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A common approach for developing robotic systems leverages separate simulation and control softwares. Although this approach requires minimal coordination and orchestration between softwares, the separation of simulation and control applications presents the designer with unnecessary challenges during development. This paper describes the Autonomous Robot Control and Simulation (ARCS) software, a...
The recognition of places by using visual information in underwater environments is important when performing autonomous robotic exploration of the same area at different periods of time. It helps the robot to know its location and take decisions accordingly. However, vision-based recognition of underwater places can be a very challenging task due to the inherent properties of this kind of places...
A big challenge in the precision agriculture is the detection of fruits in coffee crops on agricultural environments. This paper presents a comparison of four features set to detect the red fruits (mature) in Coffee plants. An Unmanned Aerial Vehicle (UAV) is used to obtain high-resolution RGB images of a coffee hall. The proposed methodology enables the extraction of visual features from image regions...
The human visual system employs an information selection mechanism, visual attention, so that higher-level cognitive processes can be restricted to a potentially important subset of the incoming information. This mechanism is amenable to efficient computational implementation and, consequently, it has been incorporated into many technological applications. Among these applications is autonomous mobile...
Vision is a potent source of information, not just for humans, but for robots as well. Processing visual information is a computationally expensive task, one that is often difficult to accomplish in real-time on embedded hardware. In the broad field of visual research exists egomotion estimation, the process of determining self-motion from optical flow. Here we show a technological adaptation and...
The reports from last years outline the fact that the web crawlers (robots, bots) activities generate more than a half of web traffic on Internet. Web robots can be good (used for example by search engines) or bad (for bypassing security solutions, scraping, spamming or hacking), but usually all take up the internet bandwidth and can cause damage to businesses that rely on web traffic or content....
This paper proposes a method for visual pose stabilization of Fotokite, a tethered small unmanned aerial system, using a forward facing monocular camera. Conventionally, Fotokite stabilizes itself only relative to its tether and not relative to the global frame. It is, therefore, susceptible to environmental disturbances (especially wind) or motion of its ground station. Related work proposed visual...
Autism and Autism Spectrum Disorders (ASD) are general terms for a group of complex disorders of brain development. Autistic children exhibit certain characteristics in varying degrees including difficulties in verbal/non-verbal communication, social interaction and repetitive behaviors. This paper discusses the role of Virtual Learning Environments (VLEs) in helping autistic children learn science...
This study present an intervention combining an electroencephalography-based brain computer interface with a hybrid robotic system for the modulation of the cortical excitability (plasticity). Plasticity is intended to be elicited through the association of the voluntary motor-related cortical processes with the hybrid assistance during the execution of reaching movement. The cortical excitability...
The process through which children learn about the world and develop perceptual, cognitive and motor skills relies heavily on object exploration in their physical world. New types of assistive technology that enable children with impairments to interact with their environment have emerged in recent years, and they could be beneficial for children's cognitive and perceptual skills development. Many...
Master-slave surgical robots have been studied and developed to support surgeons. Robotic functions such as motion scaling and hand shaking correction can extend the ability of surgeons. However, some problems are remaining in robotic surgery. Operation time which can become the burden to surgeons is still long. Surgeons must assess the situation, decide the next task correctly, and achieve tasks...
In this paper, an obstacle avoidance strategy using monocular gray-scale robotic vision for turbid water environments is presented. Biologically inspired by the unique vision system of the cubozoan, or box jellyfish, the proposed obstacle avoidance techniques were designed to be as computationally inexpensive as possible for implementation in a compact autonomous underwater vehicle with on-board processing...
Recent statistics show that more than 10 million people in the world suffer amputation. Most of these people also have depression because of losing their hand, arm and leg movements. With current technology it is possible to give these people hands, arms and legs. Our aim is to give these people a chance to live. In this study we have designed a robotic hand in order to grasp objects. Grid based feature...
Hilbert Transform (HT) and Multi Wavelet Transform (MWT) has been used to recognize the same frequency harmonics that occur in the brain with the Steady State Visual Evoked Potentials(SSVEP). In this study, harmonics of certain frequencies in brain are used which are detected by SSVEP and visual stimulus potentials to be used in Robot Arm Control. This stimulus has been made using shapes of box that...
Map retrieval, the problem of similarity search over a large collection of 2D pointset maps previously built by mobile robots, is crucial for autonomous navigation in indoor and outdoor environments. Bag-of-words (BoW) methods constitute a popular approach to map retrieval; however, these methods have extremely limited descriptive ability because they ignore the spatial layout information of the local...
This paper presents the performance analysis of visual feedback leader-following pose synchronization, where the leader motion is supposed to contain stochastic factors. Then, the problem is reformulated in stochastic system form and stochastic stability analyses are provided. Here, time evolution of the control error system produced by the present visual feedback control is given by stochastic differential...
This paper presents a novel method using accelerated KAZE (AKAZE) and Gist for a context-based semantic classification and recognition of indoor scenes used for a vision-based mobile robot. Our method represents spatial relations among categories for mapping neighborhood units on category maps using counter propagation networks (CPNs) while maintaining sequential information of labels generated from...
Mass casualty events caused by a biological weapon require fully capable first response teams. However, human first responders are equipped with protective gear, which limits their capabilities to complete tasks. Robots can be employed to work collaboratively with the first responders in order to augment the human's reduced abilities. The robot needs to understand and adapt to the human's workload...
We learn models to generate the immediate future in video. This problem has two main challenges. Firstly, since the future is uncertain, models should be multi-modal, which can be difficult to learn. Secondly, since the future is similar to the past, models store low-level details, which complicates learning of high-level semantics. We propose a framework to tackle both of these challenges. We present...
Localizing functional regions of objects or affordances is an important aspect of scene understanding and relevant for many robotics applications. In this work, we introduce a pixel-wise annotated affordance dataset of 3090 images containing 9916 object instances. Since parts of an object can have multiple affordances, we address this by a convolutional neural network for multilabel affordance segmentation...
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