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This paper presents an efficient navigation system which presents the navigation information to the visually impaired via Kinect and vibrotactile belt. The system consists of three parts. The first part is Kinect, which is used for obstacles detection. The second part is a laptop, the laptop processes the depth data of the context acquired by the Kinect, and then translates safe guidance hint into...
This paper presents a smooth path planning algorithm for a home service robot in presence of a known map and static obstacles. The algorithm proceeds in two steps. Firstly, the MAKLINK Graph based global path planner generates the shortest linear path which consists of several line segments. By introducing the 2D code landmarks into the global path planner, the path passes the landmarks as many as...
In this paper, we propose a method of parallel processing of one-shot structured-light system to realize online 3D reconstruction of moving objects. The proposed method is based on a projector-camera system that reconstructs a shape from a single image where a static pattern is cast by a projector; such a method is ideal for acquisition of moving objects at a high frame rate. The structured-light...
A new kind of ball tensegrity robot is researched. Firstly, build up mathematical model of ball tensegrity robot with its node matrix and member matrices. Based on the relationships between the nodes and members, the connectivity matrices are introduced. Then members can be expressed by connectivity matrix and node matrix. Under given external load, system equilibrium functions are set up, and we...
For biped pole-climbing robots (BiPCRs), footholds, indicating a sequence of discrete gripping points from the start to the goal, are necessary for travelling in trussed environments. Graspable region in each climbing cycle is the valuable priori knowledge for consideration of selecting specific grasping point. However, how to evaluate all the grasps within the graspable region so as to provide a...
In this contribution we present a portable system which records interactions with objects of daily use automatically. The system is based on an Ultra High Frequency (UHF) Radio-Frequency IDentification (RFID) device and can be worn around the wrist. It is able to detect proximity to objects marked with an RFID tag, store collected information and transfer it wirelessly to a server. Such devices are...
Cloud computing framework can provide promising solutions for service robots to overcome various challenges in unstructured environments. In this paper, we present the design and implementation details of a novel cloud-based system architecture for robotic path planning. The proposed system, called Path Planning as a Service (PPaaS), is based on a three-layered architectural design: cloud server layer,...
A novel multi-pulses technology with unequal space to enhance SNR of pulse laser radar is proposed in this letter. Traditional multi-pulses technology employing equal spaces multi-pulses always leads to many outputs once the time window has pulses no matter the number of pulses, which is difficult to identify which one is the main pulse we want to get. Thus we propose a method using unequal spaces...
This paper presents the point-tracking strategy of master-slave robotic catheter intervention, which integrates with the distal/proximal and virtual force. First, the mapping between the motion space of master handle and the space of vascular model is built up. Second, the close-loop control based on the inverse kinematics is developed with the compensation of backlash. Third, proximal force, distal...
Dissection and removal of lesion area are fundamental operations in brain surgery. In order to correctly reproduce dissection and removal in brain surgery haptic simulation, mechanical properties of brain tissue must be investigated. In this work, porcine brains are used as specimens. Mechanical properties such as density, Poisson's ratio, Young's modulus, damping coefficient, and fracture stress...
In this study, we developed rehabilitation software for SEMUL (simple exercise machine for upper limbs). SEMUL has eight software routines; however, these routines do not manage to combine quantitative evaluation with user amusement. To solve this problem, we developed training software in the form of coin-collecting software. In addition, we developed the coin-collecting software such that it was...
Measurement accuracy of Position Sensitive Detector (PSD) can be greatly affected by inaccuracies in interface circuits, system connections, outside environmental changes and the semi-conductive properties of the sensor. The presence of these factors causes noises and distortions that heavily degrade the performance of the PSD and any system built on it. This work addresses improving measurement accuracy...
A practical framework for measuring the mass of an object grasped by the end-effector of a large-scale hydraulic manipulator, such as construction manipulators, is proposed. Such a measurement system requires high accuracy and robustness considering the nonlinearity and uncertainty in hydraulic pressure-based force measurement. It is thus difficult to precisely model the system behaviors and completely...
This paper presents a novel curve image feature description using cubic Bezier curve, which extends the depth-independent image Jacobian matrix to curve features. We derive the image Jacobian matrix that can be linearly parameterized by the unknown curve feature geometrical parameters in the 3-D space. To estimate the unknown parameters online, we propose an adaptive algorithm using the defined curve...
This paper proposes a real-time nonlinear filtering approach for the SLAM problem, termed as compressed Unscented Kalman filter (CUKF). A partial sampling strategy was recently proposed to make the computational complexity of the UKF quadratic with the state-vector dimension. However, the quadratic complexity remains intractable for the large-scale SLAM. To address this problem, we firstly prove the...
In this paper, we present a simple yet effective visual tracking algorithm with an appearance model based on 2D discrete cosine transform (2D-DCT) representations. The DCT has the properties of decorrelation and energy compaction, and is robust against geometry and illumination changes. Hence, it is suitable for appearance modeling and the features of our appearance model are extracted from an optimized...
This paper presents a speed and flux estimation method for speed control of three-phase AC motors in robot manipulators. Furthermore, we find how to combine the speed and flux estimation method with the control algorithm of the speed and flux using artificial neural network (ANN) to enhance the performance of AC motors when there are uncertain parameters in the motor's dynamic model such as rotor...
This manuscript presents an autonomous navigation of a mobile robot using SLAM, while relying on an active stereo vision. We show a framework of low-level software coding which is necessary when the vision is used for multiple purposes such as obstacle discovery. The built system incorporated a number of SLAM based routines while replying on stereo vision mechanism. The system was implemented and...
This paper describes an extensible framework for real-time self-calibration of cameras in the simultaneous mapping and localization (SLAM) setting. The system is demonstrated to calibrate both pinhole and fish-eye camera models from unknown initial parameters while seamlessly solving the maximum likelihood online SLAM problem in real-time. Self-calibration is performed by tracking image features,...
This paper proposed a concept of flexible wing-mechanism for the underwater fishlike robots. The proposed system consists of a fishlike body and a pair of flexible wing. The flexible wing mechanism utilizes a Shape Memory Alloy (SMA) actuator to realize small and lightweight system with high output/weight ratio. The SMA actuator can be controlled to adjust the shape. In the flow of water, shape of...
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