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Ophthalmic surgery is a typical microsurgery, where the surgical progress imposes huge challenges on delicate operations to surgeons. The fixation plays an important role in restriction the head movement and also providing a friendly interaction with both patients and surgeons. A fixation specific for ophthalmic robotic set-ups is developed in this paper for a hybrid parallel-serial robot. Evaluations...
In this paper, a lightweight central pattern generator(CPG) model is designed for a snake-like robot, to achieve smooth transition of body shape and locomotion speed. First, based on the convergence behavior of the gradient system, a lightweight CPG model with fast computing time is designed and compared with other widely adopted CPG models. Then, the body shape and locomotion speed transitions in...
In this paper, an approach for matching of primitive shapes detected from point clouds, to boundary representations of primitive shapes contained in CAD models of objects/workpieces is presented. The primary target application is object detection and pose estimation from noisy RGBD sensor data. This approach can also be used to determine incomplete object poses, including those of symmetrical objects...
This paper investigates runtime shaping for mixed-criticality systems to increase the system QoS. Unlike the previous work in the literature that enforces an offline workload bound, an adaptively shaping approach is proposed where the incoming workload of the low-critical tasks is regulated by the actual demand of the high-critical tasks. This actual demand is adaptively updated using the historical...
In this paper, we propose a framework for intuitive task-based programming of robots using geometric inter-relational constraints. The intended applications of this framework are robot programming interfaces that use semantically rich task descriptions, allow intuitive (re-)programming, and are suitable for non-expert users typically found in SMEs. A key concept in this work is the use of CAD semantics...
In this paper, a LiDAR based vehicle detection approach is proposed with the goal of utilizing range information. The proposed approach is based on two phases: a hypothesis generation phase to generate the potential regions and a hypothesis verification phase to recognize the corresponding vehicles. In contrast to appearance based vehicle detection systems, the proposed approach solely relies on the...
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