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Industrial applications often impose hard requirements on the precision of autonomous vehicle systems. As a consequence industrial Automatically Guided Vehicle (AGV) systems still use high-cost infrastructure based positioning solutions. In this paper we propose a map based localization method that fulfills the requirements on precision and repeatability, typical for industrial application scenarios...
This paper proposes a scheme that exploits synergies between RSSI and camera measurements in object localization and tracking using Wireless Camera Networks (WCN). It is based on three main mechanisms: a training method that accurately adapts RSSI-range models to the particular environment; a sensor activation/deactivation method that balances the different information contribution and energy consumptions...
This paper is about estimating a smooth, continuous-time trajectory of a vehicle relative to a prior 3D laser map. We pose the estimation problem as that of finding a sequence of Catmull-Rom splines which optimise the Kernelised Rényi Distance (KRD) between the prior map and live measurements from a 3D laser sensor. Our approach treats the laser measurements as a continual stream of data from a smoothly...
Estimating the pose in real-time is a primary function for intelligent vehicle navigation. Whilst different solutions exist, most of them rely on the use of high-end sensors. This paper proposes a solution that exploits an automotive type L1-GPS receiver, features extracted by low-cost perception sensors and vehicle proprioceptive information. A key idea is to use the lane detection function of a...
In this paper, the design of a high precision device using a Linear Delta manipulator was proposed to compensate for the tremor signal in three translational directions. A Linear Delta manipulator is a suitable tremor suppression device due to the simple structure and high stiffness with the vertical direction in the application of micro manipulation such as microsurgery and cell manipulation. In...
This study proposed the ultra-wideband(UWB) sensor to detect the vibration of the delta robot and the distance between UWB sensor and robot arm. Based on the radar propagating principle and the proposed algorithm, the vibration status of robot arm can be obtained. Besides, the vibration status can be reduced by feedback the information to the controller of the robot arm. The advantage of the proposed...
To control dynamics of a parallel robot, we should measure the state feedback accurately and fast. In this paper, we show how to estimate positions and velocities simultaneously (i.e., the state feedback) at a reasonable accuracy and speed. We did this using only the sequential visual contours of the legs. A single-iteration virtual visual servoing scheme regulates rapidly an error of these contours...
Previous works on the Gough-Stewart (GS) platform have shown that its visual servoing using the observation of its leg directions was possible by observing only three of its six legs but that the convergence to the desired pose was not guarantied. This can be explained by considering that the visual servoing of the leg direction of the GS platform was equivalent to controlling another robot, the 3-UPS...
This paper presents a novel 4 dofs (3T-1R(1)) parallel redundant mechanism, with its complete study regarding inverse and direct geometric models (IGM and DGM), as well as singularity and workspace analysis. The robot is capable of performing a half-turn about the z axis (a complete turn would be theoretically possible if it were not for possible unavoidable inter-collisions in the practical case),...
This paper presents a parallel and partially decoupled mechanism characterized by three translational and two rotational degrees of freedom. A set of parallel kinematic chains actuates five degrees of freedom of the mobile platform and constrains one of its rotations. Its kinematics combines advantages typical of parallel architectures, as high dynamics, with positive aspects of partially decoupled...
One of the main limitations of systems for Minimally Invasive Robotic Surgery is the lack of haptic feedback. In this paper, a teleoperated system for robotic surgery is introduced, able to guide the surgeon towards a target anatomy by providing her with force feedback based on Virtual Fixtures (VF). The teleoperated system has a redundant slave robot. A closed-form inverse kinematics is proposed...
Tele-surgery has been more and more popular in robotassisted medical intervention. Most existing teleoperation architectures for medical applications adopt 2-channel architectures. The 2-channel architectures have been evaluated in literature and it is shown that some architectures, e.g. position-force (P-F), are able to provide the surgeon a reliable haptic sense of the working environment (transparency)...
This work is aimed at developing a new minimally invasive approach to characterize tissue properties in real time during telerobotic palpation and to localize tissue abnormality while estimating its depth. This method relies on using a minimally invasive probe with a rigidly mounted tactile sensor at the tip to capture the force distribution map and the indentation depth by each tactile element and...
This study presents one of the enabling technologies for teleoperated bevel-tip needle steering under real-time MRI guidance i.e. capability of tracking the needle with higher accuracy and bandwidth than real-time MRI. Three fibers, each with three Fiber Bragg Gratings (FBG) were embedded into a 0.6 mm inner stylet of a 20G MRI-compatible biopsy needle. The axial force caused by the bevel-tip was...
The problem of designing of a haptics-enabled teleoperated rehabilitation system in the presence of communication delays is addressed. In a teleoperated rehabilitation system, communication delays introduce phase shift which may result in the task inversion phenomenon. To overcome the task inversion, a new type of projection-based force reflection algorithm is proposed which is suitable for assistive/resistive...
Stras is a flexible robotic system based on the Anubis® platform from Karl Storz and is aimed for intralu-minal and transluminal procedures. It is composed of three cable-driven sub-systems, one endoscope and two insertable instruments. The bending instruments have three degrees of freedom and can be teleoperated by the user via two commercial master interfaces (Omega.7, Force Dimension). In this...
This paper presents the use of robotically controlled optical tweezers to manipulate a group of cells into a region of interest to form the required pattern. A novel multilevel-based topology is designed to present different cell patterns in the region of interest. A potential function-based controller is developed to control the cells to form the required pattern. A pattern regulatory control force...
Microinjection and biopsy of oocytes and embryos in Assisted Reproductive Technology (ART) require highly delicate handling of cells. In particular, efficient control of cell orientation is necessary to maintain their integrity during tool penetration, which currently remains challenging to accomplish by the existing method of repeated aspiration/release via micropipette. We present a microfluidic...
Piezoelectric inkjet printer technology recently has gained attention and was utilized eject particles and cells of several tens of μm scale, which is large compared to colloid used in printer ink. However, the inkjet head was originally design for color ink. Therefore, problems, such as, head clogging and trajectory error occurred. In this study, those problems were addressed, and optimal condition...
This paper proposed a Multiple Microfluidic Stream based Manipulation (MMSM) for bio-objects using micro hydrodynamics and Lab on Chip (LOC) technology. Our method can manipulate bio-objects without contact under open space, the advantages of which were experimentally confirmed in this paper. Compared with other conventional bio-manipulation methods, this method is not directly in contact with the...
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