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Compensation of drift contamination in AFM image by local scan

Compensation of drift contamination in AFM image by local sc...

引用

2008 IEEE International Conference on robotics and Biomimetics, ROBIO 2008

作者： Wang, Yucai Li, Guangyong Xi, Ning Liu, Lianqing Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA 15261 United States Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang Liaoning Province 110016 China

ISBN: (纸本)9781424426799

Thermal drift in atomic force microscopy (AFM) is one of the major hurdles to achieve accurate and efficient AFM based nanomanipulation. AFM images are all contaminated by the thermal drift which often leads to failed manipulation operations. In this paper, a local scan strategy is applied to identify the thermal drift contamination in the AFM image and then the draft contamination is compensated. After an AFM image is captured, the entire image is divided into several strips along y direction. A local scan is immediately performed in each part of the image to determine the drift at that portion. In this manner, the drift value is calculated in a small local area instead of the global image. Thus, the drift can be more precisely estimated and the image can be more accurately recovered, and thus leading to improved accuracy of AFM image and enhanced efficiency in AFM based nanomanipulation. © 2008 IEEE.

关键词： Atomic force microscopy

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Cooperative mapping of multiple PTZ cameras in automated surveillance systems

Cooperative mapping of multiple PTZ cameras in automated sur...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Chung-Chen Chen Yi Yao Anis Drira Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering & Computer Science University of Tennessee Knoxville TN USA

Due to the capacity of pan-tilt-zoom (PTZ) cameras to simultaneously cover a panoramic area and maintain high resolution imagery, researches in automated surveillance systems with multiple PTZ cameras have become increasingly important. Most existing algorithms require the prior knowledge of intrinsic parameters of the PTZ camera to infer the relative positioning and orientation among multiple PTZ cameras. To overcome this limitation, we propose a novel mapping algorithm that derives the relative positioning and orientation between two PTZ cameras based on a unified polynomial model. This reduces the dependence on the knowledge of intrinsic parameters of PTZ camera and relative positions. Experimental results demonstrate that our proposed algorithm presents substantially reduced computational complexity and improved flexibility at the cost of slightly decreased pixel accuracy, as compared with the work of Chen and Wang. This slightly decreased pixel accuracy can be compensated by consistent labeling approaches without added cost for the application of automated surveillance systems along with changing configurations and a larger number of PTZ cameras.

关键词： Surveillance Costs Robot vision systems Smart cameras Computational complexity Intelligent robots Image resolution Polynomials Labeling Simultaneous localization and mapping

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Pose estimation of a volant platform with a monocular visuo-inertial system

Pose estimation of a volant platform with a monocular visuo-...

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IEEE International Workshop on Imaging systems and Techniques (IST)

作者： Nikolaos Kyriakoulis Evangelos Karakasis Antonios Gasteratos Angelos Amanatiadis Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

One of the serious problems in robotics applications is the estimation of the robot's pose. A lot of research effort has been put on finding the pose via inertial and proximity sensors. However, the last decades many systems adopt vision to estimate the pose, by using homographies and projection geometry. In this paper the pose estimation is achieved by the identification of a geometrically known platform from one camera and from the measurements of an inertial unit. The extended Kalman filter (EKF) is used for data fusion and error compensation. The novelty of this system is that the visual sensor and the inertial unit are mounted on different mobile systems. The proposed pose estimation system exhibits high accuracy in real-time.

关键词： Cameras Frequency estimation Robot vision systems Robot sensing systems Biosensors Laboratories computer vision Real time systems Image sensors Machine vision

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Dense disparity estimation using a hierarchical matching technique from uncalibrated stereo vision

Dense disparity estimation using a hierarchical matching tec...

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IEEE International Workshop on Imaging systems and Techniques (IST)

作者： L. Nalpantidis A. Amanatiadis G. Sirakoulis N. Kyriakoulis A. Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

In motion estimation, the sub-pixel matching technique involves the search of sub-sample positions as well as integer-sample positions between the image pairs, choosing the one that gives the best match. Based on this idea, the proposed disparity estimation algorithm performs a 2-D correspondence search using a hierarchical search pattern. The disparity value is then defined using the distance of the matching position. Therefore, the proposed algorithm can process non-rectified stereo image pairs, maintaining the computational load within reasonable levels.

关键词： Stereo vision Motion estimation Cameras Robot vision systems Laboratories Pixel Layout Machine vision robotics and automation Production systems

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Accelerometer-based control of an industrial robotic arm

Accelerometer-based control of an industrial robotic arm

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Pedro Neto J. Norberto Pires A. Paulo Moreira Industrial Robotics Laboratory-Mechanical Engineering Department POLO II University of Coimbra Coimbra Portugal Institute of Systems and Robotics (ISR)-Department of Electrical and Computer Engineering University of Porta Porto Portugal

Most of industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. In this paper is proposed an accelerometer-based system to control an industrial robot using two low-cost and small 3-axis wireless accelerometers. These accelerometers are attached to the human arms, capturing its behavior (gestures and postures). An Artificial Neural Network (ANN) trained with a back-propagation algorithm was used to recognize arm gestures and postures, which then will be used as input in the control of the robot. The aim is that the robot starts the movement almost at the same time as the user starts to perform a gesture or posture (low response time). The results show that the system allows the control of an industrial robot in an intuitive way. However, the achieved recognition rate of gestures and postures (92%) should be improved in future, keeping the compromise with the system response time (160 milliseconds). Finally, the results of some tests performed with an industrial robot are presented and discussed.

