2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)最新文献_第4页

Uncalibrated fixed-camera visual servoing of robot manipulators by considering the motor dynamics 考虑电机动力学的机械臂无标定固定摄像机视觉伺服

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) Pub Date : 2012-11-12 DOI: 10.1109/MFI.2012.6343058

Xinwu Liang, Hesheng Wang, Weidong Chen

{"title":"Uncalibrated fixed-camera visual servoing of robot manipulators by considering the motor dynamics","authors":"Xinwu Liang, Hesheng Wang, Weidong Chen","doi":"10.1109/MFI.2012.6343058","DOIUrl":"https://doi.org/10.1109/MFI.2012.6343058","url":null,"abstract":"In this paper, the uncalibrated visual servoing problem of robot manipulators with motor dynamics will be addressed for the fixed-camera configuration. A new adaptive image-space visual servoing strategy is presented to handle uncertainties in the camera intrinsic and extrinsic parameters, robot kinematic and dynamic parameters, and motor dynamic parameters. To deal with the nonlinear dependence of image Jacobian matrix on the unknown parameters, the proposed scheme is developed based on the concept of depth-independent interaction matrix. In this way, the camera parameters and the robot kinematic parameters in the closed-loop dynamics can be linearly parameterized such that adaptive laws can be designed to estimate them on-line. Adaptive algorithms are also developed to provide estimation of unknown robot dynamic and motor dynamic parameters. Stability analysis will be performed to show asymptotic convergence of image errors using Lyapunov theory based on both rigid-link robot dynamics and full motor dynamics. Simulation results based on a two-link planar robot manipulators will be given to illustrate the performance of the proposed scheme.","PeriodicalId":103145,"journal":{"name":"2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124737926","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Heterogeneous feature based correspondence estimation 基于异构特征的对应估计

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) Pub Date : 2012-11-12 DOI: 10.1109/MFI.2012.6343042

L. Tamás, A. Majdik

引用次数: 4

Development of a fuzzy inclusion measure for investigating relations between visual and tactile perception of textile products 研究纺织产品视觉与触觉关系的模糊包含度量

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) Pub Date : 2012-11-12 DOI: 10.1109/MFI.2012.6342995

Z. Xue, Xianyi Zeng, L. Koehl, Yan Chen

{"title":"Development of a fuzzy inclusion measure for investigating relations between visual and tactile perception of textile products","authors":"Z. Xue, Xianyi Zeng, L. Koehl, Yan Chen","doi":"10.1109/MFI.2012.6342995","DOIUrl":"https://doi.org/10.1109/MFI.2012.6342995","url":null,"abstract":"In our daily life, much information related to tactile properties of natural objects can also be perceived by our eyes. This is because our brain has a very sophisticated mechanism permitting to associate the memories obtained from different sensory channels and make them work as a whole. In the present study, given a set of representative textile fabrics, a number of standardized sensory experiments were carried out by a panel of trained textile experts under the real-touch, video and image conditions, respectively. A novel algorithm based on the rough sets theory and the fuzzy sets theory was proposed in order to investigate from the evaluation data the extent to which the tactile properties of a fabric can be interpreted through specific visual representations of the corresponding apparel product. The obtained results confirm that most of the tactile information can be perceived correctly by the assessors through either the video or image displays, while a better performance is detected in the video scenarios. Finally, upon the analysis results, some significant suggestions were put forward to modify the available visual displays, in order to better illustrate fabric's tactile properties in a non-haptic environment.","PeriodicalId":103145,"journal":{"name":"2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127130585","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Rotating adaptive Haar wavelet transform for human tracking in thermal omnidirectional vision 旋转自适应Haar小波变换在热全方位视觉下的人体跟踪

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) Pub Date : 2012-11-12 DOI: 10.1109/MFI.2012.6343068

Yazhe Tang, Youfu Li, Tianxiang Bai, Xiaolong Zhou

引用次数: 0

Position estimation by registration to planetary terrain 通过配准到行星地形的位置估计

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) Pub Date : 2012-11-12 DOI: 10.1109/MFI.2012.6343004

Aashish Sheshadri, K. Peterson, H. Jones, W. Whittaker

引用次数: 8

A fuzzy logic based bio-inspired system for mobile robot navigation 基于模糊逻辑的仿生移动机器人导航系统

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) Pub Date : 2012-11-12 DOI: 10.1109/MFI.2012.6343040

