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arXiv 2024年

作者： Potter, Michael Bhowal, Rahil Zhao, Richard Patel, Anuj Cheng, Jingming Cognitive Systems Lab Northeastern University Boston United States Masters in Robotics Northeastern University Boston United States Masters in Computer Science Northeastern University Boston United States

In response to the critical need for effective reconnaissance in disaster scenarios, this research article presents the design and implementation of a complete autonomous robot system using the Turtlebot3 Burger (TB3) with Robot Operating System (ROS) Noetic. Upon deployment in closed, initially unknown environments, the system aims to generate a comprehensive map and identify any present’victims’ using AprilTags as stand-ins. We discuss our solution for search and rescue missions, while additionally exploring more advanced algorithms to improve search and rescue functionalities. We introduce a Cubature Kalman Filter (CKF) to help reduce the Mean Squared Error (MSE) [m] for AprilTag localization and an information-theoretic exploration algorithm to expedite exploration in unknown environments. Just like turtles, our system takes it slow and steady, but when it’s time to save the day, it moves at ninja-like speed! Despite Donatello’s shell, he’s no slowpoke - he zips through obstacles with the agility of a teenage mutant ninja turtle. So, hang on tight to your shells and get ready for a whirlwind of reconnaissance! Copyright © 2024, The Authors. All rights reserved.

关键词： Robots

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Smart Surveillance and Tracking System 23

Smart Surveillance and Tracking System

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23rd IEEE International Multi-Topic Conference, INMIC 2020

作者： Ahmed, Syed Umaid Khalid, Hamza Affan, Muhammad Khan, Tauqeer Ali Ahmad, Marium Masters of Engineering Mechatronics Neduet Department of Electrical Engineering Karachi Pakistan Neurocomputation Lab Neduet Department of Computer and Information Systems Karachi Pakistan Haptics Human Robotics and Condition Monitoring Lab NEDUET Department of Electrical Engineering Karachi Pakistan Neduet Department of Electronic Engineering Karachi Pakistan

ISBN: (纸本)9781728198934

This paper presents an intelligent system that can identify and recognize faces with applications, including a person's tracking, home surveillance, and private security. An automatic face recognition intrinsically handles security issues with flexibility - in the case of an unrecognized or unknown person, the real-time video stream is processed, motion is detected, and dual-axis pan-tilt servos track that person with a camera. Furthermore, such peculiar activities are video recorded with synchronization from cloud storage, and mobile alerts are generated. In the absence of the internet, a database file is developed with an audio notification to the security room if the anonymous face detected is not present in the database. Speech recognition and relay are also added for voice transmission and activation of surrounding lights. This project intends to substitute costly security systems using Raspberry pi 3B+ as the microcomputer. © 2020 IEEE.

关键词： Monitoring

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Smart Surveillance and Tracking System

Smart Surveillance and Tracking System

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IEEE International Conference on Multi Topic

作者： Syed Umaid Ahmed Hamza Khalid Muhammad Affan Tauqeer Ali Khan Marium Ahmad Masters of Engineering Mechatronics NEDUET Karachi Pakistan Neurocomputation Lab NEDUET Karachi Pakistan Haptics Human Robotics and Condition Monitoring Lab NEDUET Karachi Pakistan NEDUET Karachi Pakistan

ISBN: (数字)9781728198934

ISBN: (纸本)9781728198941

关键词： Motion detection Videos Servomotors Face recognition Cameras Security Real-time systems

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Depth Super-Resolution Meets Uncalibrated Photometric Stereo

Depth Super-Resolution Meets Uncalibrated Photometric Stereo

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International Conference on Computer Vision Workshops (ICCV Workshops)

作者： Songyou Peng Bjoern Haefner Yvain Quéau Daniel Cremers Erasmus Mundus Masters in Vision and Robotics (VIBOT) Computer Vision Group Technical University of Munich

A novel depth super-resolution approach for RGB-D sensors is presented. It disambiguates depth super-resolution through high-resolution photometric clues and, symmetrically, it disambiguates uncalibrated photometric stereo through low-resolution depth cues. To this end, an RGB-D sequence is acquired from the same viewing angle, while illuminating the scene from various uncalibrated directions. This sequence is handled by a variational framework which fits high-resolution shape and reflectance, as well as lighting, to both the low-resolution depth measurements and the high-resolution RGB ones. The key novelty consists in a new PDE-based photometric stereo regularizer which implicitly ensures surface regularity. This allows to carry out depth super-resolution in a purely data-driven manner, without the need for any ad-hoc prior or material calibration. Real-world experiments are carried out using an out-of-the-box RGB-D sensor and a hand-held LED light source.

