The traditional automated guided vehicle(AGV) on goods delivery faces the challenges when task space expands beyond 2 D plans. 3 D environments such as uneven terrain, ramps, and staircase are typical in construction ...The traditional automated guided vehicle(AGV) on goods delivery faces the challenges when task space expands beyond 2 D plans. 3 D environments such as uneven terrain, ramps, and staircase are typical in construction site. Thus, the key to introducing this technology into construction industry is to improve AGV’s stability and autonomous navigation ability in more complex three-dimensional environments. In this paper, mobileman, a novel tracked autonomous guide vehicle, is introduced. Compared with other construction robots, mobileman maximizes its load capacity on the basis of assuring accessibility. Furthermore, its modular designs and self-balancing platform enable it to cope with more complex challenging scenarios, such as staircase with 35-degree sloped staircase, while another modular design featured automated loading and unloading functionality. The mobile base specifications were presented in section two, and modular designs and exploration of the navigation system on construction site were illustrated in the rest of sections.展开更多
In recent years, some researchers have tried to find a way to improve the surgical identification of the lymphatic drainage routes and lymph node stations during radical gastrectomy, thus starting a new research front...In recent years, some researchers have tried to find a way to improve the surgical identification of the lymphatic drainage routes and lymph node stations during radical gastrectomy, thus starting a new research frontier in this field called ＂navigation surgery＂. Among the different reported solutions, the introduction of the indocyanine green （ICG） has drawn attention for its characteristics, a fluorescence dye that can be detected in the near infrared spectral band （NIR）. A fluorescence imaging technology has been integrated in the latest version of the Da Vinci robotic system and surgeons have extensively reported their experiences in colorectal and hepato-biliary surgery for tumors, vascular and lymphatic structures visualization. However, up to date, the combined use of fluorescence imaging and robotic technology has not been adequately investigated during lymphadenectomy in gastric cancer.展开更多
Mobile robot has been one of the researches focuses in this era due to the demands in automation.Many industry players have been using mobile robot in their industrial plant for the purpose of reducing manual labour a...Mobile robot has been one of the researches focuses in this era due to the demands in automation.Many industry players have been using mobile robot in their industrial plant for the purpose of reducing manual labour as well as ensuring more efficient and systematic process.The mobile robot for industrial usage is typically called as Automated Guided Vehicle(AGV).The advances in the navigation technology allows the AGV to be used for many tasks such as for carrying load to pre-determined locations sent from mobile app,stock management and pallet handling.More recently,the concept of Industry 4.0 has been widely practiced in the industries,where important process data are exchange over the internet for an improved management.This paper will therefore discuss the development of Internet of Things(IoT)bases mobile robot for AGV application.In this project a mobile robot platform is designed and fabricated.The robot is controlled to navigate from one location to another using line following mechanism.Mobile App is designed to communicate with the robot through the Internet of Things(IoT).RFID tags are used to identify the locations predetermined by user.The results show that the prototype is able to follow line and go to any location that was preregistered from the App through the IoT.The mobile robot is also able to avoid collision and any obstacles that exist on its way to perform any task inside the workplace.展开更多
Using step pattern match technology with variational resolution can recognize the position and orientation of the weld seam in the image. According to using the image segmentation method based on pattern match, not on...Using step pattern match technology with variational resolution can recognize the position and orientation of the weld seam in the image. According to using the image segmentation method based on pattern match, not only advanced the speed and anti-jamming capability, but also captured the edge information of the weld seam and the edge of the workpiece, and the image coordinate of the initial welding position can be obtained. The matrix for hand-eye relationship of the robot can be calculated by adopting the rapid calculation method. According to the depth calculating principle with the special point matching using binocular stereovision, the initial welding position can be confirmed by calculating the middle point of the perpendicular line of two radials in the space, and the function to guide the welding robot to the initial welding position can be realized.展开更多
A method is put forward to realize the recognition and guiding of initial welding position. The weld seams are marked with black lines, which simplify the computational complexity of image processing greatly. A two-ti...A method is put forward to realize the recognition and guiding of initial welding position. The weld seams are marked with black lines, which simplify the computational complexity of image processing greatly. A two-time template matching method has been advanced to search for the target point, which is simple and has higher calculation speed. According to the depth computing principle with the special point matching using binocular stereovision, the initial welding position can be confirmed by calculating the middle point of the perpendicular line of two radials in the space. Taking the welding of propellant fuel container for example, good results are obtained with the algorithms. Finally, similar method for terminating welding position is also advanced.展开更多
