- 标题
- 摘要
- 关键词
- 实验方案
- 产品
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[IEEE 2017 4th International Conference on Opto-Electronics and Applied Optics (Optronix) - Kolkata (2017.11.2-2017.11.3)] 2017 4th International Conference on Opto-Electronics and Applied Optics (Optronix) - A noble approach to light the path trail using swarm technology
摘要： Swarm intelligence (Intro SI) is the collective behaviour of decentralized, self-organized systems, natural or artificial. It is many minds working together. It is the first step in allowing people to pool their knowledge and insights into a single elevated intelligence. The objective is to light on a path trail by the leading robot, so that the rest of the robots could follow the trail to work as a unified system, thereby reducing time and manpower.
关键词： adaptive path exploration,swarm intelligence,Robot sensing systems,cognitive map generation,neighbouring robots,path trail information
更新于2025-09-23 15:23:52
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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
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An approach integrating planning and image-based visual servo control for road following and moving obstacles avoidance
摘要： This paper proposes an approach that integrates planning and image based visual servo control for road following and moving obstacle avoidance. One main objective of this article is to represent a robot’s general plan or strategy in the form of a finite state machine or automaton. This automaton is designed previously to execution of the plan and then it is used for any instance of the robot’s task. The visual servo control is used to regulate the robot’s velocity according to the visual target (task specification) which depends on the state in the automaton. All the algorithms and control laws have been implemented and simulation results and experiments with a real scale-size car-like robot are presented and discussed.
关键词： obstacles avoidance,car-like robot,visual servo control,road following,Automaton,planning
更新于2025-09-23 15:23:52
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[IEEE 2018 International Conference on Machine Learning and Cybernetics (ICMLC) - Chengdu (2018.7.15-2018.7.18)] 2018 International Conference on Machine Learning and Cybernetics (ICMLC) - Object Grabbing With A Five-Finger Robot Hand Using Two-Camera Vision
摘要： This paper discusses the problem of visual-based object grabbing using a five-finger robotic hand connected to a 4-DoF manipulator on an intelligent mobile robot. The CamShift algorithm is used to analyze the dynamic vision acquired by a pair of stereo cameras in three-dimension space. Afterwards, inverse and forward kinematics of manipulator and fingers are performed to drive the robot hand to appropriate position and grab a cup. In addition, a coordinate estimation correction method was proposed to improve the accuracy of the calculated position. The proposed method is validated in several experiments.
关键词： Object grabbing,Coordinate estimation correction,Five-finger robot hand,CamShift algorithm,Inverse and forward kinematics
更新于2025-09-23 15:23:52
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[ACM Press the 2nd International Conference - Las Vegas, NV, USA (2018.08.27-2018.08.29)] Proceedings of the 2nd International Conference on Vision, Image and Signal Processing - ICVISP 2018 - Artificial Intelligence in Simple Command
摘要： Artificial intelligence is not far method from our everyday lives. In Indonesia, artificial intelligence is still used from complex until simple command and for this paper we would like to give analytical review for Miposaur robot product in Indonesia. To analyze its artificial intelligence, this paper is using the basic definition of artificial intelligence from Leon [7], Banerjee, and Allen [2]. In Indonesia, we have Sistem Pertahanan Republik Indonesia (Sishanneg/ Indonesian National Defense System) that clearly puts artificial intelligence as one of tools to gain fully Indonesian purpose, mandated in 1945 Indonesian Constutional Law. Hereby the government has budget and satuan kerja/ work unit to support the using of artificial intelligence, both in military or non-military and we are still ongoing to gain the perfect regulation to manage the existence of AI.
关键词： robot,Miposaur,Indonesia,Artificial intelligence,Modernism,Sishanneg,Human,AI
更新于2025-09-23 15:23:52
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Ant Colony Optimization and image model-based robot manipulator system for pick-and-place tasks
摘要： A visual servo control system combines with the model-based image segmentation and an Ant Colony Optimization (ACO) algorithm to design an excellent six-Degree-of-Freedom (6-DOF) robot manipulator for solving the complicated combinations of pick-and-place tasks. A simple but efficient vision-based segmentation methodology is developed to extract the object information by getting appropriate feature of the controlled platform when the robot is tracking the manipulated image patterns. The evolutionary ACO learning algorithm explores the near-optimal path selections to drive the 6 DOF robot arm kinematics model for completing the Pick-and-Place tasks as soon as possible. Inverse orientation kinematic machine is proposed to successfully guide the robot manipulator into the desired position. Several software simulations include image segmentations, the shortest path selection, and the performance validation in various experiments. These results are described and presented to demonstrate that the designed image model-based robot manipulator wins the excellent Pick-and-Place task. Not only the software simulation, the practical robot synchronously performed in real-world to reach the higher feasible functions in the eye-to-hand experiments.
