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This research paper primarily focus on to develop a conceptual design of the vision system for an intelligent next generation robotic milking system for faster and accurate teat detection. In our ongoing research in laboratory environment we have been developing the intelligent vision system incorporating the technique of ToF camera imaging, RGBD imaging and thermal imaging. The teat detection system...
This paper proposes a novel road-feature extraction method from a point cloud and a LiDAR (Light Detection and Ranging) sensor for vehicle localization. For a robust localization of a vehicle, it is important to extract unchanging features. Road markings such as lines, arrows, and crosses are effective features for localization in a road environment. Thus, this paper describes a method to extract...
Gait rehabilitation following stroke is often stated as the primary goal to improve quality of life. A wearable augmented feedback system which provides vibrotactile cues for post-stroke gait training is presented in this research. The system is capable of determining temporal gait parameters and thus identifies gait irregularities. A pair of custom-made insole, containing four Force Sensitive Resistors...
This paper aims to develop multi-channel knit band electrodes to acquire surface electromyography signal from the upper limb amputees. The knit electrodes have several advantages such as good stretchability, excellent breathability and absorbency. Performance comparisons between the knit band electrodes using the snap buttons and the commercial wet electrodes are given to show the effectiveness of...
With advent of the capsule endoscope, tattooing to mark the position of the intestinal polyps becomes critical technique for successful removal of polyps. Therefore, we develop a micro tattooing mechanism activated by multiple conical springs which can be installed in a capsule endoscope. In order to insert the needle and inject ink, a conical spring is released by cutting a post with Ni-Cr wire....
Surgical robots for microsurgery have mostly been continuum robot type. We present a new serial robot type manipulator for microsurgery, AsclRod. The manipulator consists of a stiff, slim tubes connected by rotation-prismatic joints. Being a serial robot, the manipulator provides improved stiffness and tractable kinematics compared to previous continuum robot type manipulators. Performance index of...
This paper presents a fast RGB-D dense visual odometry estimating 12-DoF state information including 3D motion and 6-DoF spatial velocity of a camera-strapdown system. To reduce computational loads, we extract informative pixels through a zero-crossing difference of Gaussian (DoG) and non-maximum gradient pixel extraction. For extracted regions, the 3D motion is estimated through inverse compositional...
In this paper, we propose a wearable camera-based pose estimation of a user's head and shoulders. The proposed system is mounted on a user's chest and the camera looks upward to observe a user's head and shoulders region. The proposed method is based on histograms of orientated gradient (HoG) features and support vector regression (SVR). This paper shows the preliminary experimental results that demonstrate...
This paper discusses the learning of robot point-to-point motions via non-linear dynamical systems and Gaussian Mixture Regression (GMR). The novelty of the proposed approach consists in guaranteeing the stability of a learned dynamical system via Contraction theory. A contraction analysis is performed to derive sufficient conditions for the global stability of a dynamical system represented by GMR...
Camellia oleifera is of significant value both economically and environmentally. There is a bright market prospect in it. China is the original and main planting area of Camellia oleifera. Due to the cultivating environment of Camellia oleifera, the level of mechanization of camellia cultivation is low thus the production cost is high. Consequently, we develop a Camellia cultivation machine which...
In this paper, we propose a new tendon routing method using branching tendon for driving a revolute joint. Unlike conventional tendon (or wire) widely used in the tendon transmission, the branching tendon splits into sub-tendons, and the end points of the sub-tendons are located on the same link but different positions. Thus, without using any complicated and bulky mechanism, the branching tendon...
In this research, we aim to perform emotion estimation based on the touching manner of communication using our stuffed-toy device that we had previously proposed in order to reduce the user's stress. In this paper, we propose a method to classify a user's emotions into three types: comfort, discomfort, and unknown, by adopting a fuzzy reasoning using histogram distribution of peaks of pressure sensor...
In this research a bilateral control in hydraulic servo system for end-effector of master-slave manipulator is proposed. End-Effector of hydraulic servo system is used in dismantling nuclear power plant. A bilateral control strategy in hydraulic servo system is recommends for the robust position tracking between the master and slave. Sliding mode control with sliding Perturbation observer (SMCSPO)...
For general commercial products, reliability tests are typically performed to assess reliability. However, in the case of very expensive items requiring higher reliability in an extreme environment such as lunar rover vehicle, difficulties arise in reliability assessment by tests in terms of the technical simulation of testing environment and the economic cost for producing prototypes. Therefore,...
This paper presents the initial work toward deep space robotic applications. Humanoid robots as astronauts can experience gravity differences, hazardous environmental conditions, extreme latency communications, and lack of energy sources while on deep space missions. Such constraints provide a challenge in the development of software, hardware, and experiments for space humanoid robots. This paper...
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