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oe1(光电查) - 科学论文

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?? 中文（中国） ▾

  • New approach to enhancing the performance of cloud-based vision system of mobile robots

    摘要： Mobile robots require real-time performance, high computation power, and a shared computing environment. Although cloud computing offers computation power, it may adversely affect real-time performance owing to network lag. The main objective of this study is to allow a mobile robot vision system to reliably achieve real-time constraints using cloud computing. A human cloud mobile robot architecture is proposed as well as a data flow mechanism organized on both the mobile robot and the cloud server sides. Two algorithms are proposed: (i) A real-time image clustering algorithm, applied on the mobile robot side, and (ii) A modified growing neural gas algorithm, applied on the cloud server side. The experimental results demonstrate that there is a 25% to 45% enhancement in the total response time, depending on the communication bandwidth and image resolution. Moreover, better performance in terms of data size, path planning time, and accuracy is demonstrated over other state-of-the-art techniques.

    关键词： Computation offloading,Computer vision,3D point cloud,Mobile robot,Stereo vision,Real-time networking,Cloud computing,Cloud robotics

    更新于2025-09-23 15:23:52

  • Solar/Photovoltaic dc Systems: Basics and Safety

    摘要： This paper presents the framework established to facilitate cloud-hosted robot simulation. The framework addresses the challenges associated with conducting a task-oriented and real-time robot competition, the Defense Advanced Research Projects Agency (DARPA) Virtual Robotics Challenge (VRC), designed to mimic reality. The core of the framework is the Gazebo simulator, a platform to simulate robots, objects, and environments, as well as the enhancements made for the VRC to maintain a high fidelity simulation using a high degree of freedom and multisensor robot. The other major component used is the CloudSim tool, designed to enhance the automation of robotics simulation using existing cloud technologies. The results from the VRC and a discussion are also detailed in this work.

    关键词： real-time robot simulation,Cloud robotics,robotic disaster response

    更新于2025-09-23 15:19:57