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Aiming at the task of autonomous search and target capture for the intelligent vehicle, in this paper, the intelligent vehicle with a four-degree-of-freedom manipulator was taken as the research object. Firstly, the D-H (Denavit-Hartenberg Matrix) method is utilized to construct a model of the manipulator by MATLAB, and a method is given to calculate the analytical solution of the angle of manipulator...
In teleoperation of heavy machines, work efficiency will be 50% lower than manned operation because operators cannot obtain effective information about work sites due to the limitation of current monitoring systems. Operators would have opportunities to obtain such information before work (about a week required to introduce teleoperation systems) and during work. As a fundamental study to support...
Diminished reality (DR) is a technique to remove or inpaint real objects in a display. While DR is one of the active topics in the ISMAR community, a fair comparison between existing or emerging DR methods is difficult, that is, many methods rely on subjective evaluation that uses their own results to demonstrate their advantages. We, therefore, present a common dataset as a basis of the research...
The accuracy and stability are two fundamental concerns of the visual servoing control system. This paper presents an enhanced image based visual servoing (IBVS) method which can increase the accuracy of visual servoing with guaranteed stability. The proposed controller combines PD control with sliding mode control (SMC) for a 6DOF manipulator. Specifically, the main benefits of this approach lie...
High-accuracy remote position measurements are regarded in applications where different systems or components need to be placed in precise configurations. There are some cases in which it is impossible to define an absolute, precise reference frame and the application should rely only on relative measurements. In recent years, fiducial markers began to provide an interesting alternative to standard...
Digitisation of natural history collections not only preserves precious information about biological diversity, it also enables us to share, analyse, annotate and compare specimens to gain new insights. High-resolution, full-colour 3D capture of biological specimens yields color and geometry information complementary to other techniques (e.g., 2D capture, electron scanning and micro computed tomography)...
For a visual servo system, there usually exists the problem of time-delay likely caused by long image processing and data transmission. The visual servo system of our robot is subject to two main limitations stemming from the specific commercial mobile manipulator, of which one is the large time-delay due to image transmission, whereas the other is failure to directly command each joint velocity as...
This work proposes an approach for performing Human-Robot Cooperation (HRC) tasks by integrating a Brain Computer Interface (BCI) with a robotic manipulator. In detail, the user can select one among six different objects via BCI, which analyzes the P300 signals generated by the brain when the images of the selectable objects appear on the screen. Then, the selected object is recognized by a Support...
To retrieve the 3D coordinates of an object in the robot workspace is a fundamental capability for industrial and service applications. This can be achieved by means of a camera mounted on the robot end-effector only if the hand- eye transformation is known. The standard calibration process requires to view a calibration pattern, e.g. a checkerboard, from several different perspectives. This work...
In this paper, the main objective is to design a gain controller for a robot arm based on reinforcement learning methods. The controller is applied in image base visual servoing. The image feature error is used to form the state space. When the robot perceives a state by using a camera, the controller based on Q-Learning will output a control gain to the robot arm. Because Q-Learning does not have...
High risk of climbing coconut tree manually become the main reason to build coconut tree plucking robot, not only the abnormality of bone but also the risk of falling from the coconut tree. The coconut tree plucking robot is made with the hope for helping people to pluck coconuts at the coconut tree easily and safely. Coconut tree with its condition make the coconuts difficult to be detected using...
Security is one of the possible fields in human society in which robotics can be applied. Human guards usually perform a range of tasks in which a robot can provide help. A security company collaborated with us in the design and development of a robot that should serve in patrolling large indoor areas, interacting with humans, welcoming, providing information, and be a telepresence platform for the...
The control of robotic manipulators has received significant amount of attention in the control and robotics communities. In this paper, we investigate the kinematic control of a manipulator with an eye-in-hand camera, which is referred to as visual servoing. The visual servoing problem is formulated as a constrained optimization problem, which is then solved via a recurrent neural network. By this...
This paper proposes a robotic grasping system for automatically sorting garbage based on machine vision. This system achieves the identification and positioning of target objects in complex background before using manipulator to automatically grab the sorting objects. The object identification in complex background is the key problem that machine vision algorithm is trying to solve. This paper uses...
New Internet of Things open source technologies, middlewares, and programming languages, make the quick integration of devices, systems and cloud services easier than never before. With their utilization, complex tasks such as object detection, tracking and tracing, can be easily realized, even by embedded devices in a fraction of time. The interplay of highly heterogeneous IoT devices and open source...
Robotic systems offer the possibility of improving the life quality of people with severe motor disabilities, enhancing the individual's degree of independence and interaction with the external environment. In this direction, the operator's residual functions must be exploited for the control of the robot movements and the underlying dynamic interaction through intuitive and effective human-robot...
The singularity problem, which makes the robot arm in poor kinematic condition, is one of the problems to be considered in teleoperation system. Because the master device is controlled on the remote side, the user has to operate the master device depending on the camera screen that attached to the end-effector of the slave robot or fixed to the specific spot to monitor the working environment. It...
This paper describes the design of a remote control system for maintaining and repairing tasks in a nuclear power plant (NPP). As the remote target tasks, we set up a remote manipulation of the manual operation mechanism of the nuclear fuel changer of the heavy water NPP and remote pipe cutting/welding, which may be necessary in the case of an emergency or dismantling of the NPP. The system to be...
Sorting is a labor intense process. With machines that can recognize objects, it is possible to automate the sorting process. In this paper, we present a robotic sorting arm based on color recognition technique. In this system, when a new frame is captured by the camera, the object will be detected using color-base image processing technique. The position of the object in real-world will be calculated...
Low cost robotic solutions are of great importance for improvement and development of robotics. In this paper, two visually guided low cost robot arms are proposed. The proposed system performs automatic hand-eye calibration and, after the calibration, positions its end effector above the object of interest using visual servoing based on off the shelf marker tracker. The presented experiments demonstrate...
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