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- 摘要
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- 实验方案
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Optical Fiber Sensor Performance Evaluation in Soft Polyimide Film with Different Thickness Ratios
摘要： To meet the application requirements of curvature measurement for soft biomedical robotics and flexible morphing wings of aircraft, the optical fiber Bragg grating (FBG) shape sensor for soft robots and flexible morphing wing was implemented. This optical FBG is embedded in polyimide film and then fixed in the body of a soft robot and morphing wing. However, a lack of analysis on the embedded depth of FBG sensors in polyimide film and its sensitivity greatly limits their application potential. Herein, the relationship between the embedded depth of the FBG sensor in polyimide film and its sensitivity and stability are investigated. The sensing principle and structural design of the FBG sensor embedded in polyimide film are introduced; the bending curvatures of the FBG sensor and its wavelength shift in polyimide film are studied; and the relationship between the sensitivity, stability, and embedded depth of these sensors are verified experimentally. The results showed that wavelength shift and curvature have a linear relationship. With the sensor’s curvature ranging from 0 m?1 to 30 m?1, their maximum sensitivity is 50.65 pm/m?1, and their minimum sensitivity is 1.96 pm/m?1. The designed FBG sensor embedded in polyimide films shows good consistency in repeated experiments for soft actuator and morphing wing measurement; the FBG sensing method therefore has potential for real applications in shape monitoring in the fields of soft robotics and the flexible morphing wings of aircraft.
关键词： polyimide film,sensitivity,micro curvature sensor,soft robotics sensor,embedded depth
更新于2025-11-28 14:24:03
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Simple Synthesis of Elastomeric Photomechanical Switches That Self-Heal
摘要： This article introduces a simple two-stage method to synthesize and program a photomechanical elastomer (PME) for light-driven artificial muscle-like actuations in soft robotics. First, photochromic azobenzene molecules are covalently attached to a polyurethane backbone via a two-part step-growth polymerization. Next, mechanical alignment is applied to induce anisotropic deformations in the PME-actuating films. Cross-linked through dynamic hydrogen bonds, the PMEs also possess autonomic self-healing properties without external energy input. This self-healing allows for a single alignment step of the PME film and subsequent “cut and paste” assembly for multi-axis actuation of a self-folded soft-robotic gripper from a single degree of freedom optical input.
关键词： stimuli-responsive,self-healing elastomers,soft robotics,photomechanical effects,actuators
更新于2025-09-23 15:23:52
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[ACM Press the 2018 ACM Symposium - Warsaw, Poland (2018.06.14-2018.06.17)] Proceedings of the 2018 ACM Symposium on Eye Tracking Research & Applications - ETRA '18 - A gaze-contingent intention decoding engine for human augmentation
摘要： Humans process high volumes of visual information to perform everyday tasks. In a reaching task, the brain estimates the distance and position of the object of interest, to reach for it. Having a grasp intention in mind, human eye-movements produce specific relevant patterns. Our Gaze-Contingent Intention Decoding Engine uses eye-movement data and gaze-point position to indicate the hidden intention. We detect the object of interest using deep convolution neural networks and estimate its position in a physical space using 3D gaze vectors. Then we trigger the possible actions from an action grammar database to perform an assistive movement of the robotic arm, improving action performance in physically disabled people. This document is a short report to accompany the Gaze-contingent Intention Decoding Engine demonstrator, providing details of the setup used and results obtained.
关键词： Eye hand interaction,Gaze-contingent systems,Assistive robotics,Eye-movements
更新于2025-09-23 15:23:52
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Ground based hyperspectral imaging for extensive mango yield estimation
摘要： Fruit yield estimation in orchard blocks is an important objective in the context of precision agriculture, as it makes it easier for the farmer to plan ahead and efficiently use resources. Nevertheless, its implementation is labour-intensive and involves the manual counting of the fruit present in the trees. While colour (RGB) has been widely shown to be successful and arguably sufficient for yield estimation in orchards, hyperspectral imaging (HSI) shows promise for more nuanced tasks such as disease detection, cultivar classification and fruit maturity estimation. Therefore, it is important to ask how appropriate is HSI for the task of yield estimation, with a view to performing all of these tasks with just one sensor. This paper presents a novel mango yield estimation pipeline using ground based line-scan HSI acquired from an unmanned ground vehicle. Hyperspectral images were collected on a commercial mango orchard block in December 2017 and pre-processed for illumination compensation. After tree delimitation and mango pixel identification, an optimisation process was carried out to obtain the best models for fruit counting, using mango counts obtained by manually counting the fruit on-tree, and using state-of-the-art RGB techniques for yield estimation. Models were validated and tested on hundreds of trees, and subsequently mapped. In testing, determination coefficients reached values of up to 0.75 against field counts (predicting 18 trees) and 0.83 against RGB mango counts (predicting 216 trees). These results suggest that line-scan HSI can be used to accurately estimate yield in orchards, especially in scenarios in which this technology is already chosen for the determination of other traits.
