发布求助
文献互助 智能选刊 最新文献

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)最新文献

筛选
英文 中文
Design and fabrication of a disposable micro end effector for concentric tube robots 同心圆管机器人一次性微型末端执行器的设计与制造
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-13 DOI: 10.1109/ICARCV.2016.7838560
Abigyat B. Prasai, A. Jaiprakash, A. Pandey, R. Crawford, Jonathan M. Roberts, Liao Wu
{"title":"Design and fabrication of a disposable micro end effector for concentric tube robots","authors":"Abigyat B. Prasai, A. Jaiprakash, A. Pandey, R. Crawford, Jonathan M. Roberts, Liao Wu","doi":"10.1109/ICARCV.2016.7838560","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838560","url":null,"abstract":"Conventional concentric tube robots (CTRs) have low dexterity at the tip, which does not fit the requirements of complicated operations in minimally invasive surgery. A 2mm diameter cable-driven micro end effector is designed and fabricated for CTRs to increase dexterity in confined spaces. The end-effector is made by a simple fabrication procedure and is a combination of readily available materials such as polyolefin tube, acrylic and steel strings. If mass produced, the end effector has the potential to be made into a single use disposable medical tool. This paper discusses the geometric design, fabrication process and force analysis of the end effector. Experiments are conducted on the prototype to validate the derivation. In addition, cases are discussed around the use of the end effector.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116317996","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: 8
Parallax angle parametrization in incremental SLAM 增量SLAM中的视差角参数化
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-13 DOI: 10.1109/ICARCV.2016.7838805
E. Mendes, S. Lacroix, J. Solà
{"title":"Parallax angle parametrization in incremental SLAM","authors":"E. Mendes, S. Lacroix, J. Solà","doi":"10.1109/ICARCV.2016.7838805","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838805","url":null,"abstract":"The lack of depth information in camera images has triggered much work on their use for localization and mapping in robotics. In particular, specific landmark parametrizations that isolate the unknown depth in one variable, and that allows to handle the associated large uncertainties have been proposed. Recently, an innovative parametrization (Parallax Angle) has shown to outperform the others in the context of a Bundle Adjustment approach. This paper investigates the way to exploit this parametrization in an incremental graph-based SLAM approach, in a robotics context in which motions measures can be incorporated in the overall estimation. It presents the factors required to initialize landmarks and manage their observations. Simulation results show that the proposed algorithms are able to incrementally incorporate observations, and a discussion analyzes how the incremental updates on ISAM2 are affected by these new factors.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"1 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123544258","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
Beveled-tip needle-steering using 3D ultrasound, mechanical-based Kalman filter and curvilinear ROI prediction 利用三维超声、基于机械的卡尔曼滤波和曲线ROI预测的斜尖针导向
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-13 DOI: 10.1109/ICARCV.2016.7838840
P. Mignon, P. Poignet, J. Troccaz
{"title":"Beveled-tip needle-steering using 3D ultrasound, mechanical-based Kalman filter and curvilinear ROI prediction","authors":"P. Mignon, P. Poignet, J. Troccaz","doi":"10.1109/ICARCV.2016.7838840","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838840","url":null,"abstract":"This paper introduces a new robust 3D ultrasound needle detection approach integrated in a 3D needle steering system associated to a real-time path planning. The robustness of an existing algorithm is improved by limiting the needle detection to a curvilinear region of interest (ROI) using a novel mechanical-based prediction model. This linear model is also used in a Kalman filter to reduce detection noise and reject false detections. These two improvements drastically increase quality of our feedback. Finally, the 3D needle steering system is able to reach a target in phantoms with a maximal error of 0.8 mm without obstacle and 1.6 mm with obstacle.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131475597","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: 7
Performance evaluation of 3D keypoint detectors for time-of-flight depth data 用于飞行时间深度数据的三维关键点探测器性能评价
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838686
V. K. Ghorpade, P. Checchin, L. Malaterre, L. Trassoudaine
{"title":"Performance evaluation of 3D keypoint detectors for time-of-flight depth data","authors":"V. K. Ghorpade, P. Checchin, L. Malaterre, L. Trassoudaine","doi":"10.1109/ICARCV.2016.7838686","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838686","url":null,"abstract":"In object recognition techniques, specially feature-based methods, a fundamental step is to extract keypoints which are distinct and considerably interesting in the image. There are many different keypoint detectors already available, each with its own specific use and results vary enormously. It is widely agreed that evaluation of feature detectors is important. To our knowledge there is no comparative study for the performance of keypoint detectors for only depth data from Time-Of-Flight (ToF) camera. As ToF sensors are cheap and extensively used for robotic applications, especially sensors with low sensor noise like Swiss Ranger SR-4k which give only depth data, need arises for this comparative study. A meticulous acquisition of different household object's depth data has been achieved using a Cartesian robot. The pose information from the robot has been used for more accurate evaluation. Different keypoints valid for only depth data are extracted and their repeatability is evaluated. A Comparative study has also been done on standard RGB-D datasets using the new metrics we have defined, to test the correctness of our approach with state of the art approaches which have used RGB-D data.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114656993","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: 9
PI controller design for one joint robotic arm 单关节机械臂PI控制器设计
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838714
Y. V. Hote
{"title":"PI controller design for one joint robotic arm","authors":"Y. V. Hote","doi":"10.1109/ICARCV.2016.7838714","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838714","url":null,"abstract":"In this paper, PI tuning rules have been developed for the stabilization of one joint robotic arm. Further, PI tuning rules have been developed for desired gain margin and phase margin. The proposed approach is based on stability boundary locus. The tuning rules have been verified through MATLAB software. Finally, the proposed tuning rules have been tested on a Precision modular Servo (PMS) system in which an arm is connected to DC servo motor.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"41 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121009445","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: 3
