ICINCO-RA最新文献

{"title":"Calibration Aspects of Multiple Line-scan Vision System Application for Planar Objects Inspection","authors":"A. Hossu, D. Hossu","doi":"10.5220/0001480300360040","DOIUrl":"https://doi.org/10.5220/0001480300360040","url":null,"abstract":"The System Set-up Time it is one of the characteristics of an Industrial Vision System, besides the accuracy performances and response time. Minimizing the set-up time while keeping the performances in accuracy and in response time is one of the goals of any advanced Vision System. Starting from the purpose and the required performances of the proposed Industrial Vision System, in the paper is presented a calibration method developed for a multiple line-scan camera Vision System (in particular for a dual line-scan camera system). The calibration method presented is based on analyzing the image of a calibration tool exposed to the Vision System. There are presented the type of dimensional distortions identified from the experimental results. The second part of the paper presents the calibration method. The Industrial Vision System described in the paper is designed for silhouette inspection of planar objects located on a moving scene (transport conveyor), in a robotic handling application (it is a pure 2D Vision System, the volumetric characteristics of the analyzed objects being not relevant for the application). However the height of the object is varying in time (from one set of objects to another). Due to the fact the distance between the cameras and the objects is changing, the measuring results are affected. The proposed calibration method allows the Vision System to self adjust the calibration parameters for a known change in height of the objects, without affecting the accuracy system performances. In the final section of the paper are presented some practical aspects of the proposed calibration method, and the balance between the off-line and the online required computational efforts from the Vision System. 1 MULTI LINE-SCAN CAMERA VISION SYSTEMS CHARACTERISTICS The class of the Artificial Vision Systems dedicated for analyzing objects located on a moving scenes (conveyor) presents some specific characteristics relative to the Artificial Vision Systems dedicated for static scenes. These characteristics are identified also on the Image Calibration Process (Borangiu, et al., 1994)., (Haralick and Shapiro, 1992). Figure 1 presents the model of the image obtained from a dual line-scan camera Vision System. For this class of the Artificial Vision Systems we could identify as relevant for the calibration process the following characteristics: The system is using line-scan cameras for the image acquisition. The system is a dual-camera. The obtained image has significant distortions on (and only on) the image sensors direction. There is an overlapped image area between the two cameras. The end of the acquisition line of the 1 camera is overlapping the beginning of the acquisition line of the 2 camera. This overlapping area is significant in dimension and is a constant parameter resulted during the artificial vision system installation process. There is a lengthwise conveyor distance between the acquisition lines of the two cameras. This distance ","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130065477","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}

{"title":"Automatic Generation of Executable Code for a Robot Cell using UPNP and XIRP","authors":"A. Verl, M. Naumann","doi":"10.5220/0001504602420248","DOIUrl":"https://doi.org/10.5220/0001504602420248","url":null,"abstract":"This paper deals with the concept of a control architecture for robot cells that enables Plug’n’Produce according to Plug’n’Play in the office world. To achieve this, the cell controller needs special functionality located in a software module called “P’n’P-Module”. This module takes as input descriptions of devices and processes. These descriptions are then automatically evaluated in order to offer the user device-independent high-level commands to define a task for the robot cell. Based on this task definition an executable code has to be generated. The focus of this paper lies on the descriptions and algorithms necessary to generate this executable code. The presented method will be realized as a test bed within a bin picking cell using UPnP","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128062338","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}

{"title":"Kamanbaré - a tree-climbing biomimetic robotic platform for environmental research","authors":"Reinaldo de Bernardi, J. J. Cruz","doi":"10.5220/0001650304780484","DOIUrl":"https://doi.org/10.5220/0001650304780484","url":null,"abstract":"Environmental research is an area where robotics platforms can be applied as solutions for different problems to help or automate certain tasks, with the purpose of being more efficient or also safer for the researchers involved. This paper presents the Kamanbaré platform. Kamanbaré is a bioinspired robotic platform, whose main goal is to climb trees for environmental research applications, applied in tasks such as gathering botanical specimen, insects, climatic and arboreal fauna studies, among others. Kamanbaré is a platform that provides flexibility both in hardware and software, so that new applications may be developed and integrated without the need of extensive knowledge in robotics.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125688246","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}

{"title":"Monte carlo localization in highly symmetric environments","authors":"S. Sehestedt, Frank E. Schneider","doi":"10.5220/0001215802490254","DOIUrl":"https://doi.org/10.5220/0001215802490254","url":null,"abstract":"The localization problem is a central issue in mobile robotics. Monte Carlo Localization (MCL) is a popular method to solve the localization problem for mobile robots. However, usual MCL has some shortcomings in terms of computational complexity, robustness and the handling of highly symmetric environments. These three issues are adressed in this work. We present three Monte Carlo localization algorithms as a solution to these problems. The focus lies on two of these, which are especially suitable for highly symmetric environments, for which we introduce two-stage sampling as the resampling scheme.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121360029","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}

