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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Y.-O. Kim J. Paik Jingu Heo A. Koschan B. Abidi M. Abidi Korea Electronics and Technology Institute Puchon Gyeonggi South Korea Image Processing Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul South Korea Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville USA

We present a combined real-time face region tracking and highly accurate face recognition technique for an intelligent surveillance system. High-resolution face images are very important to achieving accurate identification of a human face. Conventional surveillance or security systems, however, usually provide poor image quality because they use only fixed cameras to record scenes passively. We have implemented a real-time surveillance system that tracks a moving face using four pan-tilt-zoom (PTZ) cameras. While tracking, the region-of-interest (ROI) can be obtained by using a low-pass filter and background subtraction with the PTZ. Color information in the ROI is updated to extract features for optimal tracking and zooming. FaceIt/sup /spl reg//, which is one of the most popular face recognition software packages, is evaluated and then used to recognize the faces from the video signal. Experimentation with real human faces showed highly acceptable results in the sense of both accuracy and computational efficiency.

关键词： Face recognition Surveillance Real time systems Humans Cameras Intelligent systems Security Image quality Layout Low pass filters

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Synchronous Motion Generation of Multiple Continuum Robots Based on a Jacobian-Estimation Strategy

Synchronous Motion Generation of Multiple Continuum Robots B...

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IEEE International Conference on robotics and Biomimetics

作者： Ning Tan Ruikun Hu Yuyang Wu Xinyu Zhang Fenglei Ni Zhenglong Sun School of Computer Science and Engineering Sun Yat-sen University Guangzhou PR China State Key Laboratory of Robotics and Systems (HIT) Harbin PR China Engineering Research Center of Software/Hardware Co-Design Technology and Application Ministry of Education (East China Normal University) Shanghai PR China School of Science and Engineering The Chinese University of Hong Kong Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

ISBN: (纸本)9781665405362

In this paper, a novel model-free control scheme is proposed for synchronous motion control of multiple continuum robots. The control problem is formulated as two convex optimization routines in an adaptive and model-free closed-loop framework. The proposed approach is heading to address cooperative task execution for multiple continuum robots. The model-free feedback control guarantees the high portability for a wide range of continuum robots. Simulation studies are conducted on two kinds of tasks, which are cooperative task execution with two robots and simultaneously tracking control with three robots. Besides, the superiority of proposed approach is validated through comparisons with other methods. Simulation results prove the high accuracy and efficiency of this model-free feedback control scheme.

关键词： Jacobian matrices Adaptation models Tracking Simulation Conferences Convex functions Feedback control

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Extraction of Key Foreground Information from Visual Feedback Images for Contact Micromanipulation in Liquid Environment

Extraction of Key Foreground Information from Visual Feedbac...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Jiancong Chen Huaping Wang Kailun Bai Kaijun Lin Qing Shi Tao Sun Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing China Science and Technology on Space Physics Laboratory Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

Contact micromanipulation for cells is an important branch in the field of micromanipulation. Limited by the size of the sensor, it is difficult to integrate the sensor in the macroscopic scene into the micromanipulator. So in most operations, images are often the only reliable source of information. The first prerequisite for realizing automated micromanipulation is to be able to extract key information from images. The occlusion phenomenon will inevitably occur in the contact micromanipulation. Although it is possible to design a specific algorithm to identify the target edge information in the occlusion state according to the characteristics of the operating environment and the end-effector. But there is still no universal image processing method to solve this problem. In this paper, we propose an image processing function based on a composite deep learning network structure to solve this problem. Our algorithm is divided into two steps:In the first step, we input the original image into the target detection network to get the position information of the target and end-effector, and cut the region of interest from the original image according to this information. In the second step, we preprocess these candidate sub-images containing key foreground information, and then input them into the image segmentation network to obtain the contour information of the end-effector and target. We designed a cell aspiration experiment based on the digital holographic microscope imaging system to validate our algorithm. In future work, we will continue to improve the algorithm to have better robustness and generalization.

