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In this paper development, implementation and experimental validation of a grasp synthesis algorithm for an anthropomorphic robotic arm-hand system in a low dimensional posture subspace is proposed. The algorithm has been developed on the basis of the analysis of human hand postural synergies. Drawing inspiration from neuroscientific studies, a database of grasps has been created through the observation...
General intelligent robots in daily life environment must observe and model external world, understand users' instructions and intentions. In such situations, robots always face to ambiguity of information. Conventional approaches to solve the ambiguity were using common sense database/ontology, or asking users; however developers'/users' cost is too huge. In this paper, we propose an approach in...
During the workflow of the Intravenous Medication Preparation Robot (referred as IMP robot), there are some troublesome issues such as a wide variety of drugs, diverse bottle specifications, complex pharmaceutical preparation process, which make the robot system difficult to control. In this paper, an expert system based control system has been designed and implemented for the Intravenous Medication...
In this paper we present an algorithm for finding a distance optimal rendezvous location with respect to both initial and target locations of the mobile agents. These agents can be humans or robots, who need to meet and split while performing a collaborative task. Our aim is to embed the meeting process within a background activity such that the agents travel through the rendezvous location while...
The task of searching and grasping objects in cluttered scenes, typical of robotic applications in domestic environments requires fast object detection and segmentation. Attentional mechanisms provide a means to detect and prioritize processing of objects of interest. In this work, we combine a saliency operator based on symmetry with a segmentation method based on clustering locally planar surface...
Object recognition and manipulation are critical in enabling robots to interact with objects in a household environment. Construction of 3D object recognition databases is time and resource intensive, often requiring specialized equipment, and is therefore difficult to apply to robots in the field. We present a system for constructing object models for 3D object recognition and manipulation made possible...
When investigating the validity of the basis of estimate for mission phases, it is important to understand how the labor basis of estimate compares with historical missions. As such, it can be very valuable to understand the historical Full Time Equivalent (FTE) labor loading for different historical missions and how the final, actual staffing levels in FTE compared with the initially planned FTEs...
A rehabilitation database is a concept that utilizes the quantitative data acquired from rehabilitation robots. By applying database techniques to rehabilitation robot data, many applications will become possible. As one example, this paper discusses how to match rehabilitation data based on a dynamic programming method. It is to be anticipated that large amounts of data and long calculation times...
At present, some personal assistant systems have got new application with the promotion of instant messaging technology. In this study, we have developed a kind of personal assistant robot platform especially for students and employee to help to manage their learning, life and work better, in the fields of curriculum management, diary management, financing management and chatting system. We provide...
Pose estimation of object is one of the key problems for the automatic-grasping task of robotics. In this paper, we present a new vision-based robotic grasping system, which can not only recognize different objects but also estimate their poses by using a deep learning model, finally grasp them and move to a predefined destination. The deep learning model demonstrates strong power in learning hierarchical...
We present a system for real-time general object recognition (gor) for indoor robot in complex scenes. A point cloud image containing the object to be recognized from a Kinect sensor, for general object at will, must be extracted a point cloud model of the object with the Cluster Extraction method, and then we can compute the global features of the object model, making up the model database after...
Map matching is a fundamental task in many robot vision applications, including viewpoint localization, change detection, alignment, merging, segmentation of maps, and multi-robot mapping. Existing frameworks so far have concentrated on local feature-based approach, where discriminative local features are extracted from the maps and visual indexing and map database searched are performed to find correspondence...
Object Tracking is usually performed in the context of higher-level applications that require the location and/or shape of the object in every frame. Most works are focused on a specific application, such as tracking human, car, or pre-learned objects. All these require database and considerable amount of training time to detect the current object and to track it. In this paper we propose a method...
It is a very challenging problem to make robot vision autonomously identify and recognize objects in the real world, and the recent research in this field has been moving forward mostly through designing smart shape descriptors for providing better similarity measure. In this paper, we propose a novel shape descriptor called hierarchical representation to describe the object shape efficiently and...
Today, the web is all about the dynamic content; the information created whilst it is needed i.e. the resources are not readily available to the users. Then how it is possible that a web crawler finds a resource that is either protected by a session or hidden behind an authentication form? The query triggered to look-for the answers to the questions on web crawlers which are; what is a crawler? Why...
Map matching is a critical problem of robotic mapping and localization applications which has attracted broad interests in robot vision community. Despite its accuracy and efficiency, the popular RANSAC-based algorithm suffers from large memory requirements, which is proportional to number and size of the maps. In this paper, our goal is to realize fast succinct map matching by introducing a compact...
Many modern programs still use flat files to store application data because of their simplicity and portability. These files contain massive line-based records, on which common actions performed involve filtering, mapping and basic set operations. Rather than having each program to implement them on its own, we present REL, a structural query language that handles all these complexity behind and provides...
We address the problem of generating new compliant reaching movements by searching a structured database of example trajectories. The proposed control framework is a multi-step process, where in the first step a human tutor teaches the robot how to perform a set of example reaching movements. In the second step, the recorded motion trajectories are executed with different velocities using a high gain...
This paper points out the fact that object recognition methods are usually too complex for everyday life scenes. A robot helping humans in daily activities will need to recognize hundreds of different objects. In order to filter out unlikely models during recognition we propose the use of a cascade of simple visual descriptors. Our experiments use two global descriptors : spatial and color minimum...
Robots operating in real world environments need to find motion plans quickly. Robot motion should also be efficient and, when operating among people, predictable. Minimizing a cost function, e.g. path length, can produce short, reasonable paths. Anytime planners are ideal for this since they find an initial solution quickly and then improve solution quality as time permits. In previous work, we introduced...
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