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The 40th anniversary of Apollo 11 project with man landing on the moon reminds the world again by what science and engineering can do if the man is determined to do. However, a huge step can only be achieved step by step which may be relatively small at the beginning. Robotic exploration can provide necessary information needed to do the further step safely, with less cost, more conveniently. Trajectory...
The demand for unattended aerial systems capable of fulfilling e.g. surveillance tasks in contaminated or inaccessible areas without any assistance of a human pilot is the motivation for the investigation of a 3D trajectory control. Hence, this paper deals with the development of such a control algorithm able to follow any kind of 3D trajectory within the quadrocopter's capabilities. In this paper...
We deal with the problem of teaching a robot to manipulate everyday objects through human demonstration. We first design a task descriptor which encapsulates important elements of a task. The design originates from observations that manipulations involved in many everyday object tasks can be considered as a series of sequential rotations and translations, which we call manipulation primitives. We...
The article proposes a new feedback control model which is suited for path following in a 3 Dimensional Cartesian space. Differently from other methods in literature, the method proposed neither requires to compute a projection of the robot's position on the path, nor it needs considering a moving virtual target. In spite of this: i) it guarantees asymptotic stability for every 3D curve which can...
Environmental change is a growing international concern, calling for the regular monitoring, studying and preserving of detailed information about the evolution of underwater ecosystems. For example, fragile coral reefs are exposed to various sources of hazards and potential destruction, and need close observation. Computer vision offers promising technologies to build 3D models of an environment...
The trajectories of walking humans can be divided into two major classes: first, nonholonomic trajectories during which the orientation of the human body and the one of the motion are aligned (e.g., straight walking), and second, holonomic ones during which lateral velocities are observed (e.g., side-steps). The major contribution of this work is a general locomotion synthesis method for digital actors...
This paper presents an endovascular navigation of a ferromagnetic microdevice using a MRI-based predictive control. The concept was studied for future development of microrobot designed to perform minimally invasive interventions in remote sites accessible through the human cardiovascular system. A system software architecture is presented illustrating the different software modules to allow 3D navigation...
Many face biometrics systems use controlled environments where subjects are viewed directly facing the camera. This is less likely to occur in surveillance environments, so a process is required to handle the pose variation of the human head, change in illumination, and low frame rate of input image sequences. This has been achieved using scale invariant features and 3D models to determine the pose...
Bevel-tip steerable needles for minimally invasive medical procedures can be used to reach clinical targets that are behind sensitive or impenetrable areas and are inaccessible to straight, rigid needles. We present a fast algorithm that can compute motion plans for steerable needles to reach targets in complex, 3D environments with obstacles at interactive rates. The fast computation makes this method...
It is well known that Tuy's inversion formula is not generally implemented in practice. Recently, based on approximate inverse where reconstruction kernels are precomputed independently, a fast inversion algorithm has been derived from the 3D inverse Radon transform with the classical single-circular trajectory. In this paper, based on the relationship between Tuy's formula and the 3D inverse Radon...
This paper presents an application of using geo-data from Lidar and GPS/IMU to detect overpasses. Three characteristics make it a good example of processing large point sets in real-time: a stream paradigm that exploits system parallelism and memory-access coherence, a multi-level detection strategy that distributes computational burden across different operations, and a multi-resolution data structure...
People consistent labeling across multiple cameras in the scene with multiple planes ground is a challenging task. We propose a simple but effective method to cope with it. In our method, camera calibration is not needed, the scene is not constrained to a planar ground and the cameras can be set at any oblique angles. The homography induced by the plane at a certain height parallel to the lowest groune...
Automated 3D modeling of building interiors is useful in applications such as virtual reality and entertainment. Using a human-operated backpack system equipped with 2D laser scanners and inertial measurement units (IMU), we develop scan matching based algorithms to localize the backpack in complex indoor environments such as a T-shaped corridor intersection, a staircase, and two indoor hallways from...
This paper presents the design of a semiautomated football table. One side of the table is equipped with automated rods, whereas the other side has regular rods. With this setup one or two human players can play against a computer controlled adversary. The paper describes the design and integration of a suitable hardware setup with vision based control algorithms that control the automated rods to...
This paper presents a new combination of algorithms to allow coordinated movement of groups of autonomous systems in formation. A key feature of the work we will present here is a number of specific sets of fuzzy algorithms that, in combination, allow a movement in formation in 3D environments simply based on sensor inputs in a purely reactive manner. This approach is combined with a global optimization...
This paper deals with 3D cooperative path planning of Unmanned Aerial Vehicles (UAVs) in a static environment with known stationary obstacles. Differential geometry techniques based on Pythagorean Hodographs (PH) are adapted to plan cooperatively the paths of UAVs and avoid collisions. UAV paths are first generated using PH curves assuming obstacles free environment. Then, these paths are made flyable...
In the paper, the globally exponential synchronization of a new 3D chaotic systems are investigated. Based on some inequalities techniques, linear feedback controls both with one input and one state or two states and with two inputs and one state or two states are proposed to realize the globally exponential synchronization of two identical chaotic systems. Some sufficient conditions for the globally...
Path planning problem is one of core contents of UAV technology. This paper presents an improved heuristic algorithm to solve 3D path planning problem. In this study the path planning model is built based on digital map firstly, and then the virtual terrain is introduced to eliminate a significant amount of search space, from 3-Dimensions to 2-Dimensions. Subsequently the improved heuristic A* algorithm...
Motion recognition via trajectory is important in motion analysis for many robotic tasks. A descriptor for motion trajectories plays an important role in the recognition algorithm. Existing invariant descriptors and discrete matching algorithms are not flexible enough under certain circumstances for recognition. In this paper we propose a new descriptor to solve this problem, with a modified data...
The retrofitted electro-hydraulic system for hydraulic robotic excavator was introduced. According to the principle and characteristic of LUDV system, the model of electro-hydraulic system was derived, simplified and verified by relative experiment. Trajectory controller prototype was designed based on incremental theory of trajectory controlling to verify the accuracy of the controlling. Trajectory...
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