关键词： Visualization Image segmentation Liquids Micromanipulators Microscopy Object detection End effectors

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Observability Analysis of 3D AUV Trimming Trajectories in the Presence of Ocean Currents using Single Beacon Navigation

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IFAC Proceedings Volumes 2014年第3期47卷 4222-4227页

作者： N. Crasta M. Bayat A. Pedro Aguiar Antonio M. Pascoal Institute for Automation and Systems Engineering Technische Universität Ilmenau 98684 Ilmenau Germany Laboratory of Robotics and Systems in Engineering and Science (LARSyS) IST/University of Lisbon Av. Rovisco Pais 1 1049-001 Lisbon Portugal Faculty of Engineering University of Porto (FEUP) Rua Dr. Roberto Frias s/n 4200-465 Porto Portugal Adjunct Scientist National Institute of Oceanography (NIO) Dona Paula 403004 Goa India

This paper addresses the observability properties of a 3D autonomous underwater vehicle (AUV) model in the presence of ocean currents, under the assumption that the vehicle can only measure its distance to a fixed transponder using an acoustic ranging device. In the set-up adopted, the AUV may undergo a wide range of maneuvers that are usually described as trimming trajectories. The latter are of paramount importance in flight dynamics and can be completely parametrized by three variables: i) linear body speed v , ii) flight-path angle γ, and iii) yaw rate ψ. We assume that v > 0, γ, and ψ are constant but otherwise arbitrary (within the constraints of the vehicle capabilities) and examine the observability of the resulting system with the output (measured) variable described above. We adopt weaker definitions of observability that are akin to those proposed by Herman and Krener (Hermann and Krener, 1977) but reflect the fact that we consider specific kinds of maneuvers in 3D. We show that in the presence of known constant ocean currents the 3D kinematic model of the AUV that corresponds to trimming trajectories with nonzero flight path angle and yaw rate is observable. In case the latter conditions fail, we give a complete characterization of the sets of states that are indistinguishable from a given initial state. We further show that in the case of unknown constant ocean currents the model is locally weakly observable for yaw rate different from zero but fails to be locally weakly observable for zero yaw rate. In both the cases we give a complete characterization of the sets of states that are indistinguishable from a given initial state.

关键词： Autonomous underwater vehicle (AUV) Single beacon navigation Range-only measurements Trimming trajectories Set of indistinguishable states Observability

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An Investigation on the Accuracy of Regional Ocean Models Through Field Trials

An Investigation on the Accuracy of Regional Ocean Models Th...

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IEEE International Conference on robotics and Automation

作者： Ryan N. Smith Kimia Nazarzadeh Jonathan Kelly Gaurav S. Sukhatme School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane QLD 4001 Australia. Robust Robotics Group Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA 02142 USA. Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA 90089 USA.

ISBN: (纸本)9781467356404

Recent efforts in mission planning for underwater vehicles have utilised predictive models to aid in navigation, optimal path planning and drive opportunistic sampling. Although these models provide information at a unprecedented resolutions and have proven to increase accuracy and effectiveness in multiple campaigns, most are deterministic in nature. Thus, predictions cannot be incorporated into probabilistic planning frameworks, nor do they provide any metric on the variance or confidence of the output variables. In this paper, we provide an initial investigation into determining the confidence of ocean model predictions based on the results of multiple field deployments of two autonomous underwater vehicles. For multiple missions of two autonomous gliders conducted over a two-month period in 2011, we compare actual vehicle executions to simulations of the same missions through the Regional Ocean Modeling System in an ocean region off the coast of southern California. This comparison provides a qualitative analysis of the current velocity predictions for areas within the selected deployment region. Ultimately, we present a spatial heat-map of the correlation between the ocean model predictions and the actual mission executions. Knowing where the model provides unreliable predictions can be incorporated into planners to increase the utility and application of the deterministic estimations.