关键词： image segmentation,pick-and-place task,Ant Colony Optimization,eye-to-hand,Robot manipulator
更新于2025-09-23 15:23:52
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[IEEE 2017 Ninth International Conference on Advances in Pattern Recognition (ICAPR) - Bangalore, India (2017.12.27-2017.12.30)] 2017 Ninth International Conference on Advances in Pattern Recognition (ICAPR) - A Novel Hybrid Brain-Computer Interface for Robot Arm manipulation using Visual Evoked Potential
摘要： This paper attempts to solve a major problem of rigorous subject training in BCI based robotics. A hybrid Brain computer interface has been established here to mentally guide a robot arm without any motor commands generated in mind. Spontaneous N200 response of human brain as a part of motion onset visual evoked potential (mVEP) is used here to detect the desired object in the environment and use of Steady state visual evoked potential (SSVEP) provides the guidance to a bedside robotic arm to reach that target object. Electroencephalographic response of ten such subjects has been used here to evaluate the efficacy of the proposed system. Recorded EEG response goes through a sequential operation of preprocessing, feature extraction and classification. For detecting N200 response of the brain, a novel EKF-Particle filter induced Neural Network classifier is also proposed which essentially outperforms the other existing classifier for N200 detection. Performance analysis of other classifiers has been given here for comparison.
关键词： Particle Filter,BCI,Elman NN,Robot,EKF,EEG
更新于2025-09-23 15:23:52
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Experimental Research on Sensing Characteristics of Adhesive-encapsulated FBG under Alcohol-disinfection Environment
摘要： Fiber Bragg grating (FBG) has proven to be the most suitable sensing element for force feedback of surgical robots because of its special advantages such as small size and physical robustness. In current reports, researchers packaged FBGs in surgical instrument by attaching them to external surface or embedding into shaft grooves by using adhesive because its good liquidity and operability compared with other packaging methods such as metal package and glass solder package, and the adhesive is often without covering because strict space requirement of tiny surgical instruments. However, due to the need of repeated disinfection, surgical instruments have to be exposed to chemical disinfectant excessively, which may leads to chronic corrosion of adhesive, and thus influences the sensing characteristics of the integrated FBGs. To address this concern, this paper investigates the sensing characteristics of adhesive-encapsulated FBG under disinfection environment. We simulated a common disinfection environment by using 75% alcohol, and three adhesive-encapsulated FBGs were soaked in it for long term. The sensing performances of FBGs have been tested periodically and the experimental results demonstrate that the FBGs are available with good sensing characteristics within the first 50 days. While after 50 days, the sensing performances of the three FBGs become worse gradually, and finally the adhesive layers of the three FBGs completely detached from the specimen in the 75th day, 80th day and 95th day, respectively. We hope the investigation could provide valuable reference for better application of FBG in force feedback of surgical robots.
关键词： Fiber Bragg grating (FBG),robot sensing,force feedback,alcohol-disinfection environment,surgical robot
更新于2025-09-23 15:22:29
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[IEEE 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) - Stuttgart, Germany (2018.11.20-2018.11.22)] 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) - Camera based path planning for low quantity - high variant manufacturing with industrial robots
摘要： The acquisition costs for industrial robots have been steadily decreasing in past years. Nevertheless, they still face significant drawbacks in the required effort for the preparation of complex robot tasks which causes these systems to be rarely present so far in small and medium-sized enterprises (SME) that focus mainly on small volume, high variant manufacturing. In this paper, we propose a camera-based path planning framework that allows the fast preparation and execution of robot tasks in dynamic environments which leads to less planning overhead, fast program generation and reduced cost and hence overcomes the major impediments for the usage of industrial robots for automation in SMEs with focus on low volume and high variant manufacturing. The framework resolves existing problems in different steps. The exact position and orientation of the workpiece are determined from a 3D environment model scanned by an optical sensor. The so retrieved information is used to plan a collision-free path that meets the boundary conditions of the specific robot task. Experiments show the potential and effectiveness of the framework presented here by evaluating a case study.
关键词： high variant,low volume,Industrial robot,SME,Automatic robot programming,matching,machine vision,path planning
更新于2025-09-23 15:22:29
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[IEEE 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) - Singapore, Singapore (2018.11.18-2018.11.21)] 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) - Bi-Manual Articulated Robot Teleoperation using an External RGB-D Range Sensor
摘要： In this paper, we present an implementation of a bi-manual teleoperation system, controlled by a human through three-dimensional (3D) skeleton extraction. The input data is given from a cheap RGB-D range sensor, such as the ASUS Xtion PRO. To achieve this, we have implemented a 3D version of the impressive OpenPose package, which was recently developed. The first stage of our method contains the execution of the OpenPose Convolutional Neural Network (CNN), using a sequence of RGB images as input. The extracted human skeleton pose localisation in two-dimensions (2D) is followed by the mapping of the extracted joint location estimations into their 3D pose in the camera frame. The output of this process is then used as input to drive the end-pose of the robotic hands relative to the human hand movements, through a whole-body inverse kinematics process in the Cartesian space. Finally, we implement the method as a ROS wrapper package and we test it on the centaur-like CENTAURO robot. Our demonstrated task is of a box and lever manipulation in real-time, as a result of a human task demonstration.
关键词： bi-manual robot,teleoperation,skeleton extraction,CENTAURO robot,OpenPose,inverse kinematics,RGB-D sensor
更新于2025-09-23 15:22:29