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This paper deals with the concept and implementation of a multi-purpose vision platform. In robotics, numerous applications require perception. A multi-purpose vision platform suited for object recognition, cultural heritage preservation and visual servoing at the same time is missing. In this work, we draw attention to the design principles for such a vision platform. We present its implementation,...
We present a cooperative exploration strategy for mobile robots. The method is based on the randomized incremental generation of a collection of data structures called sensor-based random trees, each representing a roadmap of an explored area with an associated safe region. Decentralized cooperation and coordination mechanisms are introduced so as to improve the exploration efficiency and to avoid...
Current Mars exploration and science is limited to orbiters and areas close to original rover landing sites. Most of the places of geological interest lay many kilometers outside of suitable landing sites. In-situ resources such as wind can enable rovers to travel great distances on Mars while using little internal power. In this paper, a dynamic model of an individual wind driven rover is used to...
In this paper a polymer sensorised microgripping tool for micromanipulation is presented. The gripper structure is made by moulding of polyurethane in silicon moulds by the technique of shape deposition manufacturing (SDM), in which the force sensing elements and part of the actuator (in this case, microstrain gauges and SMA (shape memory alloy) wire, respectively) are embedded into the microgripper...
This paper describes a new realtime collision avoidance algorithm for a robot manipulator based on a new visual servo control. In the proposed algorithm, it is not necessary to compute the 3D position of the obstacle. Further, the manipulator can avoid the fast moving obstacle. The developed system uses several small light-weight high-speed vision chips placed on the surface of the robot manipulator...
We describe the design, fabrication, and testing of an ultra-low cost orthotweezers system for microassembly. By utilizing rapid prototyping technology, compliant mechanisms, and commodity-grade actuators and sensors, we significantly reduce the complexity and cost of the previous Orthotweezers system without sacrificing functionality. With a force resolution of 0.7mN and a worst case mean positioning...
This paper describes realtime and robust tracking of a planar motion target by matched filter implemented on the CMOS+FPGA vision system. It is required to obtain positional and angular signals around 1,000 Hz to control a mechanical system. A vision sensor must obtain visual features of a target object, synchronizing its sampling rate to the sampling rate of the control. The CMOS+FPGA vision system...
Detection of line-of-sight (LOS) has a variety of applications, such as communication tools for elderly or disabled people, assisting drivers, and effective location of traffic signs. To realize such promising applications, the LOS detecting system that does not restrict users' activities and is free from mental stress from the equipment is strongly demanded. In this paper, we propose a novel wearable...
When an emergency occurs within a building, it is critical to explore the area as fast as possible in order to find victims and identify hazards. We propose Brick&Mortar, an algorithm for the autonomous exploration of unknown terrains by a team of mobile nodes, referred to as agents. Because of the unreliability and short range of wireless communications in an indoor environment we suggest that...
This paper describes a probabilistic framework for navigation using only appearance data. By learning a generative model of appearance, we can compute not only the similarity of two observations, but also the probability that they originate from the same location, and hence compute a pdf over observer location. We do not limit ourselves to the kidnapped robot problem (localizing in a known map), but...
In this paper we propose an on-line incremental vision-based topological map learning for AIBO robots. The topological map is represented through a graph, where the vertices encode views from the robot's environment and the edges the spatial relationship between these views. The views are represented through their SIFT keypoints. The proposed map learning method has been successfully applied to a...
This paper extends the notion of residuals for fault detection, well known in the continuous system to the timed discrete events systems. The aim is to design the fault indicators, two problems are considered. Firstly, the dynamics of clocks which monitor the system must be sensible to the behavior change resulting from a fault. Secondly, we must specify the inequality clocks constraints for which...
In this paper, an approach to interaction control of a robot manipulator with a partially known environment is proposed. The environment is a rigid object of known geometry but of unknown and possibly time-varying position and orientation. An algorithm for online estimation of the object pose is adopted, based on visual data provided by a camera as well as on forces and moments measured during the...
In this paper, we present an innovative design of a solder paste inspection device which can be practically integrated into existing solder paste printing machines. Since solder paste inspection systems usually occupy a large space in vertical direction, we designed a mirror box that can re-direct the transmission of fringe pattern. In this way, a new parallel solder paste inspection device with a...
In this paper, the concept of broadcast feedback for stochastic cellular control systems is expanded to a system with nonuniform cellular length and nonuniform transition probability. The cellular control architecture was originally inspired by skeletal muscles comprising a vast number of tiny functional units, called sarcomeres. The output of the actuator system is an aggregate effect of numerous...
This paper deals with the concept of a control architecture for robot cells that enables plug'n'produce according to plug'n'play in the office world. To achieve this, a software module called "interconnector module" takes as input descriptions of devices and processes. These descriptions are then automatically evaluated in order to offer the user commands to use the functionality of the...
This paper presents a task instruction scheme for a service robot operating in a daily life environment. It is difficult for the robot to execute tasks automatically in the daily life environment, because it should handle various objects and the working environment is complex. In such an environment, the concept of shared autonomy by which the robot can share a task with a human is important. The...
Portable, modular and extensible software allows robotics researchers to pool their resources by sharing algorithms, thus advancing research in the field of robotics at a faster rate than is possible under a non-collaborative model. The development and use of frameworks and middleware, allowing researchers to encapsulate robotic capabilities within a component structure, has traditionally been the...
The polychaete annelid marine worms propel themselves in a variety of challenging locomotion environments by a unique form of tail-to-head body undulations, combined with the synchronized action of numerous parapodial lateral appendages. This combined parapodial and undulatory mode of locomotion is termed pedundulatory in the present work. Robotic analogues of this type of locomotion are being studied,...
The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular workspace and homogeneous performances) and parallel kinematic architectures (good dynamic performances and stiffness). This machine has three fixed parallel linear joints that are mounted orthogonally...
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