2017 18th International Conference on Advanced Robotics (ICAR)最新文献_第3页

Probabilistic fusion and analysis of multimodal image features 多模态图像特征的概率融合与分析

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-10 DOI: 10.1109/ICAR.2017.8023656

S. Kleinschmidt, Bernardo Wagner

引用次数: 5

Adaptive region control for robotic soldering of flexible PCBs 柔性pcb机器人焊接的自适应区域控制

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-10 DOI: 10.1109/ICAR.2017.8023521

Xiang Li, Xing Su, Yunhui Liu

引用次数: 7

The design of space debris removed simulation system based on flexible arm 基于柔性臂的空间碎片清除仿真系统设计

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-10 DOI: 10.1109/ICAR.2017.8023665

Zhiwei Liu, Fan Yang, Z. Dong, X. Ye

引用次数: 1

Real-time rotational image registration 实时旋转图像配准

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-10 DOI: 10.1109/ICAR.2017.8023488

D. Differt

{"title":"Real-time rotational image registration","authors":"D. Differt","doi":"10.1109/ICAR.2017.8023488","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023488","url":null,"abstract":"The majority of approaches for rotationally aligning panoramic images use feature-based methods which extract and match visual clues in both images and analytically determine their rotational offset. However, these methods can be computationally expensive and might suffer from motion blur or images taken in structureless environments (e.g. forests). An alternative approach is the visual compass, a method which simulates a wide range of possible rotational offsets and searches for the best match. While this approach has been successfully implemented for rotations around a single axis, the increasing computation time for 3D rotations limits the usability for real-time applications. It has been suggested to use real spherical harmonics (RSH) to represent panoramic images, to calculate rotations in frequency domain using sparse matrix-vector multiplications. In this paper, we present strategies which are crucial to implement a real-time visual 3D compass using RSH. We provide a software implementation of the visual 3D compass and analyze the effect of increasing rotational misalignment between pairs of panoramic images. Furthermore, we show that the visual 3D compass can be used on low-cost hardware in real-time.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128791752","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: 2

Origami-inspired bi-directional soft pneumatic actuator with integrated variable stiffness mechanism 集成变刚度机构的折纸式双向软气动执行器

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-10 DOI: 10.1109/ICAR.2017.8023642

Ajit R. Deshpande, Z. Tse, Hongliang Ren

引用次数: 27

Augmented reality interface for taping robot 用于胶带机器人的增强现实接口

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-10 DOI: 10.1109/ICAR.2017.8023530

Huy Dinh, Quilong Yuan, V. Iastrebov, G. Seet

{"title":"Augmented reality interface for taping robot","authors":"Huy Dinh, Quilong Yuan, V. Iastrebov, G. Seet","doi":"10.1109/ICAR.2017.8023530","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023530","url":null,"abstract":"Applying masking tape to a particular area is a very important step for protecting an uninvolved surface in processes like mechanical part repairing or surface protection. In the past, the task was very time-consuming and required a lot of manual works. In recent years, with some advances in the fields of automatic robotic system and computer vision, the task now can be completed with the help of an automatic taping system containing a 3D scanner, a manipulator and a rotating platform. This implementation has been proved to provide better quality and be at least twice as fast as comparing to the work done by a human operator. However, there are still some limitations of this setup. First, it is difficult for the user to monitor the taping process since the system uses the 3D scanner to reconstruct the surface model and there is no calibrated projector to overlay the manipulator's trajectory over the real surface. Second, the main user is supposed to use a computer with keyboard and mouse to identify the area for masking which requires some expert knowledge and might not be appropriate in an industrial context where people wear protective equipment such as gloves or helmet. This paper introduces the use of spatial augmented reality technology and wearable device in the semi-automatic taping robotic system and the related calibration algorithms to enhance the user experience. The framework and its components are presented, with a case study and some results.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121372673","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

Data-driven kinodynamic RRT 数据驱动的动态RRT

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-10 DOI: 10.1109/ICAR.2017.8023501

Junghwan Lee, Heechan Shin, Sung-eui Yoon

引用次数: 1

Deep learning for unmanned aerial vehicles landing carrier in different conditions 无人机在不同条件下着陆载体的深度学习

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-10 DOI: 10.1109/ICAR.2017.8023651

Dianle Zhou, Jinglun Zhou, Maojun Zhang, Dao Xiang, Zhiwei Zhong

{"title":"Deep learning for unmanned aerial vehicles landing carrier in different conditions","authors":"Dianle Zhou, Jinglun Zhou, Maojun Zhang, Dao Xiang, Zhiwei Zhong","doi":"10.1109/ICAR.2017.8023651","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023651","url":null,"abstract":"With the rapid development of unmanned aerial vehicles (UAVs) technology, it is necessary to ensure the safe and stable landing on the carrier. In this paper, we present a deep learning for UAVs Landing carrier in different conditions. Firstly it analysis of different sea conditions deck motion, constructs a simulation model of the system. The waves motion, deck motion, and then to the aircraft landing motion models are simulation. Then according to a large number of previous land runway, mobile landing platform experimental data, UAV model, wind model and deck motion model build aircraft carrier simulation system. That is based on deep learning, to estimate the safety conditions of contact carrier aircraft and deck. Then, it simulate the deck in different sea conditions and wave motion under the harsh conditions of motion, to testing the deck can withstand the landing limit to make feasibility analysis. Finally, using there simulation data use for UAVs landing on river platform. Simulation results show that the sea conditions with effective longitudinal deviation and lateral deviation of the ship is the most significant. Level 4, level 5, and level 6 sea conditions idea landing condition success rate are 98%, 70.8%, 63%. And it successful uses for landing in river platform.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"258 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122674834","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

Bio-inspired holistic control through modular relative Jacobian for combined four-arm robots 基于模块化相对雅可比矩阵的四臂机器人仿生整体控制

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-10 DOI: 10.1109/ICAR.2017.8023631

R. Jamisola, Carlos Mastalli

引用次数: 4

3D feature points detection on sparse and non-uniform pointcloud for SLAM 基于稀疏非均匀点云的SLAM三维特征点检测

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-10 DOI: 10.1109/ICAR.2017.8023504

Prarinya Siritanawan, Moratuwage Diluka Prasanjith, Danwei W. Wang

引用次数: 9