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Introducing robots into the operating theatre has become more popular in recent decades. Surgical manipulators have been developed to assist in surgeries like a human assistant to facilitate the surgical procedures. In this paper, we present an eye-controlled interface for the surgeon to control this kind of robot based on eye-tracking glasses. In our approach, we use the monitor for providing the...
The accurate detection and position estimation of objects is vital to perform transportation tasks safely with mobile robots. This work presents an approach to identify and localize multiple labware which contains chemical and biological components to be manipulated and transported in life science laboratories using H20 mobile robots. The H20 robot has dual arms where each arm consists of 6 revolute...
In this paper, we address the problem of the image-based 3D pose computation of a semi-circle suturing needle using monocular image feedback for laparoscopy. We propose a constrained two-degree-of-freedom (2-DOF) geometry-based modelling method to parametrise the needle's 6-DOF pose, including depth information. The modelling solely relies on the simultaneous observation of the needle's apparent tip...
In this paper, we address the positioning problem of remote centre of motion (RCM) mechanisms with uncalibrated image feedback from a monocular camera. Nowadays, RCM mechanisms are widely used in minimally invasive robotic surgery due to their ability to distally rotate a tool around a fixed entry port; note that in most surgical applications, the tools are typically controlled by manual/teleoperated...
This paper presents the development of an endoscope manipulator with passive and active structures for functional endoscopic sinus surgery (FESS). The 5-DoF passive structure has three translations and two rotations (T3R2) that allows the surgeon to manually place the endoscope near to the entry point during. The 4-DoF motorized structure (T2R2) actively controls the endoscope's position based on...
The adaptive image-based trajectory tracking control problem of rigid-link electrically driven (RLED) robotic manipulators is addressed in this paper. A fixed camera configuration is considered and the camera intrinsic and extrinsic parameters are assumed to be unknown. Furthermore, the manipulator dynamic and motor dynamic parameters are assumed to be uncertain and the depths of feature points can...
In this paper, we address the visual servoing problem of robot manipulators with eye-in-hand cameras. To servo-control the image position of a feature point, traditional image-based controllers require the computation of the point's position vector with respect to the camera's frame. However, when the point's location is uncertain, the stability of traditional visual servoing controllers can not be...
In this paper, we address the set-point deformation control of elastic objects by fully-constrained grippers. We propose an uncalibrated Lyapunov-based algorithm that iteratively estimates the deformation Jacobian matrix, with no prior knowledge of the deformation and camera models. With this new method we show how, by combining pose information of the grippers with several visual measurements, we...
To enhance the safety of a humanoid robot when it is operating a complex environment, a number of methods that combine visual and force information have been presented. These methods are generally divided into two approaches. The first approach is to coordinate the visual controller and force controller in a parallel way, and the second approach is to coordinate them in series. However, these two...
This paper presents a novel and effective method for localizing the position of a mobile robot in real-time in unknown environments by fusing an omnidirectional vision system and odometry/orientation sensor. Based on a new derivation where the omnidirectional projection can be linearly parameterized by the position of the robot and the unknown structures of natural features in the environment, we...
The electron multiplying CCD (EMCCD) use impact ionization to provide high gain in the charge domain. This enables performance with an equivalent input noise of much less than 1 rms electron at pixel rates. Based on the discussion of image noise sources and their statistic characteristics of the EMCCD, the noise distribution model is established. The method of moment estimation is applied to complete...
This paper presents a new controller for locking a moving object in 3-D space at a particular position (for example the center) on the image plane of a camera mounted on a robot by actively moving the camera. The controller is designed to cope with both unknown robot dynamics parameters and unknown motion of the object. Based on the fact that the unknown position of the moving object appears linearly...
TDI CCD is widely used in the high speed imaging camera, glimmering vision and robotic vision fields, because of its excellent operation. But TDI CCD's high ordering price and easy damage in circuit testing usually limit its application in real projects. In this paper basing the simulation of both the photoelectronic character and electronic character, a instrument is described in details.
This paper introduces the design of a high-speed 2K times 2K CMOS imaging system that is part of a Wide Field Monitor System proposed in China recent years. The CMOS sensor used in this imaging system is LUPA-4000 from Cypress corp. This CMOS camera is composed of an analogue system and a digital embedded system. The digital embedded system integrated with an NIOS II soft-core processor serves as...
This paper presents an illumination adaptive color object recognition method for robot soccer match. Generally, the colors are identified by referring to the pre-defined bounds for the components of each color. However, it is not an easy work to define non-interfered bounds for different colors, and the bounds are sensitive to illumination conditions. Instead, in this work, different colors are discriminated...
This paper presents a novel adaptive controller for image-based visual servoing of robots with an uncalibrated eye-in-hand camera using line features. The controller is developed based on three key ideas. First, we propose a new method that is similar to the Plucker coordinates, to represent projections of the lines features. The new representation leads to a depth-independent image Jacobian matrix...
Like a network camera, in the deployment of security equipments, IDS keeps the role of monitoring and analyzing the traffic in a timely manner. It strongly prevents the intrusive motivation by the way of recording every illegal access. Unfortunately, in the same time, hackers are trying their best to evade the IDS, in order to cover up their abnormal tracks. It is very important to let the IDS keep...
This paper presents a novel adaptive controller for image-based visual servoing of robots with an eye-in-hand camera using angle and distance features. The key idea lies in the development of the depth-independent interaction matrix and the proposal of an adaptive algorithm for estimating the unknown geometric parameters of the features in the 3-D space. The Lyapunov theory is used to prove the asymptotic...
Owning to the disadvantages of the current surveillance system of single camera in the intelligence, a set of project controlling pan-tilt of two cameras intelligently is presented in this paper. It realized monitoring the whole scene while recognizing the moving object automatically. A method using RGB-scale thresholds is improved, so the integrity of the object increased, and the noise reduced greatly...
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