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A robotic liquid handling system is developed for dispensing highly viscous reagent with nanoliter volumes. The robot in question is of immediate need in protein crystallization research and in electronics packaging field. In this paper, the system structure is introduced which mainly consists of three modules: motion control module, dispense control module and droplet volume measure module. Highly...
Laser sensor based 3D measurement system has been actively studied because of the simple sensor structure, high precision and fast data acquisition. However, conventional laser sensor based 3D measurement system has limited measurement area and light interference error which decreases the measurement accuracy. Besides, line data includes the information of uninteresting area and it leads to time consuming...
This paper proposes robust localization method using a free-space observation model with a 3D map for a particle filter. The free-space observation model judges whether the free space of a laser beam of a sensor is appropriate. The observation model realizes highly robust localization in outdoor environments with many unknown obstacles. This paper describes the free-space observation model and the...
Kitting processes are fundamental enablers in flexible manufacturing environments derived from minomi principles. A typical kitting application will sort loose and unpacked parts without dunnage into a tray or “kit” and then place them near the point of assembly for easy reach by assembly workers. In order to prepare, sort and sequence the kits, it is necessary to have adaptable robots and automation...
The authors are researching about Three dimensional mapping using mobile robot and 3-D laser scanner. We developed 3-D laser scanner which can measure whole 3-D shape with a combination of 2-D laser scanner and Pan-Tilt base. However, measuring surrounding areas using the scanner on mobile robot, there are some areas where can't measure whole 3-D shape caused by overview camera and wireless LAN's...
A sound source search strategy composed of robot hearing and vision is proposed. Search strategy is designed on the basis of multi-blackboard model; multi-blackboard system is composed of sound source searching blackboard and sound source confirming blackboard, control mechanism can coordinate the work to realize sound source search task. The system was tested in room environment, experiment results...
Novelty detection would be a useful ability for any autonomous robot that seeks to categorize a new environment or notice unexpected changes in its present one. A biomimetic robot (SCRATCHbot) inspired by the rat whisker system was here used to examine the performance of a novelty detection algorithm based on a “naive” implementation of Bayes rule. Naive Bayes algorithms are known to be both efficient...
The authors have been developing an outdoor mobile robot intended to provide increased traveling distance by autonomously negotiating and crossing a road crossing intersection while traveling along pedestrian sidewalks in an urban environment. In this paper, high precision navigation towards a pedestrian push-button box by a mobile robot for the autonomous activation of the button is presented. We...
Attention operators based on 2D image cues (such as color, texture) are well known and discussed extensively in the vision literature but are not ideally suited for robotic applications. In such contexts it is the 3D structure of scene elements that makes them interesting or not. We show how a bottom-up exploration mechanism that selects spaces of interest (SOIs) based on scene elements that pop out...
Feature extraction is the key issue in a recognition system. Principal Component Analysis (PCA) is one of the most widely used feature extraction algorithms. But it is inadequate for this linear method to describe real images which contain complex nonlinear variations, such as illumination, distortion and so on. In this paper, an efficient object recognition method based on distance Kernel PCA (KPCA)...
In order to be accepted by the clinical and technical community, a new medical tool needs a long duration of testing and validation period. Whereas animal trials are the current standard for evaluating new technologies just before experimenting on human, they are costly in terms of both money and time. For the early stages of a novel technological tool or an approach, the use of a cost-effective and...
In the three-dimensional reconstruction process of skull parts, exacting the light stripe centerline is very important while using structured light technique to obtain information on the skull surface. As for more than one light stripe in the image, this paper presents a method based on gradient barycenter method. First, the image is cutted, color separation and median filtering, then determining...
Polishing is a highly skilled manufacturing process with a lot of constraint and interaction with environment. Unfortunately, manual polishing process takes time consuming of the total manufacturing time and takes a significant cost. On top of that, undesired working condition exists due to dust and noise and next it is quite difficult to find skilled technicians. Therefore, it is necessary to develop...
We have developed image analysis methods to analyse the morphology of the budding yeast (Saccharomyces cerevisiae) cell. Experiments were performed on four deletant strains: ΔYLR371w, ΔYDR349c, ΔYLR192c, and ΔYDR414c. Our results show that our image analysis software provides an efficient way to automatically obtain quantitative morphology features of yeast cells. Our research show significant differences...
This paper describes a large-scale experimental study, in which a humanoid robot learned to press and detect doorbell buttons autonomously. The models for action selection and visual detection were grounded in the robot's sensorimotor experience and learned without human intervention. Experiments were performed with seven doorbell buttons, which provided auditory feedback when pressed. The robot learned...
In this paper, a target localization method based on color recognition and connected component analysis is presented. The raw image is converted to HSI color space through a lookup table, followed by a line-by-line scan to find all the connected domains. By checking the size of each domain, most pseudo targets can be omitted and, meanwhile, the target position would be calculated. Owing to the absence...
This paper describes a pedestrian detection method using a LRF and a small omni-view camera. In outdoor environment, the resolutions of LRFs are too low to recognize human reliably, and high resolution image requires high calculation cost for detecting walking persons. We propose a combination approach using these data. Particle filter based tracking and HOG (Histogram of Oriented Gradients) feature...
Real-time and accurate image matching is a key to stereo vision of agricultural harvesting robots. This research is part of a pineapple harvesting robot project. In this paper, pineapples were selected as research objects and low cost binocular vision platform was constructed, fruit area of left image was got by real-time image acquisition and rapid segmentation, rapid matching of fruit area in left...
We propose a visual recognition system for robotic applications in which distance to the visual objects can change a lot (for instance, trying to recognize a distant object learned from a short distance). Our system takes advantage of a single pan-tilt camera controllable in zoom and focus. Focus control allows to detect plans of sharpness in the scene and indirectly to compute a distance. Hence,...
Depth computation in robotics is an important step towards providing robust and accurate navigation capabilities to a mobile robot. In this paper we examine the problem of depth estimation with the view to be used in parsimonious systems where fast and accurate measurements are critical. For this purpose we have combined two methods, namely optical flow and least squares in order to infer depth estimates...
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