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The smart manufacturing program is gaining more and more research interests. To meet the requirements of increasingly low-volume, time-critical tasks, the traditional program-by-teaching methods should be replaced by more flexible and intelligent manufacturing processes. In this paper, we introduce the efforts of deploying ubiquitous robotic technology to the smart manufacturing program. Firstly,...
This paper presents the design and implementation of a PC-based control application retrofitted to an existing industrial manipulator. The system uses the OROCOS component-based framework for real-time functionality as well as its infrastructure for software component interaction. This together with the use some of the provided libraries and built-in development tools allowed for a rapid development...
Detection and pose estimation of texture-less objects still faces several challenges such as foreground occlusions, background clutter, multi-instance objects, large scale and pose changes to name but a few. In this paper, we present an improved approach for model based detection and pose estimation of texture-less objects, LINEMOD [4], in order to improve the robustness of pose estimation with partial...
Stepping motors are applied to service robots in many cases, unfortunately stepping motors often occur out-of-step situation when it is overload. In order to sense the occurrence of out-of-step without the help from external sensors, its feedback could only induce from its inner structure of the stepping motor. In other words, occurrence of out-of-step cause variable back electromotive force (emf)...
Compliance assembly is based on compliance control for a specific robot to take the initiative to accomplish assembly task using recognition and perception information through a variety of sensors. With more and more sensors the assembly robot can better suit for any kind of assembly operation. This paper developed a compliance control integration system as well as a human-computer interaction interface...
Aiming at providing various services for daily living, a framework of Intelligent Service Environment of Ubiquitous Robotics (ISEUR) is presented. This framework mainly addresses two important issues. First, it builds standardized component models for heterogeneous sensing and acting devices based on the middleware technology. Second, it implements a general purpose task planner, which coordinates...
Bag of Features (BoF) approach has gained its popularity in the past decade due to its simplicity and outstanding performance in computer vision tasks. However, the lack of spatial information makes the BoF method sensitive to background noise features in real-world object recognition tasks. This paper presents a method for removing background noise features from the BoF representation of images by...
A modular robot joint for fitting easily through small openings is presented, which has a rotational degree of freedom. In addition to the common features of conventional modular robots, each module can maneuver through small openings and into an enclosed space to maintain areas that are not accessible to larger modular one. And it has a high load carrying capacity and torsional capacity compared...
In recent years, more and more field-bus apply to the open control system of serial robots while there is a great demand for communication bandwidth, response speed and real-time. For the current system's shortage in real-time and stability, this paper presents the control system of 6-DOFs serial manipulator based on EtherCAT network which reduces the complexity and make it easier to expand various...
Single Port Surgery (SPS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) bring the benefits: reduced surgical trauma and less patient's burden. However, they are still limited in the area of instrument dexterity and operability. This paper presents an Insertable Surgical Robot (ISR) for Single Port Access Surgery (SPAS), this robot uses multi-level architectures in the field of endoscopic...
Recently, a large amount of stroke survivors are suffering from motor impairment. However, existed therapy interventions have limited effects to restore normal motor function. Thus, we proposed a novel control strategy for gait rehabilitation of hemiplegic patients. The whole system consists of a Functional Electrical Stimulation (FES) device and Treadmill-Walk system. FES contributes to improve the...
In consideration of a large proportion of stroke survivors with persistent deficits, current interventions have limited ability to restore normal motor function. We propose a gait training system for gait rehabilitation of hemiplegic patients with convalescent stroke. It consists of a functional electrical stimulation (FES) device which is used to influence the gait pattern instantly to improve the...
This paper presents a novel ant-based clustering algorithm. Different from conventional ant-based clustering algorithms in which the objects are picked up or dropped down by virtual ants, our propose algorithm looks each object as an ant. The objects are first projected to a plane randomly. Then an attractive force field is created. The object (ant) is attracted by the similar ones in its local surrounding...
To deal with the sudden motor failure during the match, the method of fault tolerant control on omnidirectional soccer robot will be introduced in this article. First of all, the kinematics model of two-wheeled differential driving robot and omnidirectional robot will be given. Then kinematics model of omnidirectional robot with a motor failure will be introduced, based on which the fault tolerant...
This paper provides a prototype of an intelligent robotic walking assistance system named Walkmate with force sensor interface and a motion control algorithm for it. Our human-machine interface with the force sensors embedded in handlebars offers a nature negative feedback loop of the motion control. In the algorithm we defined two motion control modes. In the Force-Velocity Mode, the velocity of...
In this paper we present a pose estimation algorithm based on four coplanar point correspondences. Given four coplanar points and their corresponding image points under a perspective camera, plus the camera's intrinsic matrix, the camera's rotation and translation relative to the object plane is determined directly. In essence, the pose estimation problem is converted to the calculation of a planar...
In this paper, we present a proof-of-concept gesture recognition based on artificial neural networks (ANN) for referees participating in the Robocup competitions. Here, we aim at recognizing gestures to interact with an application (Robocup referee box) and present the design and evaluation of our sensor-based gesture recognition. As input device we employ the Wii-controller (Wiimote) and the use...
This paper presents new improvements to point cloud segmentation on curve grouping techniques. The proposed method is based on the similarity conception. The developed approach groups the curves from the same objects into the same region well. The algorithm is simple and easy implemented in complex real scenes. The algorithm was performed in a real application and the results proved the proposed algorithm...
Aiming to traditional pre-alignerspsila deficiencies in the precision of prealignment and spacing consuming in the manufacture of integrated circuits, a new wafer prealigner was proposed, which uses a high-precision laser displacement sensor and a low-cost transmission laser sensor as wafer-periphery detectors instead of a CCD linear sensor traditionally used, and correspondingly a precise prealignment...
This paper introduces a set of new pipeline maintenance system for early-built long-distance offshore oil pipelines. An on-line intelligent inspection pig is developed using ultrasonic tool to detect defects in oil pipelines and the acquired data is stored for off-line analysis. Through analysing the data, defects can be found, sized, classed, and besides, the plan to locating them is made. An autonomous...
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