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In this paper we present an improved automatic visual inspection system. In this system, homography based visual servo is used to accurately locate the camera position and attitude so that a template matching inspection can be realized. To improve the visual servo system's performance, we propose a combination strategy of a GPU based Efficient Second-order Minimization (GPU-ESM) algorithm and a GPU...
The motion of a passive-type intelligent walker is controlled based on visual estimation of the motion state of the user. The controlled walker would be a support for standing up and prevent the user from falling down. The visual motion analysis detects and tracks the human upper body parts and localizes them in 3D using a stereovision approach. Using this data the user's state is estimated to be...
We conducted two experiments. In the first experiment, we made two objects with identical appearance. One was lifted by humans in constrained condition, another was lifted in unconstrained condition, and human's weight perception was compared between the two conditions. The results showed that weight perception for constrained lifting of objects was not too much different from that for unconstrained...
A power assist robot system reduces the weight of an object lifted with it. However, the root causes of the reduced heaviness as well as the factors affecting the heaviness are still unknown. The knowledge on the root causes and factors could be used to modulate the interactions between the human user and the robot when lifting objects with it. This paper investigated the reasons and factors behind...
In this study, we work for autonomous takeoff and landing of a miniature size unmanned aerial vehicle (UAV). We get the information of attitude and altitude by using a small Linux computer and various sensors equipped with fuselage. Attitude and altitude feedback control scheme and autonomous takeoff and landing strategies are proposed. We also develop a landing system that recognize landing site...
We have already developed a haptic device using flexible sheet such as rubber. This device varies sheet compliance by controlling tension applied to the sheet: stretched sheet feels hard, and loose sheet feels soft. Hence a user can feel different compliance of virtual objects when he pushes the sheet directly with his finger. In the present study we propose a new haptic device which can move, expand...
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