An instrumentation system for smart monitoring of surface temperature 一种用于智能监测地表温度的仪表系统
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838845
K. Thiyagarajan, S. Kodagoda, Jean Kyle Alvarez
{"title":"An instrumentation system for smart monitoring of surface temperature","authors":"K. Thiyagarajan, S. Kodagoda, Jean Kyle Alvarez","doi":"10.1109/ICARCV.2016.7838845","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838845","url":null,"abstract":"Reliable sensing is a crucial factor for assessing the structural health conditions of civil infrastructure such as sewerage networks, which are susceptible to hydrogen sulfide induced concrete corrosion. In this context, this paper reports the work on the development and characterization of an instrumentation system using an infrared radiometer for monitoring surface temperature variations of the concrete through non-contact measurements. The surface temperature measurements are gathered by positioning the sensor at different distance and angles from the surface of interest. The effects of ambient lighting conditions during measurements are investigated. Furthermore, the sensing performance of the sensor is evaluated by performing statistical error analysis, and the efficacy of a custom-made signal processing board is tested by comparing the electrical signal with reference measures.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127117800","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: 16
A two-order finite-time-convergent differentiator with application to nuclear reactors 二阶有限时间收敛微分器及其在核反应堆中的应用
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838829
Z. Dong, Xiaojin Huang, Duo Li
{"title":"A two-order finite-time-convergent differentiator with application to nuclear reactors","authors":"Z. Dong, Xiaojin Huang, Duo Li","doi":"10.1109/ICARCV.2016.7838829","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838829","url":null,"abstract":"Signal differentiation is widely used in system monitoring and control. The key problem in differentiator design is how to obtain a satisfactory tradeoff between differentiation exactness and robustness to uncertainties and noises. Based upon proposing a novel finite-time stabilizer for 2-order integrator chain, a new finite-time-convergent 2-order differentiator with bounded estimation error of both the signal and its derivatives is newly developed. This differentiator is then applied to estimate the derivative of the neutron flux of nuclear reactors. Numerical simulation results not only verify the theoretical results but also show the satisfactory performance of this newly-built differentiator.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125004626","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
Multi-objective optimization for path searching in a flow network with maintenance tasks 在有维护任务的流动网络中进行路径搜索的多目标优化
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838844
Hela Kadri, S. C. Dutilleul
{"title":"Multi-objective optimization for path searching in a flow network with maintenance tasks","authors":"Hela Kadri, S. C. Dutilleul","doi":"10.1109/ICARCV.2016.7838844","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838844","url":null,"abstract":"The aim of this work is to propose a formal model for determining the dynamic optimal path for transfer operations on an oil flow network within real conditions of exploitation such as maintenance activities and alignments in-service. The study focuses on a multi-objective problem to search a safe and short path to the oil transfer operations. It is based on, firstly, dynamic reliability, that depends on time and conditions of use, of engaged valves in the path; and secondly, pipes lengths; and it is developed in a High Level Petri Nets (HLPN) framework. Real operational constraints and goals in the seaport are modelled with data extracted from OREDA Database. The results show how the proposed solution leads to a safer use of the network by avoiding riskiest valves and conflicts between oil transfer operations and between transfer operations and maintenance tasks. This contribution is applied in the oil transport, but it is potentially applicable in many other areas.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125855070","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: 0
WHoG: A weighted HoG-based scheme for the detection of birds and identification of their poses in natural environments WHoG:一种加权的基于hog的方案，用于在自然环境中检测鸟类并识别它们的姿势
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838650
D. Karmaker, Ingo Schiffner, Reuben Strydom, M. Srinivasan
{"title":"WHoG: A weighted HoG-based scheme for the detection of birds and identification of their poses in natural environments","authors":"D. Karmaker, Ingo Schiffner, Reuben Strydom, M. Srinivasan","doi":"10.1109/ICARCV.2016.7838650","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838650","url":null,"abstract":"We describe a technique for object detection that uses a combination of global shape descriptors and local point descriptors. Our system is able to represent pose using a global shape descriptor, rather than the commonly used part based representation. This approach considerably reduces computational complexity and achieves a significant performance improvement on an extensive dataset: CUB-200-2011 [31]. Our methodology is valuable for the detection of textured objects that are viewed against background clutter and possess a high degree of articulation and variation of pose, as for example in birds. We demonstrate how high and low frequency gradients can be separated to better deal with the presence of interfering textures or stripes within the body, which is a major problem in the detection of bird-like objects. Furthermore, detection accuracy is improved by integrating appropriately designed scale invariant color features into the algorithm.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116580209","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: 5
Bipartite consensus for multiple two-time scales agents over the signed digraph 有向图上多个双时间尺度智能体的二部一致性
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838737
Wu Yang, Yan-wu Wang, Jiang‐Wen Xiao, Wu‐Hua Chen
{"title":"Bipartite consensus for multiple two-time scales agents over the signed digraph","authors":"Wu Yang, Yan-wu Wang, Jiang‐Wen Xiao, Wu‐Hua Chen","doi":"10.1109/ICARCV.2016.7838737","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838737","url":null,"abstract":"The bipartite consensus problem of multiple two-time scales agents over the signed digraph, where both cooperative and competitive interactions exist among the agents, is considered with a new distributed protocol. Sufficient conditions for bipartite consensus is presented in terms of easily checkable algebraic Riccati equation (ARE). Compared with the existing result on consensus of multiple two-time scales agents, the communication topology here is more generic. Moreover, the upper bound of the singular perturbation parameter is also presented. Simulation examples are given to illustrate the effectiveness of the proposed results.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122287569","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
下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信