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Research as well as industrial projects in the field of micro- and nanorobotics often incorporate complex experimental setups using different devices with varying and often complex interfaces. In order to provide an easier interface to these devices, this paper outlines the extension of a versatile software framework called OFFIS Automation Framework, for automation, image processing and controlling...
One of the inconveniences of recovering after a stoke for patients is that they have to go either to a hospital or to a private clinic in order to follow a rehabilitation exercise program for movement control recovery and nerve reactivation. This paper presents a proof of concept for a portable robotic glove produced by a 3D printer that is controlled by an image processing approach and that is capable...
In recent times, biomedical technology has received a major boost due to advancements in electronics. Sophisticated surgical instruments and patient monitoring devices have not only eased the burden on the doctors shoulders but have also taken patient care to a whole new level. However, the field of dentistry is yet to experience a major surge of technological innovation particularly when it comes...
This paper describes the initial steps in the development of an object detection system for manipulation purposes, to be embedded in a mobile robot. The goal is to design a robotic system to aid workers in a manufacturing plant. The proposed implementation involves the integration of a Field Programmable Gate Array (FPGA) based electronic module with the manipulator arm of the robotic platform. The...
This paper describes the development of a FPGA-based object detection algorithm for manipulation purposes in a mobile robot. The target application is a robotic system which aids workers in a manufacturing plant. The whole system is provided with a camera which captures images of the objects that can be found in the environment. The FPGA extracts the most useful data from these images and performs...
This paper presents the application of an 8-bit Field Programmable Gate Array (FPGA) implementation of a Discrete Time Cellular Neural Network (DTCNN) suitable for small image gray-scale pre-processing (simple operations with high computational burden). It uses Split & Shift techniques to have a 12 ?? 12 grid. Reduced grid is necessary because of windowing process is added to process bigger images...
This paper gives a hardware-efficient algorithm and VLSI architecture for finding a path for a robot on an environment image. The algorithm constructs a distance map to identify the collision-free region for a given robot and then finds a path on the region. The path obtained from a start to a goal is the shortest path in terms of the number of steps. The time-critical part of the algorithm is mapped...
During the Spring 2008 semester at Olin College, we introduced the programming language occam-pi to undergraduates as part of their first course in robotics. Students were able to explore image processing and autonomous behavioral control in a parallel programming language on a small mobile robotics platform with just two weeks of tutorial instruction. Our experiences to date suggest that the language...
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