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Algorithm for Deriving Position Measurement Based on Automatically Saved Image Matching

Transactions of the Korean Institute of Electrical Engineers 2025年第3期74卷 491-499页

作者： Hwang, Dong-Yun Seo, Kyeong-Wook Lee, Min-Ho Kim, Yong-Hun Song, Jin-Woo Dept. of Artificial Intelligence and Robotics Sejong University Korea Republic of Dept. of Intelligent Mechatronics Engineering Sejong University Korea Republic of

In this paper, we propose an algorithm that equips a drone with a monocular camera and a laser range finder to derive position measurements for smooth mission execution and return to the home position, even in situations where GNSS is not available. This algorithm stores images and create an orthoimage when GNSS is available, and from the time the GNSS signal is lost, it matches the current image with the database image based on image feature point matching to determine the drone's current location and to employ return to home mission. We validated the algorithm with data acquired from actual drone flights and confirmed that the proposed algorithm could be used practically and effectively with sufficient accuracy for return to home mission. © The Korean Institute of Electrical Engineers.

关键词： Drones

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Towards Autonomous Robotic Grasping: 3D Point Cloud Analysis with Stereo Cameras in Unpredictable Environments

Towards Autonomous Robotic Grasping: 3D Point Cloud Analysis...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Patel, Shrey Kovarovics, Aiden More, Aaditya Chun, Carrington Fletcher, Montreal Tanveer, M. Hasan Chakravarty, Sumit Voicu, Razvan Kennesaw State University Dept. of Robotics & Mechatronics Engineering Marietta United States Kennesaw State University Dept. of Electrical and Computer Engineering Marietta United States

ISBN: (纸本)9798331504847

Current robotic arm systems typically depend on pretrained models or function within controlled environments using known positions or fiducial markers for object manipulation. Although these methods achieve high accuracy, they face limitations due to lengthy training processes and the need for carefully controlled setups. This research introduces a methodology that leverages stereo cameras to develop a generalized algorithm aimed at overcoming these constraints and enhancing robotic manipulation in uncontrolled environments. The proposed solution utilizes an Intel RealSense stereo camera in conjunction with YOLO segmentation models for initial object identification. It combines segmentation meshes with the camera's dept. values to create a detailed three-dimensional point cloud of the target object's surface. This point cloud is analyzed through Random Sample Consensus (RANSAC) and geometry-based feature extraction techniques, which allow the algorithm to approximate the object's shape as a combination of fundamental 3D forms, such as cuboids, cylinders, and spheres. A grasp point is then estimated by identifying suitable surfaces for grasping with a two-pronged gripper, followed by calculating an optimal approach angle and position kinematics for the robotic arm. This innovative approach enables robotic arm systems to autonomously adapt to various objects in uncontrolled environments, significantly expanding their practical applications. For example, the methodology could support modular robotic systems designed for sample collection in extraterrestrial missions, where adaptability and autonomous operations are essential. Ultimately, this research aims to enhance the efficiency and capabilities of robotic systems in dynamic and unpredictable settings. © 2025 IEEE.

关键词： Robotic arms

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Towards Autonomous Robotic Grasping: 3D Point Cloud Analysis with Stereo Cameras in Unpredictable Environments

Towards Autonomous Robotic Grasping: 3D Point Cloud Analysis...

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IEEE Southeastcon

作者： Shrey Patel Aiden Kovarovics Aaditya More Carrington Chun Montreal Fletcher M. Hasan Tanveer Sumit Chakravarty Razvan Voicu Dept. of Robotics & Mechatronics Engineering Kennesaw State University Marietta USA Dept. of Electrical and Computer Engineering Kennesaw State University Marietta USA

ISBN: (数字)9798331504847

ISBN: (纸本)9798331504854

关键词： Point cloud compression YOLO Training Three-dimensional displays Robot vision systems Grasping Manipulators Cameras Feature extraction Object recognition

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FFT-UAVNet: FFT Based Human Action Recognition for Drone Surveillance System 5

FFT-UAVNet: FFT Based Human Action Recognition for Drone Sur...

