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The data registration transforms multiple datasets into the same coordinate system, and in this way overlapping components of these sets are aligned. The registration is the fundamental of many advanced tasks, such as data fusion. There are plenty of solutions to data registration, and among them the algorithms based on Fourier analysis are efficient for large offsets but intricate. The surveys about...
The Outdoor Mobile Robot plays an important part in outdoor science exploration, community monitor and so on, and is becoming a research hotspot. On the basis of the outdoor mobile robot with diameter-variable wheels, this paper builds a motion control system which could control the movement of the outdoor mobile robot with diameter-variable wheels and creates an adaptive control model which could...
The scan registration is the cornerstone to Mobile Robotic Mapping, and the majority of existing global registration methods are dependent on specific features. This paper presents a global feature-less scan registration strategy based on the ground surface, which is extremely common in Mobile Robotic Mapping scenarios. The 3D rotation is decoupled from 3D translation by transforming the input scans...
A new coordinate system establishing method specific to all around space orientation are proposed in this paper. The error corresponding to the peak value of the error probability density of proposed arithmetic is much smaller than the traditional arithmetic even non line-of-sight measurement is not taken into account.
This paper analytically analyzes the porpoising behavior of dolphins and other cetaceans in the context of bio-robotics. Based on the conventional assumption that porpoising saves energy at high speed, the “crossover” speed is recalculated. A dynamic model for a multilink dolphin-like robot within the framework of multibody dynamics is created. Simulations using the dynamic model have been extensively...
The goal of this paper is to develop a needle insertion robotic system for ultrasound-guided minimally invasive surgery, which is composed of a robot, a surgical planning subsystem and a pose tracking device. In the surgery procedure, the target coordinate should be transformed from one coordinate frame to another coordinate frame through point-based registration. The point-based registration using...
In this paper, a novel vibrating method based on the principle of vibrating suction method is presented, which is called pulse vibrating method. To discuss this method in depth and evaluate its performance, simplified mathematical model based on some assumptions for both the previous sin vibrating method and the pulse vibrating method are built, and a new experimental platform is developed as well...
This paper focuses on the controller design of the walking system of a power transmission line inspection robot that is redundantly actuated by two wheels. After an analysis the kinematics and dynamic model of the driven system, the controller is designed as a master-slave model to avoid the ldquoconflictrdquo between the two wheels. To effectively damp the elastic vibration caused by the flexible...
In most reported works about robot learning by demonstration (LbD), the demonstration is normally limited to simple gestures or grasp actions. In this paper, motion trajectory oriented LbD is studied in which free form 3-D motion trajectory is extracted to characterize certain human demonstrations. We propose to build effective description to motion trajectories to be learned by a robot instead of...
The Visible Human data set provides researchers with digital cross-sections of the human body. Many institutions use the Visible Human for research and teaching purposes. In this paper, we would like to share our experience in analyse the Chinese Visible Human (CVH) Brain images. We introduce some methods, such as skull stripping, de-noise, etc, to segment the Brain images and get better results....
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