关键词： Field robotics,Computer vision,Lidar,Hyperspectral,Fruit counting
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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[IEEE 2018 International Flexible Electronics Technology Conference (IFETC) - Ottawa, ON, Canada (2018.8.7-2018.8.9)] 2018 International Flexible Electronics Technology Conference (IFETC) - Toward Growable Robot : Exploring and Integrating Flexible – Biological Matter with Electronics
摘要： The direction of recent research suggests the convergence of digital and biological systems, where researchers designed and engineered technology that share many of the aspects of living organisms. We explore a step towards 'growable robotics', a type of robotic system that has the ability to self-grow either a part of or its whole body into a functional shape with minimal help from the external system. We propose the application of microbial cellulose, as a biological exoskeleton of the electrical system with renewable, self-healing, and shape changing properties. We demonstrate the process of creating the growable robot by prototyping a simple rover inspired by NASA folded origami mechanisms. Finally, we analyze the potential applications based on the properties of the material and suggest the future directions in growable and biological augmented robotics.
关键词： cellulose,biodigital,growable,robotics,biological augmentation
更新于2025-09-23 15:23:52
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Context-Aware Depth and Pose Estimation for Bronchoscopic Navigation
摘要： Endobronchial intervention is increasingly used as a minimally invasive means of lung intervention. Vision-based localization approaches are often sensitive to image artifacts in bronchoscopic videos. In this paper, a robust navigation system based on a context-aware depth recovery approach for monocular video images is presented. To handle the artifacts, a conditional generative adversarial learning framework is proposed for reliable depth recovery. The accuracy of depth estimation and camera localization is validated on an in vivo dataset. Both quantitative and qualitative results demonstrate that the depth recovered with the proposed method preserves better structural information of airway lumens in the presence of image artifacts, and the improved camera localization accuracy demonstrates its clinical potential for bronchoscopic navigation.
关键词： Computer Vision for Medical Robotics,Deep Learning in Robotics and Automation,Visual-Based Navigation,Visual Learning
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) - A Soft Ring-shaped Actuator: FE Simulation and Motion Tracking
摘要： A soft ring-shaped actuator is inspired by the human stomach. This actuator can contract inward, mimicking the movements of the human stomach. It can benefit the research field of medical science and food engineering. In this paper, we investigate the deformation of such actuator employing finite-element simulation and motion tracking. Simulations are carried out to examine the influence of different pressure on the performance of the actuator. Motion tracking system is applied to track the mid-points on the deformed surface when the actuator is under pressurisation. The results show that the actuator can achieve axisymmetric contraction when inflated. The principal movements of mid-points are on the horizontal plane, whereas the change in the axial direction is negligible. This investigation can benefit the understanding of the profile of the deformed membrane and the construction of the mathematical modelling.
关键词： finite-element simulation,ring-shaped actuator,deformation,motion tracking,soft robotics
更新于2025-09-23 15:22:29
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Vision-based people detection using depth information for social robots
摘要： Robots are starting to be applied in areas which involve sharing space with humans. In particular, social robots and people will coexist closely because the former are intended to interact with the latter. In this context, it is crucial that robots are aware of the presence of people around them. Traditionally, people detection has been performed using a flow of two-dimensional images. However, in nature, animals’ sight perceives their surroundings using color and depth information. In this work, we present new people detectors that make use of the data provided by depth sensors and red-green-blue images to deal with the characteristics of human–robot interaction scenarios. These people detectors are based on previous works using two-dimensional images and existing people detectors from different areas. The disparity of the input and output data used by these types of algorithms usually complicates their integration into robot control architectures. We propose a common interface that can be used by any people detector, resulting in numerous advantages. Several people detectors using depth information and the common interface have been implemented and evaluated. The results show a great diversity among the different algorithms. Each one has a particular domain of use, which is reflected in the results. A clever combination of several algorithms appears as a promising solution to achieve a flexible, reliable people detector.
关键词： kinect,people detection,benchmarking,depth image processing,depth sensor,Social robotics,user detection,ROS
更新于2025-09-23 15:22:29
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[IEEE 2018 IEEE International Conference on Imaging Systems and Techniques (IST) - Krakow, Poland (2018.10.16-2018.10.18)] 2018 IEEE International Conference on Imaging Systems and Techniques (IST) - An RGB-D video-based wire detection tool to aid robotic arms during machine alignment measurement
摘要： Industrial equipment may require precise alignment of components in order to function properly. In this work, we consider the machine alignment of a beamline in a research facility where an autonomous measurement system is used to execute these machine alignment procedures. The system consists of two robotic arms equipped with laser sensors placed at their ends which with the help of fiducial markers, are used by a camera system to calculate the position of the machine with respect to a stretched wire installed on top of the machines. In this work we propose a wire detection tool that assists the measurement process by detecting the line automatically through RGB-D images. Although the system was implemented for the specific application of beam line component alignment in the LHC tunnel, the same principle can be used in various other applications requiring detection of fine lines at a close distance.
关键词： robotics,depth segmentation,image processing
更新于2025-09-23 15:22:29