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Welding is a process recognized by the laborious work and hazardous work environment it takes place, but it is an important process in different industrial scenarios, like the shipbuilding industry. The use of robots has been increasing in recent years, reducing the human interference necessary for the process. This paper proposes a system for automated seam tracking and a geometric welding bead analysis...
This paper proposes a 3D model-based vision system for detecting a manipulator's gripper on a scene, tracking it as it moves and continuously determining its state (opened or closed), information that is used to signal that an object can be grasped. Build upon the Robot Operating System (ROS), it mainly comprises a registration pipeline, a tracking algorithm and a state classifier based on a proposed...
The use of collaborative robot systems to perform specific tasks is a strong research area on robotic systems. Robot platforms are becoming cheaper, increasing the number of applications and new tasks variations on research labs. A collaborative system that join together small mobile robots to scan some specific area and a drone to set their position on the ground is a good example of the possible...
Manipulation of beacons is a method of Human-Swarm Interaction (HSI) of relative ease to implement, especially for computer simulated environments. This paper focuses on doing an in depth analysis of an implementation of attractor and repulsor fields and determining its advantages and disadvantages through experimental means. The results give an optimistic view of the method: the learning curve is...
Visual Odometry (VO) is the process of calculating the motion of an agent (such as, robot and vehicle), using images captured by a single or multiple cameras embedded to it. VO is an important process to supplement autonomous navigation systems, since VO can provide accurate trajectory estimates. This process can be used to perform a 3D mapping, in order to provide more information during a vehicle...
The growth of 3D visualization devices, such as holograms and virtual reality, is followed by the increase of demand for 3D models. One cheap and straightforward way of creating them is by photogrammetry. However, taking the necessary photographs is tedious and imprecise, because many different shooting angles and heights are required. Also, there may be need of doing models of objects placed on hazardous...
3D point cloud classification is an important task in applications for many areas such as robotics, urban planning and augmented reality. 3D sensors measure a high amount of points in the 3D scene objects' surface at a high collect rate, so robust techniques are needed to process all input data and also deal with some imprecision. A common solution for these tasks is the use of robust features extraction...
The use of Multi-Robot Systems presents several advantages like increased robustness and, in most cases, time reduction to accomplish a task. In this context, Robotic Swarms is generally related to very large groups of robots. The congestion problem within the mobile robotics field is a well-known field of research. The problem occurs when a large number of autonomous robots tries to reach a common...
3D objects classification and retrieval are a growing research topic with many application in different areas, such as robotics, virtual/augmented reality, medicine and physics. In robotics, 3D objects can serve as robust landmarks for pose estimation and localization, so robust 3D object recognition methods are very important tools in this field. Co-occurrence matrices were used for texture classification...
Obstacle detection and tracking is a fundamental task for several Advanced Driver Assistance Systems (ADAS) and self-driving cars. Several approaches have been presented in the literature in the last years and many of them are based on visual sensors. In this paper we propose an approach that uses only stereo cameras to detect and track obstacles and compute visual odometry to get the vehicle's ego-velocity...
This article presents a comparison of four nonlinear controllers for positioning tasks of a unicycle-like mobile robot. The controller performance is analyzed through three indexes: IAE, ITAE and IASC. The analysis is performed experimentally. Initially, the controller gains are tuned by simulation until IAE index is less than 5% comparatively. Next, the controllers are run in practice and ITAE and...
This paper presents a system for classifying images based on Deep Learning and applied in the recognition of traffic signals aiming to increase road safety increased road safety using autonomous and semi-autonomous intelligent robotic vehicles. This Advanced Driver Assistance System (ADAS) is a system created to automate vehicles, but also to help the human drivers to increase safety and the respect...
A big challenge in the precision agriculture is the detection of fruits in coffee crops on agricultural environments. This paper presents a comparison of four features set to detect the red fruits (mature) in Coffee plants. An Unmanned Aerial Vehicle (UAV) is used to obtain high-resolution RGB images of a coffee hall. The proposed methodology enables the extraction of visual features from image regions...
The 3D object recognition is an important research field in robotics. The real world object classification, retrieval, localization and tracking from images (2D or 3D data) are very useful application of computer vision in many areas, for instance, robotics, industry, education, augmented reality and medicine. Locate and recognize 3D objects in the environment can serve to create robust landmarks...
Weather stations are a valuable tool to many different areas, like agriculture, aviation, construction, sports and recreation, specially because they collect weather data, which can be stored and processed to gather specific information to correlate events to the weather action. This work shows a development model of a low cost weather station, using only free hardware and software, connected to the...
Robotics has been used to draw the attention of young students to computing and engineering. Unfortunately, most hardware and software resources used to teach programming and robotics are not adequate for students with visual impairment (VI). For instance, most programming environments for young students are highly visual and the commercial robotics kits were not built for people with VI. This paper...
The present paper uses the learning ability of neural networks (NN) for nonlinear systems in order to design a controller for trajectory tracking problems in wheeled mobile robots that have their kinematic constraints violated. The singular perturbation approach is used to highlight the presence of uncertainties related to the violation of the kinematic constraints and propose an alternative global...
The dynamics of complex neural networks modelling self-organized process in cortical maps, like unsupervised competitive neural networks (UCNN), are based on the standard competitive learning law to determine the best-matching representant among all neurons for a given input. However, UCNNs include aspects of long and short-term memory, which are characterized by an equation of neural activity as...
This paper describes an algorithm that performs an autonomous 3D reconstruction of an environment with a single 2D Laser Imaging Detection and Ranging (LIDAR) sensor, as well as its implementation on a mobile platform using the Robot Operating System (ROS). A ROS node was used to redirect the flow of data that can go to either the 2D Simultaneous Localization And Mapping (SLAM) ROS node or to the...
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