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In teleoperation systems, operator performance can be significantly degraded even from small time-delays in visual feedback. This paper evaluated quantitatively tele-manipulation performance under different time delays from 0 to 4 seconds while controlling from 2 to 6 robot arm DOF's in an object alignment task. In our user study 15 subjects teleoperate 1650 alignment motions. Performance is quantitatively...
(Semi-) autonomous complex UAV missions, such as inspection or search-and-rescue in uncertain dynamic environments, require obstacle avoidance and operator shared control. Combining humans' cognitive abilities with fast automation is the key for such missions. This paper presents a flight control system architecture based on the instantaneous Task Specification using Constraints (iTaSC) methodology...
In this paper, a method todetect environmental hazards related to a fall risk using a mobile vision system is proposed. First-person perspective videos are proposed to provide objective evidence on cause and circumstances of perturbedbalance during activities of daily living, targeted to seniors. A classification problem was defined with 17 total classes of potential fall risks, including slope changes...
Nowadays, the technological and scientific research related to underwater perception is focused in developing more cost-effective tools to support activities related with the inspection, search and rescue of wreckages and site exploration: devices with higher autonomy, endurance and capabilities. Currently, specific tasks are already carried out by remotely-operated vehicles (ROV) and autonomous underwater...
Stereo vision is an active research topic in computer vision. Point Grey® Bumblebee® and digital single-lens reflex camera (DSLR) are normally found in the stereo vision research, they are robust but expensive. Open source electronic prototyping platforms such as Arduino and Raspberry Pi are interesting products, which allows students or researchers to custom made inexpensive experimental equipment...
This paper proposes a simple image processing approach for detecting and tracking objects in the surrounding environment purporting to drive a portable exoskeleton for upper extremity rehabilitation. An experiment was carried out to test the feasibility of the proposed approach. The experiment was to mimic reaching an object placed on a ruler board in front of the user in the sagittal plane. Kinematical...
The article presents a way of visualizing point clouds created by 3D scanning in a coal mine. The first part focuses on the choice of individual algorithms for point cloud pre-processing (using the library PCL — Point Cloud Library), namely voxelization, outlier removing and smoothing. Then it is described the main rendering algorithm of the software — the chosen way of point rendering and some more...
This article describes algorithm which detects moving objects in video using the construction and analysis of a graph model. The comparison with the same method that is considered in the documentation for MATLAB is carried out. The efficiency and correctness of the algorithm is proved. Examination of the proposed solutions on test video image is done.
This paper presents the last developments towards vision-based target tracking by an AUV. The main concepts behind the visual relative localization are provided and the results from a statistical analysis for the relative localization algorithm are presented. The purpose of this analysis is to ensure properness of data used to feed controllers that are responsible for governing the AUV motion. A new...
In this paper, an offline flight planner that computes an efficient coverage trajectory for a quad-rotors UAV is presented. The planner consists of three steps: mission definition, automatic path planning and trajectory generation. The proposed planner, as a useful tool, allows an UAV operator to easily define and generate a coverage trajectory for any specific task. The resultant trajectory can be...
Localization plays a key role during autonomous operation of mobile robots in planetary exploration missions. It is a challenging task due to the uncertainty in the environment and limitations in communications. In this paper we discuss various technologies that can be considered for localization of robots in extraterrestrial environments and also analyze various methods that can be implemented using...
We are presenting PanoVC — a mobile telepresence system based on continuously updated panoramic images. We are showing that the experience of telepresence, i.e. the sense of "being there together" at a distant location can be achieved with standard state-of-the-art mobile phones. Because mobile phones are always on hand users can share their environments with others in a pervasive way. Our...
We describe a hopping science payload solution designed to exploit the Moon's lower gravity to leap up to 20m above the surface. The entire solar-powered robot is compact enough to fit within a 10cm cube, whilst providing unique observation and mission capabilities by creating imagery during the hop. The LunaRoo concept is a proposed payload to fly onboard a Google Lunar XPrize entry. Its compact...
It proposes a new detection system to detect handlebar appearance based on machine vision technology. This system is mainly composed of motor drive module, communication module, image processing module, operation control module, etc. System mainly uses image processing technology to process the information of detected object collected by camera in order to determine whether the detected object can...
This article deals with a problem of creating and managing medium to large scale software projects aimed at promoting research activities in the field of autonomous mobile robotic systems. We will demonstrate on an example of such systems how we identified critical parts of the project and how can be created simple but powerful software architecture suitable for complex management of all subsystems...
This paper describes the use of two dimensional (2-D) laser scanner for locating badminton shuttlecock in real playing environment. It proposes a method to predict the end point of shuttlecock trajectory. The system is designed using two 2-D laser scanners to locate shuttlecock in midst of air in its trajectory. It helps to calculate shuttlecock's speed, orientation and hence, to predict an end point...
This paper presents an experimentation with a vision based skill learning technique using Barrett WAM (a 7-DoF robot manipulator) and Microsoft's Kinect (a 3D sensor). This skill learning approach is based on Symbolic Encoding. Even though most of the imitation learning approaches focus on trajectory encoding, symbolic encoding offers a more concise representation of a skill which is easily transferable...
A visual based navigation for a free floating platform has been realized. The basic principle is the same as for the star trackers used in space operations for attitude determination, with the remarkable difference that also the position with respect to an inertial reference frame is evaluated. Both the working principles and the algorithms for increasing the robustness of the device will be reported...
The Virtual Space Robotics Test bed serves as a decision support system in various space mission scenarios mostly rendezvous and docking (RvD), planetary landing and exploration. It is used for the generation of virtual images which allow the test of camera systems that are not yet available as real hardware systems. It gives the engineer the opportunity to combine different optical systems e.g. Lenses...
Numerous work has been done in biologically inspired robotics emulating models, systems and elements of nature for the purpose of solving traditional robotics problems. Chromatic behaviours are abundant in nature across a variety of living species to achieve camouflage, signaling, and temperature regulation. The ability of these creatures to successfully blend in with their environment by changing...
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