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2009 4th International Conference on Autonomous Robots and Agents最新文献

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Feature correspondence finding with vertical cylinder and epipolar geometry for indoor environments 特征对应寻找与垂直圆柱体和极几何的室内环境
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803974
Yu-Fen Fu, Tien-Ruey Hsiang, Sheng-Luen Chung
{"title":"Feature correspondence finding with vertical cylinder and epipolar geometry for indoor environments","authors":"Yu-Fen Fu, Tien-Ruey Hsiang, Sheng-Luen Chung","doi":"10.1109/ICARA.2000.4803974","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803974","url":null,"abstract":"We introduce an improved approach, called FCVC, that finds accurate matches from two related images of indoor environments by matching corresponding vertical cylinders of features, then retrieves more matches by epipolar geometry. Feature matching is a critical technique for many vision-based applications. However, since the preliminary matching results obtained by SIFT sometimes are not accurate enough, and therefore, post processing methods, like RANSAC, have been proposed to increase the correctness of feature mappings. As RANSAC iteratively selects partial matches from preliminary matches and recovers the epipolar geometry to find correct matches, our method first finds accurate matches in vertical cylinders, based on three consistency properties which are common while two images are taken on a flat floor: (1) altitudinal order, (2) composition of features for each vertical cylinder, and (3) horizontal order of all vertical cylinders. Once some accurate matches are acquired, the epipolar geometry is recovered to retrieve matches that are not grouped into any vertical cylinder previously. Experiments in different indoor environments reveal that the proposed FCVC in general spends at most 6% of the time required by RANSAC, has at least 71% of the number of matches obtained by RANSAC, and yet with accuracy rate similar to that of RANSAC.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"139 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126057101","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
Development of an amphibious robotic propulsor based on electroactive polymers 基于电活性聚合物的水陆两栖机器人推进器研制
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803946
L. A. Hirano, L. Martins-Filho, R. O. Duarte, José Fernando de Paiva
{"title":"Development of an amphibious robotic propulsor based on electroactive polymers","authors":"L. A. Hirano, L. Martins-Filho, R. O. Duarte, José Fernando de Paiva","doi":"10.1109/ICARA.2000.4803946","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803946","url":null,"abstract":"This paper presents the project of a robotic device for propulsion in aquatic environment. The propulsor is a biologically inspired system characterized by efficiency and flexibility for locomotion environment changing: the legs of anuran amphibious. These animals are exceptionally adapted to locomotion in water and land. This type of locomotion requires specific features of the mechanisms that are hardly provided by traditional solutions based on standard electric motors. The proposed approach is based on ionomeric polymers-metal composites drives, constituting a system commonly called artificial muscle. The paper presents the anuran locomotion modeling, a description of the electroactive polymers, the experimental production procedures and results, and also discusses some constructive aspects of a first device prototype.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121141897","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: 6
Cooperative multi-agent mapping and exploration in Webots® Webots®中的协作多智能体映射和探索
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803950
Adele F. Scott, Changbin Yu
{"title":"Cooperative multi-agent mapping and exploration in Webots®","authors":"Adele F. Scott, Changbin Yu","doi":"10.1109/ICARA.2000.4803950","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803950","url":null,"abstract":"This paper addresses the problem of mapping and exploration of an unknown space by cooperative multi-agent systems. The exploration problem is extended to jointly covering an area n times. Agents are localised and can communicate with other agents. A probability based mapping algorithm is developed. Based upon this, a potential field based exploration algorithm is proposed, with three sample charge profiles that can be used for different mission requirements. Simulation results in Webots confirm the scalability and the effectiveness of these algorithms. This research justifies and prepares for a full trial in a multi-robot testbed.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125256969","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: 17
Control and measurement device for under water tidal flow power generation 水下潮汐发电控制与测量装置
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803969
I. Al-Bahadly, Paul G. Pinfold
{"title":"Control and measurement device for under water tidal flow power generation","authors":"I. Al-Bahadly, Paul G. Pinfold","doi":"10.1109/ICARA.2000.4803969","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803969","url":null,"abstract":"This paper introduces a measurement and control device for an under water tidal flow power generator. There are a number of designs for under water tidal flow turbine. One concept being considered is to have a vertical axis turbine with funnels of both sides to direct and concentrate the flow of water onto the turbine. To test this concept we are building a test device that varies the angle on one funnel and measures the power to find the angle that maximises the power. The aim is to develop the control system of the test device to measure the power and conditions of the turbine at different funnel opening angles.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131131815","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
Design and development of an automated band wrapper robot for grapevine pest control 葡萄害虫控制自动化缠绕机器人的设计与开发
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803971
Todd Lee, S. Hudson, J. Chang
{"title":"Design and development of an automated band wrapper robot for grapevine pest control","authors":"Todd Lee, S. Hudson, J. Chang","doi":"10.1109/ICARA.2000.4803971","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803971","url":null,"abstract":"With a view toward enhancing pest control and achieving organic requirements in wine industry, development of a prototypical autonomous vehicle that automatically applies a band barrier on grapevine is detailed in this paper. A novel band wrapper mechanism is proposed in this work. The band wrapper serving as the carrier for pest control is applied by the vehicle's six-degree-of-freedom articulator real-time controlled through classical inverse kinematics. It is found in the laboratory that the automated band wrapper robot can successfully detect a rod-like object and optimally place the band wrapper on the desired location for pest control.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130336887","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
Satellite selection algorithm for combined GPS-Galileo navigation receiver GPS-Galileo联合导航接收机的卫星选择算法
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803918
X. Bo, Bingjun Shao
