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Autonomous robots have many applications in manufacturing industry, space exploration, defense research, etc. The goal of this project, codenamed Eagle O, is to build a semi-autonomous robot. Robots can have autonomous characteristic to varying degrees. Eagle O is being developed with semi-autonomous characteristics. A control system is being implemented for directing the robot using a remote machine...
Position estimation using wheel odometric systems tends to give rather poor performances for an outdoor four-wheel skid steered mobile robot. Therefore autonomous control of these vehicles is extremely challenging in outdoor environments. This paper describes an outdoor localization system based on visual odometry for skid steered vehicle using forward faced camera and a downward faced camera. Optical...
This paper describes the design and implementation of a prototype teleoperated unmanned guided vehicle (UGV) for security applications. A commercial Quad motorbike with a 1-cylinder gasoline engine with a power of about 5 HP was re-engineered and transformed into a fully automated vehicle that can be teleoperated. The designed UGV is remotely controlled using high speed secure wireless connection...
Optical flow and monocular vision have been used as a means of providing obstacle avoidance to a telerobotics platform. The robotic platform, controlled to avoid obstacles through an unstructured indoor environment, is of a small two wheeled coaxial robot (inverted pendulum). Suitable digital filtering techniques are developed to remove the effect of the robot's inherent self-stabilizing motion and...
The development of a vision system to aid the autonomous navigation of an unmanned helicopter, primarily based on inertial sensors and GPS data, is presented. An unmanned helicopter has been equipped with appropriate sensors and a vision system fitted on a custom pan-tilt mechanism. Robust software, based on the Open Computer Vision Library (OpenCV), has been developed for handling images and video...
A decimeter-scale humanoid robot is proposed and realized in this paper. The humanoid robot is fully autonomous in terms of sensing, processing and power supply. In addition, the robot has a low cost design. Sensing capabilities are provided by a camera and computer vision algorithms. Processing power is provided by a PC/104. Robot gait generation is based in sinusoid wave parameterization. The physical...
Detection of spurious features is instrumental in many computer vision applications. The standard approach is feature based, where extracted features are matched between the image frames. This approach requires only vision, but is computer intensive and not yet suitable for real-time applications. We propose an alternative based on algorithms from the statistical fault detection literature. It is...
This paper presents a nonlinear controller for hovering flight and touchdown control for a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) using inertial optical flow. The VTOL vehicle is assumed to be a rigid body, equipped with a minimum sensor suite (camera and IMU), manoeuvring over a textured flat target plane. Two different tasks are considered in this paper: the first concerns...
A telestimulation system is described that enables an experimenter to train animal robots remotely. The system consists of three separate components: a transmitter base station that is controlled by a PC operator, a multi-channel remote-controlled stimulator backed by animal, and a computer vision based animal motion-analysis system. This system enables multichannel brain and body stimulation experiments...
Mobile robots need maps or other forms of geometric information about the environment to navigate. The mobility sensors (LADAR, stereo, etc.) on these robotic vehicles can however populate these maps only up to a distance of a few tens of meters. A navigation system has no knowledge about the world beyond this sensing horizon. As a result, path planners that rely only on this knowledge are unable...
This paper presents a set of infrared perception techniques for automatic detection of heat losses in windows by using autonomous and teleoperated helicopters. The paper focuses on the processing of infrared images paying special attention to the segmentation, estimation of temperature and classification of thermal heat losses in infrared images. It also presents briefly the main characteristics of...
The following topics are dealt: biomimetics; biorobotics; mechatronic system for motor recovery after stroke; bio-inspired control; motor control; teleoperation of a robot arm; surgical robot; biologically-inspired robotic exploration; neurorehabilitation; microrobots; mobile robots; integrated electronics; dexterous manipulators; manipulator dynamics; micromanipulators; computer vision system for...
In this paper we predict the amount of slip an exploration rover would experience using stereo imagery by learning from previous examples of traversing similar terrain. To do that, the information of terrain appearance and geometry regarding some location is correlated to the slip measured by the rover while this location is being traversed. This relationship is learned from previous experience, so...
A model-based monocular vision system for station keeping of an underwater vehicle is presented. Through such system accurate and reliable 3D pose information (roll, pitch, yaw and XYZ translations) of the vehicle relative to the model-known observed target is estimated in real time. The cooperative and observed target is placed in the working space when station keeping is demanded. The performance...
Aerial images are challenging to acquire in times of a disaster. Conventional aircraft may not be able to takeoff and land due to crippled runways and airstrips. Time is often critical and delays incurred from scheduling a satellite fly-by may frustrate mitigation efforts. A system that can be easily transported to the disaster site and rapidly deployed would be an attractive alternative to aircraft...
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