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In this work, a new system is presented to measure load and motion in six degrees of freedom synchronously to assess amputee gait in real time. The device is integrated in the shank of lower limb prostheses to measure the gait parameters based on a combination of AHRS (Attitude Heading Reference System) and a strain gauge pylon. This novel mobile and autonomous system enables new possibilities of...
The research work aims at developing a real time non-invasive metabolism and blood circulation surveillance system for monitoring human's health condition by sensing the various bio-signals on human body. Our goal is to use the developed system to study the functions and characters of organs and tissues that highly relate with the metabolism and blood circulation system, also it is expected to help...
The ability to navigate in complex environments is crucial for both animals and mobile robots. Most mobile robots adopt dead reckoning for navigation because of its high efficiency and low cost. In order to use this navigation mechanism, both distance information and directional information must be available. In this research, a real-time three-channel camera-based polarization navigation sensor is...
Recent advances in patch clamp system have demonstrated that a visual-based micromanipulation strategy can benefit to perform electrophysiological recording automatically. In this paper, the design and implementation of a micromanipulation system with the visual-based identification are reported. The system is able to manipulate a patch clamp pipette to the position of target cells automatically....
The state-of-the-art person identification and verification technologies require apparent human biological features as inputs explicitly. In many special scenarios, however, it is impossible to obtain the apparent human biological features since such features usually require intrusive human interaction directly. In this paper, we have proposed a hierarchical skeleton feature model (HSFM) for person...
Map application has played a more and more important role in today's autonomous drive and navigation techniques. However, most of the existing maps can only reach road-level (meter scale) accuracy, which cannot meet the needs of driving with no hands. Based on this situation, a method to generate lane-level (centimeter scale) orthophoto maps is proposed. This method utilizes a multiple onboard cameras...
A novel robot arm called deformable arm for the service robot is presented in this paper. A flexible working space and the ability to deal with multiple tasks are obtained with a single arm by changing the arm shape. However more flexible use brings difficulties in actual use, the arm's parameters will be changed with the different arm structure and cannot be calibrated with conventional methods....
In this paper, we investigate two camera models for fisheye camera, namely, the pinhole camera model and spherical projection model. The former one has been successfully applied in calibration modeling of monocular vision system. However, for fisheye camera calibration modeling, we demonstrate that the spherical projection model is more appreciate for nonlinear image system. Moreover, to deal with...
Learning the scene correlation of uncalibrated static cameras is in increasing demand for intelligent surveillance system, such as making a inference of topology, or allocating computation resources for video retrieval in multirobot system. However, many existing approaches learn the scene correlation among camera views by camera calibration or tracking targets across cameras. They seldom learn the...
For many tasks such as welding and polishing on complex surfaces with manipulators, teaching-and-playback is difficult and inefficient. Motion planning with offline programming is an effective and efficient alternative control mode for these tasks. In this paper, we present a method to plan motion by offline programming for tasks on spherical workpieces and develop a corresponding planning module...
A single industrial robot is sometimes not sufficient to achieve some complex tasks such as polishing or welding on complex surfaces. In this case, a positioner is usually employed as an auxiliary device, and their motion is required to be coordinated. This paper proposes a method for coordinated motion planning of a manipulator-positioner system which consists of one 6-DoF manipulator and one 2-DOF...
With the availability of low-cost micro aerial vehicles (MAVs), unmanned aerial vehicles (UAVs) quickly gain popularity and application potential. This requires techniques that can be understood by non-experts and flexibly applied for rapid prototyping. Visual tracking is an essential task with many applications, such as autonomous navigation and scene acquisition. While marker-less methods emerge,...
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 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...
A quality inspection system based on low cost machine vision is presented for online quality inspection of electroplated micrometer-scale diamond wire. Instead of using a costly high-speed camera to detect moving micrometer-scale diamond particles, we adopt a general speed microscopy camera with a mechanical motion compensation module to reduce the blur effects of relative high-speed moving particles...
Weld seam position detection mainly relies on initial point detection of weld seam in robotic welding automation. In industry factory, the position data for weld seam are usually detected through contact measurement sensor before welding. Such a method is not suitable in heavy industry, since length of weld seam may reach to ten meters which results in time-consuming position detection which will...
The traditional six-dimensional force/torque sensor calibration method requires a lot of precision loading force and can only be off-line calibration. In this paper, to solve the problem, an online calibration and decoupling method based on the shape from motion combined with complex algorithm is proposed. It does not require accurate and redundant loading force information, and have better noise...
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