Hand pose estimation is one of the representative tasks in computer vision. Solving the hand pose estimation problem is essential for various fields such as virtual reality, augmented reality, mixed reality, and human...
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Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured **...
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Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.
Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and inter...
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This research introduces a kinetic friction modeling and measurement method for silicon nanowires (NWs) and silicon carbide substrates. The NW was pushed to slide by the micro-force probe at a constant speed. Under th...
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Different from traditional vehicles, the routing problem of electric vehicles (EVs) is closely coupled with their charging. Hence, operating EV requires a joint optimization of both routing and charging. Moreover, the...
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This paper presents a new distributed positioning algorithm for unknown nodes in a wireless sensor network. The algorithm is based exclusively on connectivity. First, assuming that the positions of the anchor nodes ar...
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This paper presents a new distributed positioning algorithm for unknown nodes in a wireless sensor network. The algorithm is based exclusively on connectivity. First, assuming that the positions of the anchor nodes are already known, a circular belt containing an unknown node is obtained using information about the anchor nodes that are in radio range of the unknown node, based on the geometric relationships and communication constraints among the unknown node and the anchor nodes. Then, the centroid of the circular belt is taken to be the estimated position of the unknown node. Since the algorithm is very simple and since the only communication needed is between the anchor nodes and the unknown node, the communication and computational loads are very small. Furthermore, the algorithm is robust because neither the failure of old unknown nodes nor the addition of new unknown nodes influences the positioning of unknown nodes to be located. A theoretical analysis and simulation results show that the algorithm does not produce any cumulative error and is insensitive to range error, and that a change in the number of sensor nodes does not affect the communication or computational load. These features make this algorithm suitable for all sizes of low-power wireless sensor networks.
The EU MORPH project advances the use of a formation of five autonomous marine vehicles for mapping and scientific surveying of challenging, unstructured underwater environments as a means to overcome the limitations ...
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ISBN:
(纸本)9781467393744
The EU MORPH project advances the use of a formation of five autonomous marine vehicles for mapping and scientific surveying of challenging, unstructured underwater environments as a means to overcome the limitations imposed by current single-vehicle based technology. We describe the test scenarios envisioned in the project and the requirements and constraints that they impose on the cooperative navigation and control systems that enable the concerted operation of the vehicle formation. We then provide a high-level description of each of the blocks that compose the final navigation and formation control architecture, developed at ISR/IST. We highlight how the systems take into account specific mission-related requirements and applications (e.g., typical trajectories employed for mapping and surveying). We describe the results of several trials at sea (involving multiple partners in the project and a group of heterogeneous vehicles) that illustrate the applicability of the MORPH concept in real operational scenarios as well as the limitations of the systems developed.
This paper describes a new class of autonomous marine vehicles named Medusa and highlights their role in a number of EU projects addressing multiple vehicle scenarios. The MEDUSA vehicles, with surface and diving vers...
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This paper describes a new class of autonomous marine vehicles named Medusa and highlights their role in a number of EU projects addressing multiple vehicle scenarios. The MEDUSA vehicles, with surface and diving versions, were designed and built at the Institute for systems and robotics, IST, Univ. de Lisboa, Portugal as a result of an effort aimed at affording researchers and practitioners of marine robotics tools to: i) assess the efficacy of cooperative motion control and navigation algorithms and ii) seamlessly execute scientific and commercial missions with multiple robots at sea. We first define the problem of designing the MEDUSA-class of vehicles by describing the desired functional requirements that motivated their development and then present our solution. Mechanical and electrical design considerations that relate to the requirements are explained, and the software architecture is described. This includes a brief overview of the navigation system, the main lower-level control loops which other features can build upon, and some of the higher-level algorithms for multiple-vehicle cooperative missions. We also illustrate the functionality of the mission control system, a dedicated software suite that allows operators to seamlessly program and follow the state of execution of cooperative missions involving multiple vehicles, possibly running different operations or missions in parallel. Finally, we summarize the participation of IST and the MEDUSA vehicles in a number of representative EC-funded Marine robotics-related projects.
Among the rehabilitation therapies for patients with stroke or paralysis, robot-assisted rehabilitation is a research hotspot now. However, there are not many cases of clinical application, mainly because of the compl...
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This paper presents a new approach for terrain mapping and classification using mobile robots with 2D laser range finders. Our algorithm generates 3D terrain maps and classifies navigable and non-navigable regions on ...
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