发布求助
文献互助 智能选刊 最新文献

2008 International Workshop on Robotic and Sensors Environments最新文献

筛选
英文 中文
Position-based visual servoing using a coded structured light sensor 使用编码结构光传感器的基于位置的视觉伺服
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669193
T. Heitzmann, C. Doignon, Chadi Albitar, P. Graebling
{"title":"Position-based visual servoing using a coded structured light sensor","authors":"T. Heitzmann, C. Doignon, Chadi Albitar, P. Graebling","doi":"10.1109/ROSE.2008.4669193","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669193","url":null,"abstract":"In this paper, we address a novel visual servoing technique in unknown environment with untextured objects by means of a structured light vision system. The scene surfaces are assumed to be piece-wise planar, however they are free to move and subjected to some deformations. We firstly present a robust coded pattern which allows a fast decoding and which quickly solves the correspondence problem between visual features. It can handle partial occlusions and it has been designed to navigate inside the human body with articulated endoscopes (C. Albitar et al., 2007) . To cope with object modeling, we consider the case of locally planar deformable surfaces and we propose a position-based visual servoing (PBVS) approach with structured light onboard. Such a pattern is very appropriate as it is very robust wrt occlusions, a well-known problem with PBVS when several visual features may get out of the camera field of view during the experiments.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"634 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116083232","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
Evaluation of growing neural gas networks for selective 3D scanning 选择性三维扫描的生长神经气体网络评价
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669190
A. Crétu, E. Petriu, P. Payeur
{"title":"Evaluation of growing neural gas networks for selective 3D scanning","authors":"A. Crétu, E. Petriu, P. Payeur","doi":"10.1109/ROSE.2008.4669190","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669190","url":null,"abstract":"This paper addresses the issue of intelligent sensing for advanced robotic applications and is a continuation of our research in the area of innovative approaches for automatic selection of regions of observation for fixed and mobile sensors to collect only relevant measurements without human guidance. The growing neural gas network solution proposed here for adaptively selecting regions of interest for further sampling from a cloud of sparsely collected 3D measurements provides several advantages over the previously proposed neural gas solution in terms of user intervention, size of resulting scan and training time. Experimental results and comparative analysis are presented in the context of selective vision sampling.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114728989","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
Velocity field control for free-form contour following tasks by a two link robot 两连杆机器人自由轮廓跟踪任务的速度场控制
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669182
Chao-Yun Chen, M. Cheng, Ying-hui Wang
{"title":"Velocity field control for free-form contour following tasks by a two link robot","authors":"Chao-Yun Chen, M. Cheng, Ying-hui Wang","doi":"10.1109/ROSE.2008.4669182","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669182","url":null,"abstract":"The idea of velocity field control has recently been used to tackle contour following problems. Although promising results have been reported in previous studies, the contour to be followed used in those studies were not represented in the form of non-uniform rational B-spline (NURBS), which is the fundamental geometric representation in many CAD/CAM systems. In order to extend velocity field control to contours represented in NURBS form, this paper develops a novel approach that constructs the velocity fields at pre-selected grid points. For any point not on the desired contour, its associated velocity field can be calculated in real-time using a simple interpolation formula and the velocity fields at nearby grid points. Several contour following experiments were conducted with a two-link robot to demonstrate the effectiveness of the proposed approach. Experimental results indicate that the proposed approach is feasible.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117178284","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
Estimating the 3D orientation of a microgripper by processing the focus data from the images delivered by a videomicroscope 通过处理视频显微镜提供的图像的焦点数据来估计微夹持器的三维方向
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669181
G. Fortier, B. Tamadazte, S. Dembélé, N. L. Fort-Piat
{"title":"Estimating the 3D orientation of a microgripper by processing the focus data from the images delivered by a videomicroscope","authors":"G. Fortier, B. Tamadazte, S. Dembélé, N. L. Fort-Piat","doi":"10.1109/ROSE.2008.4669181","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669181","url":null,"abstract":"Visual servoing is a key technique to automate microassembly tasks since videomicroscope is widely use to recovery informations about the scene. The parts as well as the gripper should be tracked in the images which do not deliver a complete focused view of the objects because of the weakness of the depth-of-field. The paper investigates the problem of computing the 3D orientation of a rigid body by analysing the focus data extracted from the images of a videomicroscope. The solution is based on the shape-from-focus approach. But the modelling stage is simplified, instead of performing a 3D modelling, a 1D modelling is achieved which enables the estimation of the 3D orientation of the object. The concept is applied with success to the tips (70 mum width and 1500 mum length) of a gripper imaged by a 10times videomicroscope.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134083819","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
Inter-task communication and synchronization in the hard real-time compact kernel HARETICK 硬实时压缩内核HARETICK中的任务间通信与同步
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669174
M. Micea, C. Certejan, V. Stangaciu, R. Cioarga, V. Cretu, E. Petriu
{"title":"Inter-task communication and synchronization in the hard real-time compact kernel HARETICK","authors":"M. Micea, C. Certejan, V. Stangaciu, R. Cioarga, V. Cretu, E. Petriu","doi":"10.1109/ROSE.2008.4669174","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669174","url":null,"abstract":"HARETICK is a hard real-time compact operating kernel designed specifically to support critical applications on DSP and embedded platforms including intelligent sensor networks and robotic environments. It provides operating support for both hard real-time and soft/non real-time tasks. The hard real-time task execution context is based on non-preemptive mechanisms. This paper focuses on the inter-task communication and synchronization techniques involving the two types of tasks previously mentioned. As a case study, a highly predictable synchronous serial communication (i.e., SPI) interface implemented on an ARM7-based HARETICK platform, is presented and discussed, along with some of the most interesting experimental results.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129312102","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
