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2008 International Workshop on Robotic and Sensors Environments最新文献

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Feature selection for a real-time vision-based food inspection system 基于实时视觉的食品检测系统特征选择
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669192
M. M. Chetima, P. Payeur
{"title":"Feature selection for a real-time vision-based food inspection system","authors":"M. M. Chetima, P. Payeur","doi":"10.1109/ROSE.2008.4669192","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669192","url":null,"abstract":"In a world where automation of processes is more and more on demand, machine vision is continuously explored to address several industrial problems such as quality inspection. In the processed-food industry where the external quality attributes of the product are inspected visually before the packaging line, machine vision systems often involve the extraction of a larger number of features than those actually needed to ensure proper quality control. This work experiments with several feature selection techniques in order to reduce the number of attributes analyzed by a real-time vision-based food inspection system. Four filter-based and wrapper-based feature selectors are evaluated on seeded buns and tortillas datasets. Experimental results show that consistency-based and the RELIEF subset evaluation techniques perform the best for all the considered datasets in terms of accuracy. However, variations in the number of attributes selected still vary significantly between these techniques.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"17 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":"114165948","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
Minimum set of feedback sensors for high performance decentralized cooperative force control of redundant manipulators 基于最小反馈传感器的冗余机械手高性能分散协同力控制
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669191
D. Navarro-Alarcon, Vicente Parra‐Vega, E. O. Díaz
{"title":"Minimum set of feedback sensors for high performance decentralized cooperative force control of redundant manipulators","authors":"D. Navarro-Alarcon, Vicente Parra‐Vega, E. O. Díaz","doi":"10.1109/ROSE.2008.4669191","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669191","url":null,"abstract":"Manipulation tasks by humans require a variety of biological sensors, from visual, kinesthetic, contact, pressure, temperature, etc., as well as lots of involved degrees of freedom, conforming a highly redundant biomechanical system. Besides such sensorpsilas network and the unmatched brain power of humans to carry out this task, biomechanical redundancy is a key issue to solve whether we want to transfer this ability on mechanical robots. A much simpler version of a human manipulation task is a cooperative robotic task, which has been mastered by experimental robots at some degree. In this case, the question is whether robots can achieve high performance (fast, accurate and robust tracking without complete knowledge of system dynamics) for this cooperative task using only sensors based on the Newtonian dynamics (encoders, tachometers and force sensors). In this paper, we find a positive answer to this question provided that precise redundancy resolution is introduced, otherwise an intelligent sensor networks is required. Simulation results of representative cooperative tasks employing 7 degrees of freedom manipulators illustrate this concept and further discussions are presented.","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":"130478508","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
Positioning accuracy improvement of a vision-based optical fiber alignment stage powered by a Piezo-Actuator 压电致动器驱动的基于视觉的光纤对准台定位精度的提高
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669183
Chun-Ming Wen, M. Cheng
{"title":"Positioning accuracy improvement of a vision-based optical fiber alignment stage powered by a Piezo-Actuator","authors":"Chun-Ming Wen, M. Cheng","doi":"10.1109/ROSE.2008.4669183","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669183","url":null,"abstract":"Optical fiber communication has become mainstream in wired communication due to its low attenuation, low cost, and high bandwidth. However, optical fiber is light and thin, which makes the coupling procedure between fibers and optoelectronic components very complex and difficult. To maintain high transmission quality, it is imperative to develop a high-precision alignment technique for optical fiber fabrication. In this paper, a vision-based optical fiber alignment stage powered by a piezo-actuator (PEA) is proposed. The tracking performance of PEA is limited due to its inherent hysteretic nonlinearity and time varying parameters. In order to cope with this problem, a feedforward compensator based on a cerebellar model articulation controller (CMAC) combined with a PI feedback controller is developed to eliminate the effects of hysteresis. Multi-rate control is used to deal with the vision latency problem. Experimental results show that the proposed approach shows satisfactory performance.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"13 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":"129283392","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
A multiscale calibration of a photon video microscope for visual servo control: Application to micromanipulation 用于视觉伺服控制的光子视频显微镜的多尺度标定:在显微操作中的应用
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669176
B. Tamadazte, S. Dembélé, N. L. Fort-Piat
{"title":"A multiscale calibration of a photon video microscope for visual servo control: Application to micromanipulation","authors":"B. Tamadazte, S. Dembélé, N. L. Fort-Piat","doi":"10.1109/ROSE.2008.4669176","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669176","url":null,"abstract":"Since many years the need of automated microassembly systems i.e. systems to assembly micrometric parts, MEMS (Micro-Electro-Mechanical Systems) , MOEMS (Micro-Opto-Electro-Mechanical Systems) etc., becomes more and more necessary because of the development of micro components based products. The corresponding tasks (supervision, control, quality inspection, ...) involve accurate metric measurements from images. The main image source is the photon videomicroscope whose features are the weakness of the depth-of-field and that of the field-of-view. The paper deals with the modelling and calibration of that kind of imaging system. A multiscale calibration paradigm is proposed and validated by means of a commercial video microscope. The model is derived from the usual perspective model. The latter is simplified by considering a single scale factor and then the link between the zoom and that scale factor is established. The calibration is performed through a virtual pattern made by tracking a silicon micro part in the images of the scene. The final error between the projection of a pixel and its model is about 1.45 pixel indicating the accuracy of the approach. At the end, the model is used to perform a visual servoing whose purpose is the aligning and centering of a micropart with a gripper.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"108 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":"126072937","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: 13
Dynamic modeling of a rotating beam having a tip mass 具有尖端质量的旋转梁的动力学建模
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669180