Lei Wang, Simon X. Yang, M. Biglarbegian

{"title":"A fuzzy logic based bio-inspired system for mobile robot navigation","authors":"Lei Wang, Simon X. Yang, M. Biglarbegian","doi":"10.1109/MFI.2012.6343040","DOIUrl":"https://doi.org/10.1109/MFI.2012.6343040","url":null,"abstract":"This paper presents a new path planning method for mobile robots in unknown environments. The structure of the proposed algorithm is a hybrid fuzzy logic neural networks, and hence it benefits from the potentials of these two techniques. For modeling the mobile robot, the proposed system adopts the Braitenberg's automata models that were developed for agents. Wheels of the robot are represented by a bio-inspired neuron of a neural network, where each wheel receives different sensor inputs indicating different signals from either excitatory or inhibitory synapses. Training of the neural network weighting is automatically achieved through the fuzzy system that is developed to adjust the weighting between each synapse and neuron of the network. To assess the performance of the developed algorithm, simulation results are presented. It was shown that the proposed method can successfully navigate the robot to the target, and turn the robot at corners for given desired angles. The methodology proposed herein improves the Braitenberg navigation scheme and offers insights into using biologically inspired systems for path planning.","PeriodicalId":103145,"journal":{"name":"2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115362339","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Using multi-dimensional dynamic time warping for TUG test instrumentation with inertial sensors 基于多维动态时间整定的惯性传感器TUG测试仪器

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) Pub Date : 2012-11-12 DOI: 10.1109/MFI.2012.6343011

A. Al-Jawad, M. R. Adame, M. Romanovas, M. Hobert, W. Maetzler, M. Trächtler, K. Möller, Y. Manoli

{"title":"Using multi-dimensional dynamic time warping for TUG test instrumentation with inertial sensors","authors":"A. Al-Jawad, M. R. Adame, M. Romanovas, M. Hobert, W. Maetzler, M. Trächtler, K. Möller, Y. Manoli","doi":"10.1109/MFI.2012.6343011","DOIUrl":"https://doi.org/10.1109/MFI.2012.6343011","url":null,"abstract":"The Timed Up and Go (TUG) is a clinical test used widely to measure balance and mobility, e.g. in Parkinson's disease (PD). The test includes a sequence of functional activities, namely: sit-to-stand, 3-meters walk, 180° turn, walk back, another turn and sit on the chair. Meanwhile the stopwatch is used to score the test by measuring the time which the patients with PD need to perform the test. Here, the work presents an instrumented TUG using a wearable inertial sensor unit attached on the lower back of the person. The approach is used to automate the process of assessment compared with the manual evaluation by using visual observation and a stopwatch. The developed algorithm is based on the Dynamic Time Warping (DTW) for multi-dimensional time series and has been applied with the augmented feature for detection and duration assessment of turn state transitions, while a 1-dimensional DTW is used to detect the sit-to-stand and stand-to-sit phases. The feature set is a 3-dimensional vector which consists of the angular velocity, derived angle and features from Linear Discriminant Analysis (LDA). The algorithm was tested on 10 healthy individuals and 20 patients with PD (10 patients with early and late disease phases respectively). The test demonstrates that the developed technique can successfully extract the time information of the sit-to-stand, both turns and stand-to-sit transitions in the TUG test.","PeriodicalId":103145,"journal":{"name":"2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","volume":"55 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127239482","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 23

Mind-controlled micro-biomanipulation with position sensing feedback: System integration and validation 位置感应反馈的心控微操纵:系统集成与验证

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) Pub Date : 2012-11-12 DOI: 10.1109/MFI.2012.6343029

Yudong Luo, Yantao Shen

{"title":"Mind-controlled micro-biomanipulation with position sensing feedback: System integration and validation","authors":"Yudong Luo, Yantao Shen","doi":"10.1109/MFI.2012.6343029","DOIUrl":"https://doi.org/10.1109/MFI.2012.6343029","url":null,"abstract":"An integrated micro-biomanipulation system that can perform mind-controlled biomanipulation at micro scale is presented in the paper. The system incorporates a non-invasive electroencephalogram (EEG) device with a high-precision automated micromanipulator through high speed network. The human manipulation mind measured by the EEG can effectively drive the micromanipulator to perform the 2-D manipulation on bio-samples at micro scale. During the manipulation, the trace of human manipulation mind or movement signal is monitored by a custom-built high-precision position sensing detector (PSD) interface unit. In addition, topographical properties of all 14 EEG channels from the operator corresponding to 2-D mind movements are plotted and preliminarily analyzed. Experimental results validate the performance of the developed network-enabled and mind-controlled micro-biomanipulation system. Further work will focus on using the system to investigate neurobiofeedback mechanisms or manipulation behaviors of human brain during micro-biomanipulation and microassembly, so as to facilitate developing high-efficiency strategy of engineering approaches in micro/nano level.","PeriodicalId":103145,"journal":{"name":"2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128149528","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

A multi-robot platform for mobile robots — A novel evaluation and development approach with multi-agent technology 移动机器人的多机器人平台——基于多智能体技术的新型评估与开发方法

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) Pub Date : 2012-11-12 DOI: 10.1109/MFI.2012.6343020

Sebastian Rockel, Denis Klimentjew, Jianwei Zhang

引用次数: 23

A design and simulation of aircraft drilling end-effector based on bionics 基于仿生学的飞机钻孔末端执行器设计与仿真

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) Pub Date : 2012-11-12 DOI: 10.1109/MFI.2012.6343005

Peijiang Yuan, Tianmiao Wang, Fucun Ma, Maozhen Gong

引用次数: 2