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Aiming at improving the level of the Human-Robot Interaction (HRI), a novel HRI system based on 3D mapping and virtual reality (VR) is proposed, in the background of rescue robots. In the HRI system, the rescue robot constructs a 3D map in the complex post-disaster environment based on a multi-line LiDAR and an inertial measurement unit (IMU) in real time. The map is represented using 3D-NDT, which...
Target recognition is a fundamental research topic in the process of robot grasping. In this paper, we proposed an algorithm framework for object recognition based on local naive Bayes nearest neighbor with Kinect. With the emergence of local invariant feature detection, the method based on local invariant features gradually becomes the mainstream. Object recognition is realized through the feature...
This paper presents a characterization study of the GLDT laser range finder (LRF). The LRF has long measuring range and high angular resolution. It is necessary to characterize the scanner before it is installed on our rescue robot which will work in unstructured indoor and outdoor environments. Besides examining the drift and how the distance affect the measurement accuracy, this paper also characterizes...
This paper proposes a robust and precise localization system for mobile robots with the aid of Radio Frequency Identification (RFID) technology and the Markov Chain Monte Carlo (MCMC) optimization algorithm. By integrating the RFID module, RFID tags, a mobile robot and an off-board computer together, the localization system uses MCMC to analyze RFID signal information and get optimized mobile robot's...
This paper presents a method for SLAM in Robot and Wireless Sensor Network (WSN) System using Bayes framework. A mobile robot equipped with sensor measuring the range to WSN nodes by Received Signal Strength Indicator (RSSI) can simultaneously localize itself as well as locate the sensor nodes of WSN. We adopted an algorithm based Rao-Blackwellized Particle Filter (RBPF) to integrate measurements...
An improved particle filter algorithm is proposed for WSN-aided robot localization. This algorithm introduces node reliability and proposes its expression to realize information fusion among nodes. After having computed node reliability, sensor nodes with high localization, and take effect on updating particles according to their reliability. Furthermore, a novel simulation system for WSN-robot based...
Industrial robots offer a cheaper yet more flexible alternative to the CNC machines in the cleaning and pre-machining applications of automotive aluminum castings. But the low stiffness has limited the application of industrial robots to the machining tasks with very low precision requirement. This paper presents a practical method to compensate the robot deformation caused by the machining force...
Although robotics based flexible automation is considered as an ideal solution for foundry pre-machining operation, very few successful installations have been seen due to many major challenges involved in robotic machining processes using conventional articulated robot, such as limited material removal rate, low surface quality, and chatter/vibration. This paper explains the reasons for low surface...
A force-control-based robotic machining system is introduced in this paper. Firstly, the machining process is analyzed. Three key technologies: lead-through teaching, path learning and template-based automatic program generation are described and then a fast programming method is proposed. It is proved practically that it can shorten the programming time from days to minutes in robotic machining programming.
One of the challenges of SLAM (simultaneous localization and mapping) for autonomous robots is the loop closing problem. In this paper, a decision-theoretic active loop closing approach is presented, which integrates the exploration planning with loop closing. In our approach, the active loop closing process is modeled as a multi-stage decision problem, and a frontier-based auxiliary topological map...
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