Shengjian Bai, P. Ben-Tzvi, Qingkun Zhou, Xinsheng Huang
{"title":"Dynamic modeling of a rotating beam having a tip mass","authors":"Shengjian Bai, P. Ben-Tzvi, Qingkun Zhou, Xinsheng Huang","doi":"10.1109/ROSE.2008.4669180","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669180","url":null,"abstract":"This paper presents a dynamic model of a flexible hub-beam system with a tip mass. With the consideration of the second-order term of the coupling deformation field, dynamic equations of the flexible hub-beam system are developed by using assumed mode method (AMM) and Lagrangian principle. The corresponding dynamics model of the tip mass is developed in a consistent manner. Numerical simulations and Theoretical analysis show that the second-order term has a significant effect on the dynamic characteristics of the system and the dynamic stiffening is accounted for. The effect of tip mass on dynamic behavior of the multibody system is also discussed.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"2023 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":"127609922","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
Cooperation in a swarm of robots using RFID landmarks 一群使用RFID地标的机器人之间的合作
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669171
Giulio Zecca, P. Couderc, M. Banâtre, R. Beraldi
{"title":"Cooperation in a swarm of robots using RFID landmarks","authors":"Giulio Zecca, P. Couderc, M. Banâtre, R. Beraldi","doi":"10.1109/ROSE.2008.4669171","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669171","url":null,"abstract":"In a world that is giving prominence to ubiquitous computing, a classical standalone robot, though as complex, specialised and efficient as it may be, is not suitable for a distributed environment. The aim is to have knowledge and computing power diffused in the environment, exploiting the collaboration of simple, flexible and cost-effective robots. Collective intelligence increases when each one communicates basic information about its local state, to update the global knowledge. An open research problem is the cooperation among multiple entities in a distributed environment. Our proposal is to have robots with low capabilities that can learn information and instructions from on-site RFID landmarks to place themselves in formation, synchronise with other robots in the area, and finally carry out a cooperative task.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"20 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":"114196822","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
Fish shoal inspired movement in robotic collectives 鱼群启发了机器人集体的运动
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669172
R. Cioarga, Bogdan Panus, C. Oancea, M. Micea, V. Cretu, E. Petriu
{"title":"Fish shoal inspired movement in robotic collectives","authors":"R. Cioarga, Bogdan Panus, C. Oancea, M. Micea, V. Cretu, E. Petriu","doi":"10.1109/ROSE.2008.4669172","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669172","url":null,"abstract":"Robotic collectives are used for the efficient achievement of complex tasks. There is a significant increase in the interest for emergent, collaborative robotics as a viable alternative to the more centralized classic approach as the dimensions, energy consumption and especially price are becoming required constraints. This paper describes a nature inspired algorithm intended for the movement and communication of such robotic collectives. As a case study, the implementation of the emergent algorithm on a system consisting of LEGO Mindstorm Robots is further discussed along with some of the most interesting experimental results.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"8 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":"128681035","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
Robust pseudo-random coded colored structured light technique for 3D object model recovery 三维物体模型恢复的鲁棒伪随机编码彩色结构光技术
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669197
A. Kazantsev, E. Petriu
{"title":"Robust pseudo-random coded colored structured light technique for 3D object model recovery","authors":"A. Kazantsev, E. Petriu","doi":"10.1109/ROSE.2008.4669197","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669197","url":null,"abstract":"The paper discusses a new robust technique for the recovery of pseudo-random coded colored structured light patterns projected on 3D objects in uncooperative colored environments. It uses an iterative grid coloring algorithm that systematically shifts the colors assigned to the PRMVS symbols in order to increase the probability to visually recover elements of the grid projected on multi-colored 3D objects.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"27 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":"121860091","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: 11
Predictable data communication interface for hard real-time systems 用于硬实时系统的可预测数据通信接口
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669188
M. Micea, Gabriel N. Carstoiu, Lucian Ungurean, D. Chiciudean, V. Cretu, V. Groza
{"title":"Predictable data communication interface for hard real-time systems","authors":"M. Micea, Gabriel N. Carstoiu, Lucian Ungurean, D. Chiciudean, V. Cretu, V. Groza","doi":"10.1109/ROSE.2008.4669188","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669188","url":null,"abstract":"This paper presents a data communication interface specifically designed to sustain the predictable operation of hard real-time systems. The general interface architecture, data format and communication protocols are discussed, along with a case study - the full-duplex SPI (serial peripheral interface) for the HARETICK kernel. Some of the most interesting experimental results are also presented.","PeriodicalId":331909,"journal":{"name":"2008 International Workshop on Robotic and Sensors Environments","volume":"32 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":"115156680","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
Bipedal modeling and decoupled optimal control design of biomechanical sit-to-stand transfer 生物力学坐立转换的两足建模与解耦优化控制设计
2008 International Workshop on Robotic and Sensors Environments Pub Date : 2008-11-07 DOI: 10.1109/ROSE.2008.4669179
A. Mughal, K. Iqbal
{"title":"Bipedal modeling and decoupled optimal control design of biomechanical sit-to-stand transfer","authors":"A. Mughal, K. Iqbal","doi":"10.1109/ROSE.2008.4669179","DOIUrl":"https://doi.org/10.1109/ROSE.2008.4669179","url":null,"abstract":"We present the development of a 3D bipedal robotic model with thirteen generalized coordinates, and decoupled optimal controller design for the control of biomechanical sit-to-stand (STS) transfer. The non-linear model developed in Maple DynaFlexPro environment has three frontal and seven sagittal degrees of freedom (DOF). Three holonomic constraints ensure stationary foot placement during performance of the STS task. The controller design proceeds by decoupling the constrained and unconstrained DOF. We propose H2 and Hinfin optimal control designs for feedback control of joint torques in the constrained and unconstrained planes, respectively. We provide analytical and computer simulation results to show the applicability and performance of the decoupling controller for the control of STS task.","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":"129202663","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: 14
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