关键词： Regional Ocean Models Through Field Trials mission planning underwater vehicles

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Lidar-Inertial and Downward Vision Based Mobile Robot SLAM in Digital Workshops

Lidar-Inertial and Downward Vision Based Mobile Robot SLAM i...

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Data Driven Control and Learning systems (DDCLS)

作者： Yanchao Zhang Hao Geng Bin Liu Yinlong Zhang Xudong Yuan Sichao Zhang School of Information Science and Engineering Shenyang University of Technology Shenyang China Guangzhou Institute of Industrial Intelligence Guangzhou China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350361674

ISBN: (纸本)9798350361681

In order to solve the problems of long-term cumulative error and the absence of absolute pose in the existing Lidar-Inertial Measurement Unit (IMU) fusion methods for Automated Guided Vehicle (AGV) Simultaneous Localization and Mapping (SLAM), we propose a new SLAM method for mobile robot, integrating Lidar, IMU, and a downward vision camera. Firstly, we tightly couple Lidar-IMU and downward vision camera using a multimodal fusion framework. Downward visual measurements are integrated as QR factors into the factor graph, providing absolute pose information to correct cumulative error in the Lidar-IMU system and enable the joint pose estimation of the AGV. Secondly, an enhanced Iterative Closest Point (ICP) point cloud matching algorithm has been developed to correct the incorrect pose. This approach achieves Scan-to-Map alignment by employing a coarse-to-fine matching strategy, thereby enhancing the accuracy of point cloud alignment. Finally, the extended Kalman filter is used to optimize the Lidar pose drift, as well as the Lidar mapping effectively by using the Lidar-IMU as the measurements and the downward visual measurements as the updates. The algorithm has been extensively evaluated on the developed AGV experimental platform. The experimental results show that the position error is less than 0.02 meters and the orientation error is less than 1°, which solves the problems of long-term error accumulation and the lack of absolute pose information for AGV navigation.

关键词： Point cloud compression Visualization Laser radar Simultaneous localization and mapping Conferences Robot vision systems Measurement uncertainty

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A moving target detection and localization strategy based on optical flow and pin-hole imaging methods using monocular vision

A moving target detection and localization strategy based on...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Wang, Shun Guo, Qingqiang Xu, Sheng Su, Dan School of Control Science and Engineering Shandong University Shandong Jinan250061 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen518055 China Shandong Institute of Advanced Technology Chinese Academy of Sciences Shandong Jinan250102 China Orbbec Inc. Shenzhen518057 China

ISBN: (纸本)9781665436786

This paper proposes a new strategy for moving target detection and localization based on monocular vision. Firstly, to detect a moving target with large displacement and high speed accurately, two consecutive video images captured by a monocular camera are preprocessed using the enhancement and denoising methods. Then, the optical flow representing motion information is calculated iteratively by the modified Lucas-Kanade optical flow method. Secondly, a new interest region extraction method is developed to overcome the negative impacts caused by the noises in the background. Specifically, this proposed method combines a two-level image segmentation strategy from coarse to fine, including median filtering, two-direction dynamic threshold segmentation, the Otsu method, and morphological processing. Thirdly, a low computational cost target localization algorithm is proposed based on pin-hole imaging theory. Besides, it only uses two-dimensional image and camera parameters to obtain the moving target's position in the three-dimensional space. Finally, experimental results show that the proposed strategy can effectively eliminate noise interferences and realize moving target detection, extraction, and localization. © 2021 IEEE.

关键词： Image segmentation

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MTPA-based Haptic Feedback Controller for Master Manipulator in Minimally Invasive Surgery

MTPA-based Haptic Feedback Controller for Master Manipulator...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhao, Wenda Chen, Jian Hong, Yilun Liu, Hongbin School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Hong Kong Institute of Science and Innovation Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong Hong Kong School of Biomedical Engineering and Imaging Sciences King's College London LondonSE1 7EU United Kingdom

ISBN: (纸本)9781665481090

Haptic feedback is critical for teleoperation in surgical robots, particularly in Natural Orifice Transluminal Endoscopic Surgery (NOTES). This paper introduces a haptic controller designed to enhance force generation efficiency and resolution, surpassing traditional motor control frameworks. We propose a Maximum Torque Per Ampere (MTPA)-based Field-Oriented Control (FoC) strategy for haptic kinesthetic feedback controller, optimizing the performance of a master manipulator's joint with a brushless DC (BLDC) motor under stalled and ultra-slow conditions. This approach enables a master manipulator with three degrees of freedom (DoF) for force feedback. Its effectiveness is validated through simulator and surgical trials, demonstrating improved haptic feedback in surgical applications. © 2024 IEEE.

