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Evaluation of manipulators based on a kinematic accuracy index considering task-directions 基于考虑任务方向的运动学精度指标的机械手评价
The 5th International Conference on Automation, Robotics and Applications Pub Date : 2011-12-01 DOI: 10.1109/ICARA.2011.6144888
Yoshihiro Kai
{"title":"Evaluation of manipulators based on a kinematic accuracy index considering task-directions","authors":"Yoshihiro Kai","doi":"10.1109/ICARA.2011.6144888","DOIUrl":"https://doi.org/10.1109/ICARA.2011.6144888","url":null,"abstract":"Some manipulation tasks have directions of required manipulator's motion, and directions for which kinematic accuracy is required in the motion. This paper proposes an index (KAIT: Kinematic Accuracy Index for Task-directions) that allows us to evaluate the kinematic accuracy of manipulators considering the task-directions. The KAIT is applicable to tasks which require consideration of not only the position of the manipulator's endpoint but also the orientation of it. First, we derive the KAIT. Second, we evaluate some postures of a 2-degrees of freedom (DOF) planar manipulator on the basis of some indices that have been proposed (Salisbury's condition number, Yoshikawa's manipulability measure and Chiu's task compatibility) and the KAIT, respectively. Further, we evaluate some postures of a 3-DOF planar manipulator on the basis of the KAIT. Finally, from the evaluation results, we discuss the usefulness of the KAIT.","PeriodicalId":323923,"journal":{"name":"The 5th International Conference on Automation, Robotics and Applications","volume":"217 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124292060","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
Towards using virtual forces for image registration 利用虚拟力进行图像配准
The 5th International Conference on Automation, Robotics and Applications Pub Date : 2011-12-01 DOI: 10.1109/ICARA.2011.6144925
Claudius Stern, Christoph Rasche, L. Kleinjohann, B. Kleinjohann
{"title":"Towards using virtual forces for image registration","authors":"Claudius Stern, Christoph Rasche, L. Kleinjohann, B. Kleinjohann","doi":"10.1109/ICARA.2011.6144925","DOIUrl":"https://doi.org/10.1109/ICARA.2011.6144925","url":null,"abstract":"This paper introduces a novel method for registering a large amount of aerial images when camera parameters are almost unknown and no reference images are available. The envisioned application is the creation of an overview map of a disaster area from images made by unmanned aerial vehicles (UAVs) equipped with cameras. The camera systems only have uncertain information about flight attitude. With traditional methods, the relatively small perspective errors per image sum up over time resulting in perspective errors which prevent building a consistent map from successively arriving images. By using virtual forces between images, the image parameters are continuously adapted to the current map. The small projective errors of quasi orthographic images are distributed among overlapping images. Having UAVs which deliver quasi orthographic images, our approach can build a contemporary overview without the need to have all images in advance.","PeriodicalId":323923,"journal":{"name":"The 5th International Conference on Automation, Robotics and Applications","volume":"162 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124890263","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
The advantages of exploiting grasp redundancy in robotic manipulation 利用抓取冗余在机器人操作中的优势
The 5th International Conference on Automation, Robotics and Applications Pub Date : 2011-12-01 DOI: 10.1109/ICARA.2011.6144905
M. Prats, P. Sanz, A. P. Pobil
{"title":"The advantages of exploiting grasp redundancy in robotic manipulation","authors":"M. Prats, P. Sanz, A. P. Pobil","doi":"10.1109/ICARA.2011.6144905","DOIUrl":"https://doi.org/10.1109/ICARA.2011.6144905","url":null,"abstract":"In this paper we introduce the concept of grasp redundancy, as a new method for relaxing the full-constrained hand-object relationships that are normally considered in robotic manipulation. Grasp redundancy refers to the cartesian degrees of freedom (DOF) that are not fully constrained by the grasp, and, thus, can used be to perform relative hand-object motion during a compliant motion task. We study how grasp redundancy can be exploited for improving the grasping and interaction capabilities of robots. For that, a sensor-based control approach exploiting this concept is defined, and some simulation experiments are presented with a 7 DOF and a 8 DOF arm. Results show how the use of grasp redundancy allows these robots to perform much better than with the classical approaches.","PeriodicalId":323923,"journal":{"name":"The 5th International Conference on Automation, Robotics and Applications","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128452971","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
