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Surgical instrument sorting is a repetitive work with a high risk of infection, which requires medical staffs to classify them after cleaning. Currently, the surgical instrument sorting is usually accomplished by medical staffs' manual operation. It is a time costing work, which may cause operators' fatigue even classification errors. Meanwhile, surgical instruments are relatively sharp and often...
Robots in dynamic and uncertain environments are vulnerable to mission failures due to external perturbation or internal malfunctions. Diagnosis is the process to detect, locate or even assess the fault. Since robots rely on their function modules to sense the external environment, it is difficult to locate the fault under uncertainties of robot components. The situation can be worse when there is...
Since the visual system is susceptible to the lighting condition and surroundings changes, the accuracy for object localization of robot grasping system based on visual servo is rather poor so as to the low grasping success rate and bad robustness of the whole system. In view of such phenomenon, in this paper, we propose a method of fusing binocular camera accompany with monocular vision, IR sensors,...
A novel laser scanning system is established for digital dental CAD/CAM. The system structure, kinematic model and calibration method are described in detail. The system integrates advanced motor control technology, laser scanning technology, and data processing technology. Based on the principle of laser triangulation, mechanical and electronic technologies, the surface of dental wax can be scanned...
Colored point cloud is essential for artifacts scanning, human digitalization and garment manufacturing. To get accurate color information of each scanning point, a novel strategy for online colored point cloud acquisition is proposed. Firstly, a buffer to store images of the scanned object and positions of the scanner is allocated. Then, it is refreshed during the scanning process and the color of...
The Mobile Parallel Robot (MPR) is a new type of robot which integrates the mechanical characteristics of Mobile Robot and Parallel Robot. It can adjust position and orientation to suit to many special situations. This paper firstly analyzes the kinematics characteristics of MPR, including the inverse kinematics and the forward kinematics using analytic method. A motion simulation based on COSMOSMotion...
Spinal surgery has its specifications. Different from minimal invasive like laparoscope surgery, there is no complex operations such as sewing, cutting or clamping. It is more important for spinal surgery to locate precisely and to keep reliable during operation. Robotic spinal surgical system (RSSS) is designed upon these principles. Tracking and navigation system in RSSS ensures high positioning...
Solving the vision problem using convex optimization theory is now a focus in computer vision and robot communities. Second Order Cone Programming (SOCP) is especially effective in these methods. This paper discusses homography estimation in omnidirectional vision under the L∞-norm, which provides a theoretical guarantee of global optimality and a wide field of view. We give three different kinds...
Compared with the existing mobile robot, the Mobile Parallel Robot (MPR) has more powerful climbing ability and more adaptive behaviors. This paper expands the complex agent using Deterministic Finite Automaton (DFA) from the wheeled mobile robot to a MPR successfully, and the monocular vision part is improved to stereo vision. The action status model with DFA is improved for the MPR structure. Besides...
The triangulation method is the basic method for robots to exactly locate points in unknown environments. But the traditional triangulation method has the drawback that its solution is locally optimal. This paper devise a novel solution to triangulation in omnidirectional vision under the L∞-norm, which provides a theoretical guarantee of global optimality and a wide field of view. We give three different...
Calibration precision of omnidirectional cameras is low because of severe distortion in the image. In this paper, we present an LCD-based method for calibrating an omnidirectional vision system with a parabolic mirror. We focus on calibration using one or more LCD displays. The calibration is implemented with a few images. Experimental results show that the reprojected error is less than half the...
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