{"title":"The tele-echography medical robot Otelo2 - teleoperated with a multi level architecture using trinomial protocol","authors":"G. Charron, A. Fonte, P. Vieyres, P. Fraisse, L. A. Bassit, C. Novales","doi":"10.5220/0001627600520058","DOIUrl":"https://doi.org/10.5220/0001627600520058","url":null,"abstract":"This paper presents a novel architecture applied to a mobile teleoperated medical robotic system: OTELO2 (MObile Tele-Echography using an Ultra-Light RObot); OTELO2 performs a tele-echography at a distance for the benefit of medically isolated sites. First, this paper presents an overview of the OTELO2 teleoperated system. Then, it describes the modular control architecture used and the integration of the teleoperated layer on this multi level architecture. Finally, it presents the communication links used to control this system, as well as some experimental results.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127071582","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}

{"title":"Mathematical model for walking robot with shape memory alloy ankle","authors":"A. Petrisor, N. Bîzdoaca, D. Rosca, S. Degeratu, A. Rosca, Raducu Petrisor","doi":"10.5220/0001626703190322","DOIUrl":"https://doi.org/10.5220/0001626703190322","url":null,"abstract":"The paper presents a simultaneous force and length variation mode in shape memory alloy (SMA) robotic application. The robotic ankle contains four SMA actuators and a spherical articulation. In order to assure a high efficient robotic architecture, the mechanical and the control structure have to assure a real-time response to the work environment changes. The load variations or the difference between the moment of full contact step and the non contact moment for a waking robot are the standard situations for a SMA robotic ankle. The paper is divided in five sections. First section makes a short introduction in the physical description and conventional applications of shape memory alloy materials. Then, are presented the mathematical model for robotic ankle, the walking robot geometrical structure and the causality ordering of the active pair of legs, in this case with one free joint. In the last section some experimental results are presented. These results were obtained by using MATLAB programs, conceived by authors, for design and simulation of walking robots control algorithms.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132233174","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}

{"title":"Development of an automated device for sorting seeds - application on sunflower seeds","authors":"Vincent Muracciole, P. Plainchault, D. Bertrand, M. Mannino","doi":"10.5220/0001626103110318","DOIUrl":"https://doi.org/10.5220/0001626103110318","url":null,"abstract":"Purity analysis and determination of other seeds by number are still made manually. It is a repetitive task based upon visual analysis. Our work objective is to create and use a simple and quick automated system to do this task. A first step of this machine has been reached by validating the image acquisition and feeding process. The principle of this machine is based on a seeds fall with stroboscopic effect image acquisition. This article presents the first step of creating a dedicated and autonomous machine which combines embedded constraints and real time processes.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127438415","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}

{"title":"A distributed multi-robot sensing system using an infrared location system","authors":"Anssi Kemppainen, J. Haverinen, J. Röning","doi":"10.5220/0001648502800283","DOIUrl":"https://doi.org/10.5220/0001648502800283","url":null,"abstract":"Distributed sensing refers to measuring systems where instead of one sensor multiple sensors are spatially distributed improving robustness of the system, increasing relevancy of the measurements and cutting costs since requiring smaller and less precise sensors. Spatially distributed sensors fuse their measurements into the same coordinates requiring relative positions of the sensors. In this paper, we present a distributed multi-robot sensing system in which relative poses (positions and orientations) among robots are estimated using an infrared location system. The relative positions are estimated using intensity and bearing measurements of the received infrared signals. The relative orientations are obtained by fusing position estimates among robots. The location system enables a group of robots to perform distributed and cooperative environment sensing by maintaining a given formation while the group measures distributions of light and magnetic field, for example. In the experiments, a group of three robots moves and collects spatial information (i.e. illuminance and compass heading) from the given environment. The information is stored into grid maps and illustrated in the figures presenting illuminance and compass heading. The experiments proved the feasibility of the distributed multi-robot sensing system for sensing applications where the environment requires moving platforms.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129937098","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}

{"title":"A Generic Architecture for a Companion Robot","authors":"Bas R. Steunebrink, N. L. Vergunst, Christian P. Mol, F. Dignum, M. Dastani, J. Meyer","doi":"10.5220/0001509103150321","DOIUrl":"https://doi.org/10.5220/0001509103150321","url":null,"abstract":"Despite much research on companion robots and affective virtual characters, a comprehensive discussion on a generic architecture is lacking. We compile a list of possible requirements of a companion robot and propose a generic architecture based on this list. We explain this architecture to uncover issues that merit discussion. The architecture can be used as a framework for programming companion robots.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125306510","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}

{"title":"Data integration solution for paper industry - a semantic storing browsing and annotation mechanism for online fault data","authors":"S. Nikitin, V. Terziyan, J. Pyötsiä","doi":"10.5220/0001621801910194","DOIUrl":"https://doi.org/10.5220/0001621801910194","url":null,"abstract":"A lot of IT solutions exist for simplification and time saving of industrial experts’ activities. However, due to large diversity of tools and case-by-case software development strategy, big industrial companies are looking for an efficient and viable information integration solution. The companies have realized the need for an integrated environment, where information is ready for extraction and sophisticated querying. We present here a semantic web-based solution for logging and annotating online fault data, which is designed, and implemented for a particular business case of a leading paper machinery maintenance and automation company.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123972436","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}