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5th International Conference on Sustainable Technologies for Industry 5.0, STI 2023

作者： Chowdhury, Abdul Monaf Imran, Ahsan Hasan, Md Mehedi University of Dhaka Dept. of Robotics and Mechatronics Engineering Bangladesh

ISBN: (纸本)9798350394290

Unmanned aerial vehicles (UAVs) have emerged as a transformative technology for human action recognition, providing a birds-eye view and unlocking new possibilities for precise and comprehensive support in surveillance systems. While substantial advances in ground-based human action recognition have been achieved, the unique characteristics of UAV footage present new challenges that require tailored solutions. Specifically, the reduced scale of humans in aerial perspectives necessitates the development of specialised models to accurately recognize and interpret human actions. Our research focuses on modifying the well-established C3D model and incorporating Fast Fourier Transform (FFT)-based object disentanglement (FO) and space-time attention (FA) mechanisms. By leveraging the power of FFT, our model effectively disentangles the human actors from the background and captures the spatio-temporal dynamics of human actions in UAV footage, enhancing the discriminative capabilities and enabling accurate action recognition. Through extensive experimentation on a subset of the UAV-Human dataset, our proposed FFT-UAVNet (m-C3D+FO&FA+FC) model demonstrates remarkable improvements in performance. We achieve a Top-1 accuracy of 64.86% and a Top-3 accuracy of 83.37%, surpassing the results obtained by the standard C3D and X3D methods, which achieve only a Top-1 accuracy of 28.05% and 31.33%, respectively. These findings underscore the efficacy of our approach and emphasize the significance of the proposed model for UAV datasets in maximizing the potential of UAV-based human action recognition. © 2023 IEEE.

关键词： Computer vision

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Development of Hovering Personal Mobility Device and Its Dynamics 26

Development of Hovering Personal Mobility Device and Its Dyn...

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26th International Conference on mechatronics Technology, ICMT 2023

作者： Song, Bongsub Ju, Insung Choi, Sunghyun Yun, Dongwon Dept. Robotics and Mechatronics Engineering Dgist Daegu Korea Republic of

ISBN: (纸本)9798350381429

Recent advances in control units and innovations in battery technology have greatly improved the accessibility of personal mobility, also known as personal mobility. However, most of the personal mobility developed to date utilizes motorized wheels as the primary propulsion source. This approach is limited by the fact that the mobility capability of the device is heavily constrained by the road surface conditions. In this paper, we propose a new form of personal mobility to address these issues. We devised an air cushion-based personal mobility to extend the range of personal mobility devices and reduce their dependence on road conditions. This novel mobility system supports the weight of the system and its occupants through air cushions, and it allows for vector control of the direction of propulsion through individual cushions acting independently. This unique structure is able to overcome the road surface constraints faced by motorized wheel-based personal mobility by floating off the ground. This will enable personal mobility to be effectively utilized in a wider range of environments and situations. © 2023 IEEE.

关键词： Roads and streets

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Optimal Design of Parallel Elastic Actuators for Minimizing Required Torque and Power: Comparison with Series Elastic Actuators 50

Optimal Design of Parallel Elastic Actuators for Minimizing ...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Shin, Kyeongsik Oh, Sehoon Dept. Robotics and Mechatronics Engineering DGIST Daegu Korea Republic of

ISBN: (纸本)9781665464543

This paper proposes an optimal design methodology for Parallel Elastic Actuators (PEAs) that minimizes torque and power consumption for tasks with external conditions. Furthermore, the paper advocates for selecting an actuator based on a comparison of the dynamic characteristics of PEAs and Series Elastic Actuators (SEAs) for a specific task. However, the design of actuators may need to vary depending on the task and application, but the criteria for this are often unclear. To address the ambiguous design criteria, we analyze the dynamic characteristics of PEAs and SEAs under external conditions and utilize them for optimal design. By formulating cost functions for various tasks, we identify the most suitable actuator design for each task. This study establishes criteria for designing PEAs for tasks with external conditions and proposes a general framework for PEA design optimization. © 2024 IEEE.

关键词： Cost functions

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A biologically inspired hybrid three legged mobile robot

A biologically inspired hybrid three legged mobile robot

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Student Conference on Research and Development, SCOReD 2002

作者： How, Ong Chun Amin, S.H.M. Dept. of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Malaysia

ISBN: (纸本)0780375653

This paper describes the development of a biologically inspired mobile robot. The locomotion mechanism is a hybrid combination of legged locomotion supported by wheels for stability purposes. The mechanism design, the applied electronic circuit design and the behavior-based controller for navigation and reactive response to stimuli of the robot's environment are described. The locomotion mechanism of the mobile robot consists of a set of wheels and legs with crab-like features. Static and dynamic stability is provided by the set of wheels, while locomotion is mainly dependent on the three legs. The mechatronic modules of the mobile robot consist of the integration of micro-controller, motors and sensors. Each leg is powered by independently controlled actuators. Sensors placed at each of the legs provide the posture information. At the sides, front and rear of the robot's body, proximity sensors are arranged in an array to give information about the environment to the controller. The behavior of the hybrid three legged mobile robot is coordinated by the subsumption architecture implemented and it can be modified incrementally as the need arises. The navigation behavior of the mobile robot is emphasized with the behavior-based controller. It is expected that the robot will be able to traverse different terrain. © 2002 IEEE.