关键词： Brushless DC motors

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AXI-REALM: A Lightweight and Modular Interconnect Extension for Traffic Regulation and Monitoring of Heterogeneous Real-Time SoCs

AXI-REALM: A Lightweight and Modular Interconnect Extension ...

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Design, Automation and Test in Europe Conference and Exhibition

作者： Thomas Benz Alessandro Ottaviano Robert Balas Angelo Garofalo Francesco Restuccia Alessandro Biondi Luca Benini Integrated Systems Laboratory ETH Zurich Switzerland Department of Electrical Electronic and Information Engineering University of Bologna Italy Department of Computer Science and Engineering UC San Diego San Diego CA USA Department of Excellence in Robotics & AI Scuola Superiore Sant'Anna Pisa Italy

ISBN: (数字)9783981926385

ISBN: (纸本)9798350348606

The increasing demand for heterogeneous functionality in the automotive industry and the evolution of chip manufac-turing processes have led to the transition from federated to integrated critical real-time embedded systems (CRTESs). This leads to higher integration challenges of conventional timing predictability techniques due to access contention on shared resources, which can be resolved by providing system-level observability and controllability in hardware. We focus on the interconnect as a shared resource and propose AXI-REALM, a lightweight, modular, and technology - independent real-time extension to industry-standard AXI4 interconnects, available open-source. AXI-REALM uses a credit-based mechanism to distribute and control the bandwidth in a multi-subordinate system on periodic time windows, proactively prevents denial of service from malicious actors in the system, and tracks each manager's access and interference statistics for optimal budget and period selection. We provide detailed performance and implementation cost assessment in a 12nm node and an end-to-end functional case study implementing AXI-REALM into an open-source Linux-capable RISC-V SoC. In a system with a general-purpose core and a hardware accelerator's DMA engine causing interference on the interconnect, AXI-REALM achieves fair bandwidth distribution among managers, allowing the core to recover 68.2 % of its performance compared to the case without contention. Moreover, near-ideal performance (above 95 %) can be achieved by distributing the available bandwidth in favor of the core, improving the worst-case memory access latency from 264 to below eight cycles. Our approach minimizes buffering compared to other solutions and introduces only 2.45 % area overhead compared to the original SoC.

关键词： Bandwidth Interference Real-time systems Hardware Regulation Timing System-on-chip

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Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model

arXiv

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arXiv 2020年

作者： Gonzalez, Daniel J. Harry Asada, H. Robotics Research Center Department of Electrical Engineering and Computer Science United States Military Academy West PointNY10996 United States d’Arbeloff Laboratory for Information Systems and Technology Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States

The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped system to walk with the rear legs lead the front by 25% of the gait period, minimizing the energy lost from foot impacts while maximizing balance stability. Unlike quadrupedal robots, the XRL cannot command the human’s limbs to coordinate quadrupedal locomotion. Using a pair of Rimless Wheel models, it is shown that the systems coupled with a spring and damper converge to the desired 25% phase difference. A Poincaré return map was generated using numerical simulation to examine the convergence properties to different coupler design parameters, and initial conditions. The Dynamically Coupled Double Rimless Wheel system was physically realized with a spring and dashpot chosen from the theoretical results, and initial experiments indicate that the desired synchronization properties may be achieved within several steps using this set of passive components alone. Copyright © 2020, The Authors. All rights reserved.

关键词： Exoskeleton (robotics)

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