Radar/Lidar sensor fusion for car-following on highways 用于高速公路车辆跟踪的雷达/激光雷达传感器融合
The 5th International Conference on Automation, Robotics and Applications Pub Date : 2011-12-01 DOI: 10.1109/ICARA.2011.6144918
D. Goehring, Miao Wang, Michael Schnürmacher, Tinosch Ganjineh
{"title":"Radar/Lidar sensor fusion for car-following on highways","authors":"D. Goehring, Miao Wang, Michael Schnürmacher, Tinosch Ganjineh","doi":"10.1109/ICARA.2011.6144918","DOIUrl":"https://doi.org/10.1109/ICARA.2011.6144918","url":null,"abstract":"We present a real-time algorithm which enables an autonomous car to comfortably follow other cars at various speeds while keeping a safe distance. We focus on highway scenarios. A velocity and distance regulation approach is presented that depends on the position as well as the velocity of the followed car. Radar sensors provide reliable information on straight lanes, but fail in curves due to their restricted field of view. On the other hand, Lidar sensors are able to cover the regions of interest in almost all situations, but do not provide precise speed information. We combine the advantages of both sensors with a sensor fusion approach in order to provide permanent and precise spatial and dynamical data. Our results in highway experiments with real traffic will be described in detail.","PeriodicalId":323923,"journal":{"name":"The 5th International Conference on Automation, Robotics and Applications","volume":"8 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113954572","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: 125
Delayed absolute difference (DAD) signatures of dynamic features for sign language segmentation 动态特征的延迟绝对差(DAD)签名用于手语分割
The 5th International Conference on Automation, Robotics and Applications Pub Date : 2011-12-01 DOI: 10.1109/ICARA.2011.6144866
S. Khan, D. Bailey, G. S. Gupta
{"title":"Delayed absolute difference (DAD) signatures of dynamic features for sign language segmentation","authors":"S. Khan, D. Bailey, G. S. Gupta","doi":"10.1109/ICARA.2011.6144866","DOIUrl":"https://doi.org/10.1109/ICARA.2011.6144866","url":null,"abstract":"In sign language segmentation, individual gestures are extracted out of a continuous stream and then matched with models for recognition. We have hypothesized an improvement in word segmentation without affecting the language naturalness by incorporating a novel set of segmentation features (pause, repetition and directional variations). To analyze these segmentation features, a unified tool (DAD signature) is presented that encodes the segmentation features in form of distinct patterns. It is shown that the DAD signature can easily detect the pauses, repetitions and reversal of direction.","PeriodicalId":323923,"journal":{"name":"The 5th International Conference on Automation, Robotics and Applications","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133348444","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
Tracking an unknown moving target from UAV: Extracting and localizing an moving target with vision sensor based on optical flow 无人机未知运动目标跟踪:基于光流的视觉传感器运动目标提取与定位
The 5th International Conference on Automation, Robotics and Applications Pub Date : 2011-12-01 DOI: 10.1109/ICARA.2011.6144914
J. Choi, Dongjin Lee, H. Bang
{"title":"Tracking an unknown moving target from UAV: Extracting and localizing an moving target with vision sensor based on optical flow","authors":"J. Choi, Dongjin Lee, H. Bang","doi":"10.1109/ICARA.2011.6144914","DOIUrl":"https://doi.org/10.1109/ICARA.2011.6144914","url":null,"abstract":"This paper proposes a novel algorithm for tracking a target from UAV(Unmanned Aerial Vehicle). No knowledge is assumed about the target, apart from being in motion. The algorithm includes optical flow to compute velocity field of sequential frames. Velocity field varies radically near the boundary of the target. This simple fact enables to segregate the target and background from the scene and to obtain their velocities. With the aid of simple geolocation method, we can get the absolute location and velocity of the target and this will enable target tracking for UAV based on optical flow.","PeriodicalId":323923,"journal":{"name":"The 5th International Conference on Automation, Robotics and Applications","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133780703","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: 21
ATmega and XBee-based wireless sensing 基于ATmega和xbee的无线传感
The 5th International Conference on Automation, Robotics and Applications Pub Date : 2011-12-01 DOI: 10.1109/ICARA.2011.6144908
Amir Hoshang Kioumars, Liqiong Tang