关键词： Mobile robots

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Independent Optimization for Robot Path Planning and Dynamic Obstacle Avoidance 19

Independent Optimization for Robot Path Planning and Dynamic...

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19th IEEE International Conference on Smart Communities: Improving Quality of Life Using ICT, IoT and AI, HONET 2022

作者： Hall, Terrance Johnson, Christopher Swales, Brighton Koduru, Charles Tanveer, M. Hassan Kennesaw State University Dept. of Robotics and Mechatronics Engineering Marietta United States

ISBN: (纸本)9781665461979

Autonomous robots can be assigned with various tasks such as moving payload, analyzing terrain, and capturing data in an environment. For an Autonomous Mobile Robot (AMR) to execute such tasks the robot (Hussarion ROSbot) will require efficient algorithms and techniques to reference its current location. The robot is relative to surrounding obstacles in its predetermined path. The conducted research study explains the coordinated method used to successfully allow a robot to identify its position in the environment (Gazebo Simulation) and avoid obstructions with increasing velocity - contingent on nearby surroundings. The results show multiple robots individually tasked with distinct roles, while incorporating an obstacle avoidance function used to avoid both static and dynamic obstacles. Such results can be used in the applications of a high-capacity warehouse environments. © 2022 IEEE.

关键词： Multipurpose robots

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Sensor based target tracking with application to autonomous docking and self-reconfigurability

Sensor based target tracking with application to autonomous ...

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ASME 2020 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2020

作者： Sohal, Shubhdildeep S. Ben-Tzvi, Pinhas Robotics and Mechatronics Lab Mechanical Engineering Dept. Virginia Tech BlacksburgVA United States

ISBN: (纸本)9780791883990

This paper presents a target detection technique, which combines a supervised learning model with sensor data to eliminate false positives for a given input image frame. Such a technique aids with selective docking procedures where multiple robots are present in the environment. Hence the sensor data provides additional information for this decision making process. Senor accuracy plays a crucial role when the motion of the robot is defined by the use of data recorded by its sensors. The uncertainties in the sensory data can cause misalignments due to poor calibration of the sensor, which can result in poor positioning of the robot relative to its target. Such misalignments can play a significant role where certain accuracy is desired. Therefore, it is necessary to minimize such misalignments to achieve certainty for the robot interaction with its target. The work proposed in this paper allows achieving such accuracy using a vision-based approach by eliminating all false occurrences leading to selective interactions with the target. The proposed methodology is validated using a self-reconfigurable mobile robot capable of hybrid Wheeled-Tracked mobility, as an application towards autonomous docking of mobile robotic modules. Copyright © 2020 ASME

关键词： Target tracking

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Simulation and Control of Inverted Pendulum System Dynamics over Control Area Network using TrueTime 8

Simulation and Control of Inverted Pendulum System Dynamics ...

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8th IEEE R10 Humanitarian Technology Conference, R10-HTC 2020

作者： Abdulrab, Hakim Qaid Abdullah Hussin, Fawnizu Azmadi Motea, Zakarya Zaidi, Rose Neezar Rose Universiti Teknologi Petronas Dept. of Electrical and Electronic Engineering Perak Malaysia Universiti Teknologi Malaysia Dept. of Control and Mechatronics Engineering Johor Malaysia Dept. of Mechatronics and Robotics Engineering Faculty of Engineering and IT Taiz University Taiz Yemen

ISBN: (纸本)9781728111100

Inverted pendulum is one the most popular systems that has been used and studied in the field of control engineering. Even its simplest form is an under-actuated system and highly unstable with high non-linear dynamics. Therefore, it is a challenging control task and have been referred to as benchmark for testing control algorithms. This paper discusses modelling and control of inverted pendulum using Linear Quadratic Regulator (LQR) controller. Then, the same model and controller are inserted to a real time Simulink model for the purpose of analysing the scheduling of tasks and testing control area network (CAN) performance. This is done by utilizing True Time toolbox. In this paper both nonlinear and linearized models were analysed. Four sensors, an actuator and a controller are used in analysing the response of the inverted pendulum. Different scheduling techniques and the response of the system after changing the period of one of the sensors in the system were also investigated. By changing the period of one sensor and maintaining the other 3 sensors, the system became unstable as discussed throughout the paper. © 2020 IEEE.

关键词： Inverted pendulum

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