Towards a mouth gesture based laparoscope camera command 基于口型的腹腔镜摄像头指令
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669177
Juan B. Gómez, F. Prieto, T. Redarce
{"title":"Towards a mouth gesture based laparoscope camera command","authors":"Juan B. Gómez, F. Prieto, T. Redarce","doi":"10.1109/ROSE.2008.4669177","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669177","url":null,"abstract":"In this paper a method for the automatic command of three degrees of freedom of a robot using mouth gestures is presented. The method uses a normalized version of the a component from the CIELAB color space in order to detect the mouth region and to segment the mouth structures. A set of features extracted from the segmented regions serve to model a set of activation signals, who control the transitions between states in a state machine that translates gestures into actions. Results and conclusions of the behavior of the system are presented.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124572922","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
Design of Fast Steering Mirror systems for precision laser beams steering 用于精密激光束转向的快速转向镜系统设计
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669196
Qingkun Zhou, P. Ben-Tzvi, D. Fan, A. Goldenberg
{"title":"Design of Fast Steering Mirror systems for precision laser beams steering","authors":"Qingkun Zhou, P. Ben-Tzvi, D. Fan, A. Goldenberg","doi":"10.1109/ROSE.2008.4669196","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669196","url":null,"abstract":"Precision laser beam steering is critical in numerous applications, such as military, biomedical and industrial. Precise pointing of laser beams is particularly essential in challenging environments. The optical signal may break and wander due to environmental influences. The core problem of steering performances is to deal with the jitter disturbance. Based on the analysis of principle of angle beam steering system, some important factors to design the structure of fast steering mirror (FSM) and the layout of laser optics steering system are presented. In laser beam applications, FSM presents more challenges in terms of the need for extremely precise pointing between two sources involved in the link. Flexure hinges with compliant mechanisms, with several advantages over classical rotational joints, are used to build the FSM structure. In precise laser beam steering it is necessary to steer a laser beam to a target and maintain the alignment with extreme precision over long periods of time. To make the system effective, a 4-quadrant detector has been used as the sensor for the incoming light. A design of the developed control loop and concepts for the experimental setup are discussed. A laser beam jitter control test bed is also introduced to improve jitter control techniques.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116505093","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: 49
Emergent exploration and resource gathering in collaborative robotic environments 协作机器人环境下的突发探索与资源收集
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669173
R. Cioarga, Iuliana Nalatan, Sergiu Tura-Bob, M. Micea, V. Cretu, M. Biriescu, V. Groza
{"title":"Emergent exploration and resource gathering in collaborative robotic environments","authors":"R. Cioarga, Iuliana Nalatan, Sergiu Tura-Bob, M. Micea, V. Cretu, M. Biriescu, V. Groza","doi":"10.1109/ROSE.2008.4669173","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669173","url":null,"abstract":"The last years demonstrated a significant increase in the interest for emergent, collaborative robotics as a viable alternative to the more centralized classic approach. The design and implementation of a system of numerous cheaper robots have become more attractive than the construction of a larger, more expensive robot. This paper describes the algorithm which is used by a collaborative system of autonomous robots to find food sources (resources) on an unknown territory. As a case study, the implementations of this algorithm using a robotic collective composed of LEGO Mindstorm robots is discussed in this article. Some of the more interesting experimental results are also presented.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114835213","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
An auto-load-balancing ALOHA system for wireless ad hoc and sensor networks 用于无线自组织和传感器网络的自动负载平衡ALOHA系统
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669184
J. Sarker, H. Mouftah
{"title":"An auto-load-balancing ALOHA system for wireless ad hoc and sensor networks","authors":"J. Sarker, H. Mouftah","doi":"10.1109/ROSE.2008.4669184","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669184","url":null,"abstract":"A new random access system, like ALOHA, is presented in this paper, where each mobile node will either be in a transmitting mode, in a receiving mode or in an idle mode. Results show that the traffic load is independent of the number of nodes, and can be controlled by controlling the transmitting probability, receiving probability and idle mode probability of each mobile node. Certainly, the presented access scheme is suitable for ad hoc and sensor networks, where mobile nodes are transmitting and receiving signals among each other without any central entity, and the number of mobile nodes within operating range cannot be controlled. The system is studied in terms of node transmitting probability, node receiving probability and node idle probability.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123753984","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
Towards a model and specification for visual programming of massively distributed embedded systems 面向大规模分布式嵌入式系统可视化编程的模型与规范
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669185
M. Wang, Varun Subramanian, A. Doboli, D. Curiac, D. Pescaru
{"title":"Towards a model and specification for visual programming of massively distributed embedded systems","authors":"M. Wang, Varun Subramanian, A. Doboli, D. Curiac, D. Pescaru","doi":"10.1109/ROSE.2008.4669185","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669185","url":null,"abstract":"Massively distributed embedded systems are rapidly emerging as a key concept for many modern applications. However, providing efficient and scalable decision making capabilities to such systems is currently a significant challenge. This paper proposes a model and a specification language to allow automated synthesis of distributed controllers, which implement and interact through formalisms of different semantics. The paper refers to a case study to illustrate the main capabilities of the proposed concept.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125434913","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
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