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A fuzzy color extractor is defined by fuzzy rules to extract certain colors based on a color pattern (color seed). In order to extract certain colors from images in real-time, this paper attempts to implement a fuzzy color extractor on NI myRIO embedded device, which features the Xilinx Zynq-7010 all-programmable system including a dual-core ARM® Cortex™-A9 real-time processor and an Artix-7 FPGA...
This study aims at the autonomous seafloor surveillance by underwater vehicles based on computer vision techniques. A novel scheme of seabed image classification is proposed to identify three types of seabed sediments. The texture features of seabed sediments were described by using gray-level co-occurrence matrix and fractal dimension. Subsequently, an unsupervised learning method, Self-Organizing...
The trajectory planning of Unmanned Aerial Vehicle (UAV) and Aerial Robots generally refers to a series of optimization problems. This paper presents a method of trajectory planning and design for UAV based on the A* algorithm. Using grids to process the trajectory path planning of UAV under the environment with presence of obstacles, and then search the shortest path from the initial point to the...
Trajectory planning of robots is not only an important research field of robotics, but also an challenging combination of artificial intelligence and robotics. Trajectory planning is a key technology of Unmanned Aerial Vehicle (UAV). It is also a prerequisite for autonomous navigation of UAV. Under the static environment distributing of obstacles, seeking a shortest path from the starting point to...
In order to perform autonomous manipulation in underwater surveys, a robust seabed type classification technique is crucial. Seabed images convey a lot of information about seabed types and various image segmentation methods have been implemented to classify seabed types by analyzing the features of images such as contour and region. However, these strategies are not robust for diverse underwater...
This paper presents a method of trajectory planning and design for Unmanned Aerial Vehicle (UAV) based on the A∗ algorithm. Using grids to process the trajectory path planning of UAV under the environment with presence of obstacles, and then find the shortest path from the initial point to the target point based on rasterized environment using A∗ algorithm. The simulation of trajectory planning is...
In applications of the navigation and control of unmanned ground vehicles in a cross-country environment and tele-driving a rover on the unknown lunar surface for scientific exploration, human-computer interactive path planning and planned path tracking is a significant way of teleoperation. In this paper, we use the method based on Rapidly-Exploring Random Trees (RRTs) to solve the robot path planning...
The theory of differential games is an important branch of control theory and game theory, it is more competitive than control theory and has a wide application in the military. Also, the competitive networked robots have strong interaction, high degree of opposition and high requirement of real-time. Faced on these factors, the theory of differential games is introduced to the competitive networked...
A machining procedure covers several critical issues, which can be handled in a way of pervasive computing to build a whole environment with several parts to respectively fit different functionalities of machining. This paper proposes the construction of a pervasive environment for machining with necessary instruments to accomplish the correct drilling operations in the plates of the typical Shell-and-Tube...
In order to solve the problem of impact in robotic force position control during the initial state, the hyperbolic tangent filter function which was constituted a non-linear PID was used to process tracking error and speed. A robot force and position controller without impact was achieved. The Popov method was applied to prove the stability of the system. Based on the force and position control experiment...
For the visual servo system, especially with the low-cost camera, there are problems on time delay which is caused by the difference between image processing period and robot control period. In this paper, the time delay in image processing is mainly discussed as the sampling period of the image processing is much longer than that of robot control. A scheme by the robot's pose and estimated image...
During the past decade, Rapidly-exploring Random Tree (RRT) and its variants are shown to be powerful sampling based single query path planning approaches for robots in high-dimensional configuration space. However, the performance of such tree-based planners that rely on uniform sampling strategy degrades significantly when narrow passages are contained in the configuration space. Given the assumption...
This paper investigates the search probability and camera footprint of region coverage for UAVs. Two kinds of search probability by using the UAV camera are proposed. Moreover, the relationship between the UAV altitude and the camera footprint is also studied in this paper. Some formulars concerned with the UAV camera footprint are developed in two cases: flat flying and roll motion, and yaw motion...
This paper presents a novel planner for manipulators and robots in changing environments. When environments are complicated, it's always difficult to find a completely valid path solution, which is essential for many methods. However, our planner searches for several path segments to make robot move towards its goal as much as possible even though such a complete solution doesn't exist currently....
Planning manipulation path for virtual human arm takes an important role in such areas as computer animation and virtual maintenance engineering. The problem is usually defined to find a feasible non-collision path to connect initial configuration and goal configuration in joint configuration space. Since users are more concerned about the position and orientation of end-effector for reaching and...
Path planning for robots with many degrees of freedom (dof) receives continuous interest in both robotics and computer graphics communities. A variety of random sampling-based methods have been proposed to solve the path planning problems in high-dimensional configuration space, including Probabilistic Roadmap Method (PRM) and Rapidly-exploring Random Trees (RRTs). However, the efficiency will be...
This paper proposes a new method of pest detection and positioning based on binocular stereo to get the location information of pest, which is used for guiding the robot to spray the pesticides automatically. The production of agricultural cultivation in greenhouse requires of big quantities of pesticides for pest control. Pesticides application is a major component of plant production costs in greenhouse,...
The system structure and operation process of the minimally invasive surgery robot based on vision location technology are expounded. The three- dimensional location problem of robotpsilas hand-eyes vision system is lucubrated, whose core idea is directly putting the image coordinate mapped into the robotpsilas radical coordinate and getting the system parameter as a whole and not separately calculating...
Multi-agent systems (MAS) have emerged as an active sub field of artificial intelligence. Robotic soccer is a typical multi-agent systems, wherein the challenge is to develop and hone the skills of the agents that take part in the game. This paper proposes an interception strategy based on rough sets with dominance relation, in which the methods of knowledge reduction and rule extraction are investigated...
In this paper, a new sensitive microwave life-detection system which can be carried by special rescuing robots has been constructed. The system can be used for rescuing, anti-terrorist and law-enforcement purposes. The schematic diagram of microwave transmitting/receiving (T/R) system with automatic cancellation subsystem and signal processing system are presented. The design is recited in detail...
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