关键词： Image resolution Lighting Signal resolution Shape Harmonic analysis Standards Mathematical model

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Sliding computed torque control based on passivity for a haptic device: PHANToM premium 1.0

Sliding computed torque control based on passivity for a hap...

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Proceedings of the Biannual World Automation Congress

作者： Fabian Diaz Omar Dominguez Luis E. Ramos-Velasco Masters Program in Mechatronics Polytechnic University of Pachuca Mexico Research Center on Information and Systems Technology Hidalgo State University Mexico Laboratory Research in Robotics and Advanced Electronic Polytechnic University of Pachuca Mexico

A haptic device is a joined link mechanism with limited inertial and tribological effect in each joint, electromechanical property that allows its use in teleoperation, remote control, training and others applications with high performance. This paper presents experimental results of a motion nonlinear control strategy based on Lyapunov's stability theory and energy analysis for the PHANToM premium 1.0.

关键词： Joints Equations Phantoms Lyapunov methods Manipulator dynamics Mathematical model

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Autonomous staircase detection and stair climbing for a tracked mobile robot using fuzzy controller

Autonomous staircase detection and stair climbing for a trac...

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IEEE International Conference on robotics and Biomimetics

作者： E. Mihankhah A. Kalantari E. Aboosaeedan H.D. Taghirad S. Ali A. Moosavian Student of masters in Mechatronics member of Resquake Robotics Team Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Associate professor Department of Electrical Engineering member of ARAS Research Group Department of Mechanical Engineering K.N. Toosi University of Technology Tehran KN Toosi University of Technology Tehran Tehran IR

Theoretical analysis and implementation of autonomous staircase detection and stair climbing algorithms on a novel rescue mobile robot are presented in this paper. The main goals are to find the staircase during navigation and to implement a fast, safe and smooth autonomous stair climbing algorithm. Silver is used here as the experimental platform. This tracked mobile robot is a tele-operative rescue mobile robot with great capabilities in climbing obstacles in destructed areas. Its performance has been demonstrated in rescue robot league of international RoboCup competitions. A fuzzy controller is applied to direct the robot during stair climbing. Controller inputs are generated by processing the range data from two laser range finders which scan the environment one horizontally and the other vertically. The experimental results of stair detection algorithm and stair climbing controller are demonstrated at the end.

关键词： Mobile robots Fuzzy control Robot control Humans Robot sensing systems Orbital robotics Silver Biomimetics Mechanical engineering Remotely operated vehicles

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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A method of pedestrian detection based on rhythm of walking

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SYSTEMS AND COMPUTERS IN JAPAN 1996年第2期27卷 1-11页

作者： Yasutomi, S Mori, H Kiyohiro, N Member Faculty of Engineering Yamanashi University Kofu Japan 400 Satoshi Tasutomi graduated from Dept. of Computer Science from the Faculty of Engineering Yamanashi University in 1988 and masters course at the same university in 1988. He joined Pioneer Ltd. in the same year. He is a doctoral candidate at Yamanashi University. He has engaged in research on image processing. He is a member of Robotics Society of Japan. Nonmember

It is important for mobile robots and security purposes to discriminate a pedestrian among moving objects in a video. This paper proposes a method which discriminates a pedestrian from other objects by using periodic motions of the feet, and the characteristics of the rhythm of pace and stride. This method uses brightness changes in sequential images of a moving object contacting with the ground, and extracts the main component of the frequency using a power spectrum estimation. Therefore, the method is independent of pedestrian's appearance such as clothes, build, and hair style. The system realizing this method consists of three processes: moving object detection which uses the difference between successive image frames;tracking of the moving object using a moving model with an extended Kahman filter and an observation model;and detection of the pedestrian based on rhythm of walking using the difference of brightness between images on successive frames. The whole process is performed in realtime. Experiments using real scenes confirm the effectiveness of the proposed method: 446 pedestrians out of 470 were successfully detected (detection rate 94.9%), and 101 persons out of 106 were successfully detected as non-pedestrians (96.2%).

关键词： pedestrian detection tracking rhythm of walking pace stride

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