{"title":"Satellite selection algorithm for combined GPS-Galileo navigation receiver","authors":"X. Bo, Bingjun Shao","doi":"10.1109/ICARA.2000.4803918","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803918","url":null,"abstract":"In the future, integrated GPS-Galileo Navigation Satellite System will expand its applications in many fields. For space robots, it will provide high accuracy and real-time navigation service. As it is well-known, the integrated system will provide twice and more satellites than individual system. Therefore, selecting appropriate satellites from the combined constellation is a very important aspect. Using a reasonable and fast algorithm to select satellites would have a favor to precise and real-time navigation. Integrated GPS-Galileo is a mixed-constellation navigation system consisting of satellites of two different types. Taking the different satellites have different range errors into account, we choose the Weighted Geometric Dilution of Precision (WGDOP) instead of Geometric Dilution of Precision (GDOP) as the optimal satellite selection criteria and propose the new satellite selection criteria-WGDOP minimum algorithm for the combined GPS-Galileo navigation receiver. The algorithm makes full use of available information to select the optimal satellites for navigation solution. And the selection algorithm is simulated and validated by a software simulation. The results show that the WGDOP minimum criteria can more accurately reflect the performance of combined constellation and evaluate the positioning accuracy. And also it can improve the navigation accuracy and reduce the measurement error.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124886364","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: 28
A four step design procedure for an improved fuzzy crane control 改进的模糊起重机控制的四步设计程序
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803987
A. Assa, A. Raie, Anahid Attar Kashani, S. Gorji, M. Naraghi
{"title":"A four step design procedure for an improved fuzzy crane control","authors":"A. Assa, A. Raie, Anahid Attar Kashani, S. Gorji, M. Naraghi","doi":"10.1109/ICARA.2000.4803987","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803987","url":null,"abstract":"Fast transportation of the loads without unintentional load sway has become a regular problem with cranes. Any improvement in the time of load transportation leads to higher rate of load accommodation and thus lower costs. In this paper, a four step process is taken to design an optimized fuzzy controller independent and free of any large and expensive computer help. Such a controller can suppress the load sway faster compared to previous reported results of fuzzy crane controls. The proficiency of this controller is confirmed through experimental results.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124716088","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
Fast vertical-pose-invariant face recognition module for intelligent robot guard 面向智能机器人警卫的快速垂直姿态不变人脸识别模块
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803941
Zong X. Lin, Weicheng Yang, Chian C. Ho, Chin-Song Wu
{"title":"Fast vertical-pose-invariant face recognition module for intelligent robot guard","authors":"Zong X. Lin, Weicheng Yang, Chian C. Ho, Chin-Song Wu","doi":"10.1109/ICARA.2000.4803941","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803941","url":null,"abstract":"Based on a semi-3D cuboid face model, this paper proposes a simple but practical preprocessing method to recover the vertical pose variation for the face recognition module of the intelligent robot guard. The proposed Fast Semi-3D Vertical Pose Recovery method evaluates the angle of the vertical pose variation simply from a single 2D image view and thereby recovers the vertical-rotated face to the nearly frontal view. Consequently, the recovered face image can be identified by the original face recognition module more precisely and effectively. In the experiment, this paper adopts Gabor Wavelet transform as the feature extraction core of the original face recognition module. Experimental results show the proposed method can significantly raise both recognition accuracy and recognition confidence of the face recognition module under various vertical pose conditions.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128241334","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
Distance measurement based on pixel variation of CCD images 基于CCD图像像素变化的距离测量
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803985
C. Hsu, Ming-Chih Lu, K. Chin
{"title":"Distance measurement based on pixel variation of CCD images","authors":"C. Hsu, Ming-Chih Lu, K. Chin","doi":"10.1109/ICARA.2000.4803985","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803985","url":null,"abstract":"This paper presents a distance measurement method based on pixel number variation of images for digital cameras by referencing to two arbitrarily designated points in image frames. Based on an established relationship between the displacement of the camera movement along the photographing direction and the difference in pixel counts between reference points in the images, distance from an object can be calculated via the proposed method. To integrate the measuring functions into digital cameras, circuit design implementing the proposed measuring system in selecting reference points, measuring distance, and displaying measurement results on CCD panel of the digital camera is proposed in this paper. In comparison to pattern recognition or image analysis methods, the proposed measuring approach is simple and straightforward for practical implementation into digital cameras. Experiment results have demonstrated that the proposed method is capable of yielding satisfactory measurement results in a very responsive way.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131209476","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
Two legged robot design , simulation and realization 两足机器人的设计、仿真与实现
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803964
N. A. Patel, Shikhar Pradhan, K. Shah
{"title":"Two legged robot design , simulation and realization","authors":"N. A. Patel, Shikhar Pradhan, K. Shah","doi":"10.1109/ICARA.2000.4803964","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803964","url":null,"abstract":"This paper introduces a systematic approach to design and realize a two-legged robot. Design and system configuration of a two legged robot are explained in detail. Development process of the robot has been divided in to three phases, (1) Design (2) Verification and (3) Realization, while robot's architecture consists of three subsystems, (1) Mechanical subsystem (2) Electronics subsystem and (3) Software subsystem. Each of these subsystem is explained in detail. During design phase mechanical and electronic subsystems of the robot have been designed, design of mechanical subsystem focuses on identifying actuation mechanism and material to be used for links, stepper motors have been chosen as actuators to reduce control mechanism complexity. Design of electronics subsystem focuses on identifying appropriate mechanism to control each actuator and providing interface to software subsystem, for controlling each stepper motor, controller A-3982 from Allegro Microsystems while to control each stepper motor controller, microcontroller AT89S52 from Atmel has been selected. In verification phase by using simulator(part of software subsystem) each subsystem has been verified for desired requirements and performance. From simulation results it is confirmed that robot will be able to walk. Realization of the physical robot is under progress.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128020090","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
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