关键词： Industrial control Service robots electrical equipment industry Defense industry Educational robots Robot control Control systems Accelerometers Artificial neural networks Delay

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Learning Under Social Influence

Learning Under Social Influence

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Alireza Tahbaz-Salehi Alvaro Sandroni Ali Jadbabaie Department of Economics and Department of Electrical and Systems Engineering University of Pennsylvania Department of Managerial Economics and Decision Sciences Kellogg School of ManagementNorthwestern University the General Robotics AutomationSensing and Perception(GRASP) LaboratoryDepartment of Electrical and Systems EngineeringUniversity of Pennsylvania

In this paper,we study a model of social learning where individuals are under influence of others in their social *** our model,each agent receives private noisy signals about an unobservable,underlying state of the *** the end of each time period,the belief of an individual is equal to the convex combination of her posterior beliefs derived from the signal observed,and the priors of her *** model reduces to the well-known consensus model when private signals are *** show that if the network of social influences is strongly connected,then all agents will have asymptotically correct *** other words,all individuals will be able to asymptotically learn the true state of the world,as far as their observations are ***,we show that all agents assign asymptotically equal beliefs to the true state of the world.

关键词： agent Learning Under Social Influence

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Compensation of drift contamination in AFM image by local scan

Compensation of drift contamination in AFM image by local sc...

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IEEE International Conference on robotics and Biomimetics

作者： Yucai Wang Guangyong Li Ning Xi Lianqing Liu Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA USA Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang Liaoning China

关键词： Contamination Atomic force microscopy Feedback USA Councils robotics and automation Thermal force Robots Biomimetics Laboratories Thermal engineering

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A comparative study of invariant descriptors for shape retrieval

A comparative study of invariant descriptors for shape retri...

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IEEE International Workshop on Imaging systems and Techniques (IST)

作者： A. Amanatiadis V.G. Kaburlasos A. Gasteratos S.E. Papadakis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Division of Computing Systems Department of Industrial Informatics Technological Educational Institute of Kavala Kavala Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper presents a comparative study between scale, rotation and translation invariant descriptors for shape representation and retrieval. Specifically, we studied Fourier, angular radial transform and image moment descriptors for shape representation. Since shape is one of the most widely used image feature exploited in content-based image retrieval systems, we studied for each descriptor, the number of coefficients needed for indexing and their retrieval performance. Results showed that moment descriptors present the best performance in both terms of shape representation quality as well as in the amount of required coefficients.

关键词： Shape Fourier transforms Image retrieval Subspace constraints Laboratories Character recognition Content based retrieval Data mining computer industry electrical products industry

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A Switched System Approach to Scheduling of Networked Control systems with Communication Constraints

A Switched System Approach to Scheduling of Networked Contro...

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Shi-Lu Dai Hai Lin Shuzhi Sam Ge the Key Laboratory of Integrated Automation of Process Industry Ministry of Education of ChinaNortheastern University the Department of Electrical and Computer Engineering National University of Singapore the Social Robotics Lab Interactive Digital Media Institute and the Department of Electrical and Computer EngineeringNational University of Singapore

This paper presents a scheduling strategy for a collection of discrete-time networked control systems（NCSs）subjected to communication constraints. Communication constraints under consideration include medium access constraint,network-induced delays and packet-dropouts. A feedback control system with the communication constraints is modelled as a switched delay system which switches on the open-loop and closed-loop models according to whether the feedback control loop gains access to the network or not. Delay-dependent sufficient conditions for exponential stability with L2 gain performance are developed for the switched system. Based on the stability conditions, sufficient conditions are presented on the existence of scheduling policy that simultaneously stabilizes the collection of NCSs. Simulation on network-based control of unstable batch reactor systems is performed to demonstrated the effectiveness of the proposed scheduling strategy.

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Accurate estimation of tip shape for reconstructing AFM image

Accurate estimation of tip shape for reconstructing AFM imag...

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IEEE Nanotechnology Materials and Devices Conference (NMDC)

作者： Shuai Yuan Lianqing Liu Lei Miao Zaili Dong Ning Xi Yuechao Wang State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Michigan State University USA

AFM image is often distorted due to the influence of the tip shape. This problem has become one of the major obstacles in nano-observation. Therefore it is necessary to develop a compensation method to improve the quality of the AFM image. The common used method today is image reconstruction with deconvolution operator based on the tip shape built through blind tip estimation algorithm. However, the current algorithm has difficulties in getting the optimal noise threshold, which is essential for reducing the noise influence during the tip evaluation. This paper proposed a new method to solve this problem, through which the optimal threshold can be easily determined based on the comparison of tip section profile P alpha and tip standard profile P s . The experimental results validate the effect of the proposed method, and it also shows that the image quality has been greatly improved.

关键词： Shape Image reconstruction Noise shaping Semiconductor device noise Surface morphology Surface topography Biomedical measurements Pollution measurement USA Councils robotics and automation

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