phones. Because mobile devices have low computing power and work on a low network bandwidth, a transcoding technology is needed to adapt the original streaming media for mobile environments. To provide quality of service, original encoded media are transcoded within limited time and transmitted to clients without ceasing and jittering phenomena. In particular, when large-scale mobile clients demand streaming services, load distribution methods among distributed transcoding servers have a tremendous impact on the total number of quality of service streams. In this paper, a new load distribution method is proposed based on transcoding time estimation with transcoding servers' information, movie information and target transcoding bit-rate. In experiments, the proposed method produces the best performance scalability according to the increase of transcoding servers. ©2010 IEEE.

关键词： Quality of service

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Vision-based quadrotor stabilization using a pan and tilt camera

Vision-based quadrotor stabilization using a pan and tilt ca...

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2010 49th IEEE Conference on Decision and Control

作者： D. Cabecinhas C. Silvestre R. Cunha Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Tecnico 1049-001 Lisboa Portugal

ISBN: (纸本)9781424477456

This paper proposes a nonlinear control architecture for the stabilization of a quadrotor vehicle based on image measurements of a set of landmarks obtained from a pan and tilt camera. The vehicle is stabilized vertically using an additional vertical position sensor and lateral-longitudinal stabilization is achieved with a nested saturation control law by feedback of image measurements, body attitude, and angular rate. Additionally, the pan and tilt camera is actively actuated to to keep the landmarks visible in the image sensor for most operating conditions. Simulation results are presented to assess the performance of the proposed control architecture.

关键词： Control Architecture Sensors (image) Cameras TILT landmarks position sensor

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Adaptive neural control for nonlinear distributed time-delay systems with delay-dependent control gains

Adaptive neural control for nonlinear distributed time-delay...

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作者： Han, Thanh-Trung Sam, Ge Shuzhi Sun, Fuchun School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute University of Electronic Science and Technology of China Chengdu 611731 China Department of Computer Science and Technology Tsinghua University Beijing 100084 China

ISBN: (纸本)9787894631046

This paper addresses the problem of output tracking control for a class of nonlinear distributed time-delay systems whose control gains are delay-dependent and whose uncertainty involves both delay times and system nonlinearities. We introduce the framework of using delay-independent control to deal with unknown distributed delay dependence and using switching-based adaptive neural control to deal with unknown delay-dependent control gains. The control is designed in consideration of a Razumikhin norm condition on retarded functional state entailing efficiency with distributed delay dependence.

关键词： Timing circuits

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