{"title":"ATmega and XBee-based wireless sensing","authors":"Amir Hoshang Kioumars, Liqiong Tang","doi":"10.1109/ICARA.2011.6144908","DOIUrl":"https://doi.org/10.1109/ICARA.2011.6144908","url":null,"abstract":"Health monitoring is a challenging research area. This research aims to develop a cost effective and reliable wireless sensor for collecting real-time health vital signs such as heart rate and body temperature. The literature review has led to the use of various micro-controllers for such applications. This paper presents a wireless sensor developed based on the ATmega micro-controller and XBee protocol. The sensor is capable of storing the data to an expandable memory card and/or transferring them to a remote computer. The developed sensor is low-cost, lightweight and compact. The final system has made a significant move towards these goals.","PeriodicalId":323923,"journal":{"name":"The 5th International Conference on Automation, Robotics and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129549359","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: 34
Capacitive sensor setup for the measurement and tracking of edge angles 电容式传感器设置，用于测量和跟踪边缘角度
The 5th International Conference on Automation, Robotics and Applications Pub Date : 2011-12-01 DOI: 10.1109/ICARA.2011.6144910
N. Eidenberger, B. Zagar
{"title":"Capacitive sensor setup for the measurement and tracking of edge angles","authors":"N. Eidenberger, B. Zagar","doi":"10.1109/ICARA.2011.6144910","DOIUrl":"https://doi.org/10.1109/ICARA.2011.6144910","url":null,"abstract":"In this paper we propose a capacitive sensor setup for measuring the geometry of an edge consisting of electroconductive material. The Laplace equation for the electric field in the proposed setup is solved by conformal mapping methods. This unusual approach provides the analytic equations which describe the electric field in terms of the geometric parameters. An in depth analysis of these equations enables the fast and simple evaluation of measurement results. An additional sensitivity analysis leads to optimizations in the placement of the sensor array.","PeriodicalId":323923,"journal":{"name":"The 5th International Conference on Automation, Robotics and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129648598","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
Dynamic model of autonomous ground vehicle for the path planning module 自主地面车辆路径规划模块的动态模型
The 5th International Conference on Automation, Robotics and Applications Pub Date : 2011-12-01 DOI: 10.1109/ICARA.2011.6144859
Sobers L. X. Francis, S. Anavatti, M. Garratt
{"title":"Dynamic model of autonomous ground vehicle for the path planning module","authors":"Sobers L. X. Francis, S. Anavatti, M. Garratt","doi":"10.1109/ICARA.2011.6144859","DOIUrl":"https://doi.org/10.1109/ICARA.2011.6144859","url":null,"abstract":"This paper discusses the importance of kinematic and dynamic constraints in a path planning module. The kinematic and dynamic models are taken into account to model the actual mobile robot including the torques provided by the motors and the restriction to the robot mobility induced by the constraints. The dynamic model of the mobile robot is simulated and compared with the behaviour of a real Pioneer 3DX mobile robot.","PeriodicalId":323923,"journal":{"name":"The 5th International Conference on Automation, Robotics and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129678363","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
Active vision gaze control for mobile robot 移动机器人的主动视觉注视控制
The 5th International Conference on Automation, Robotics and Applications Pub Date : 2011-12-01 DOI: 10.1109/ICARA.2011.6144923
Ahmed Sheikh Deeb, C. Hollitt
{"title":"Active vision gaze control for mobile robot","authors":"Ahmed Sheikh Deeb, C. Hollitt","doi":"10.1109/ICARA.2011.6144923","DOIUrl":"https://doi.org/10.1109/ICARA.2011.6144923","url":null,"abstract":"Active vision systems for use in robots require a method of directing the camera at targets of interest. There are two approaches to solving this problem; a bottom-up approach which directs the camera at elements of the visual field that have high salience, or a top-down approach which directs the vision under deliberative control. We discuss a biologically inspired system that combines bottom-up and top-down approaches. An artificial analogue of the superior colliculus is used to combine a set of data-driven feature maps. The relative weighting of the various maps are dependent on the task being performed by the robot. In this paper we discuss the architecture of the gaze control system and present simulations illustrating the operation of the artificial superior colliculus.","PeriodicalId":323923,"journal":{"name":"The 5th International Conference on Automation, Robotics and Applications","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130638915","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
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