A dual operational modes mobile robot system based on visual guiding and visual servo control is presented. This system consists of a mobile robot with a two-axis manipulator and a tele-operation station. In the visua...A dual operational modes mobile robot system based on visual guiding and visual servo control is presented. This system consists of a mobile robot with a two-axis manipulator and a tele-operation station. In the visual guiding mode, for the robot works in an open loop visual servo control mode, the manipulating burden of the operator is reduced largely. In the visual servo mode the robot can locate the position of the target assigned by the operator and pick it up by its manipulator. With the help of the operator, the diffieuh problems of finding and handling a target in a complicated environment by the robot can be solved easily.展开更多
This paper proposes a continuous cognitive emotional regulation model for robot in the case of external emotional stimulus from interactive person's expressions. It integrates a guiding cognitive reappraisal strat...This paper proposes a continuous cognitive emotional regulation model for robot in the case of external emotional stimulus from interactive person's expressions. It integrates a guiding cognitive reappraisal strategy into the HMM(Hidden Markov Model) emotional interactive model for empathizing between robot and person. The emotion is considered as a source in the 3D space(Arousal, Valence, and Stance). State transition and emotion intensity can be quantitatively analyzed in the continuous space. This cognition-emotion interactive model have been verified by the expression and behavior robot. Empathizing is the main distinguishing feature of our work, and it is realized by the emotional regulation which operated in a continuous 3D emotional space enabling a wide range of intermediate emotions. The experiment results provide evidence with acceptability, accuracy, richness, fluency, interestingness, friendliness and exaggeration that the robot with cognition and emotional control ability could be better accepted in the human-robot interaction(HRI).展开更多
文摘The traditional automated guided vehicle(AGV) on goods delivery faces the challenges when task space expands beyond 2 D plans. 3 D environments such as uneven terrain, ramps, and staircase are typical in construction site. Thus, the key to introducing this technology into construction industry is to improve AGV’s stability and autonomous navigation ability in more complex three-dimensional environments. In this paper, mobileman, a novel tracked autonomous guide vehicle, is introduced. Compared with other construction robots, mobileman maximizes its load capacity on the basis of assuring accessibility. Furthermore, its modular designs and self-balancing platform enable it to cope with more complex challenging scenarios, such as staircase with 35-degree sloped staircase, while another modular design featured automated loading and unloading functionality. The mobile base specifications were presented in section two, and modular designs and exploration of the navigation system on construction site were illustrated in the rest of sections.
文摘In recent years, some researchers have tried to find a way to improve the surgical identification of the lymphatic drainage routes and lymph node stations during radical gastrectomy, thus starting a new research frontier in this field called ＂navigation surgery＂. Among the different reported solutions, the introduction of the indocyanine green （ICG） has drawn attention for its characteristics, a fluorescence dye that can be detected in the near infrared spectral band （NIR）. A fluorescence imaging technology has been integrated in the latest version of the Da Vinci robotic system and surgeons have extensively reported their experiences in colorectal and hepato-biliary surgery for tumors, vascular and lymphatic structures visualization. However, up to date, the combined use of fluorescence imaging and robotic technology has not been adequately investigated during lymphadenectomy in gastric cancer.
文摘Mobile robot has been one of the researches focuses in this era due to the demands in automation.Many industry players have been using mobile robot in their industrial plant for the purpose of reducing manual labour as well as ensuring more efficient and systematic process.The mobile robot for industrial usage is typically called as Automated Guided Vehicle(AGV).The advances in the navigation technology allows the AGV to be used for many tasks such as for carrying load to pre-determined locations sent from mobile app,stock management and pallet handling.More recently,the concept of Industry 4.0 has been widely practiced in the industries,where important process data are exchange over the internet for an improved management.This paper will therefore discuss the development of Internet of Things(IoT)bases mobile robot for AGV application.In this project a mobile robot platform is designed and fabricated.The robot is controlled to navigate from one location to another using line following mechanism.Mobile App is designed to communicate with the robot through the Internet of Things(IoT).RFID tags are used to identify the locations predetermined by user.The results show that the prototype is able to follow line and go to any location that was preregistered from the App through the IoT.The mobile robot is also able to avoid collision and any obstacles that exist on its way to perform any task inside the workplace.
文摘Using step pattern match technology with variational resolution can recognize the position and orientation of the weld seam in the image. According to using the image segmentation method based on pattern match, not only advanced the speed and anti-jamming capability, but also captured the edge information of the weld seam and the edge of the workpiece, and the image coordinate of the initial welding position can be obtained. The matrix for hand-eye relationship of the robot can be calculated by adopting the rapid calculation method. According to the depth calculating principle with the special point matching using binocular stereovision, the initial welding position can be confirmed by calculating the middle point of the perpendicular line of two radials in the space, and the function to guide the welding robot to the initial welding position can be realized.
基金This project is supported by National Natural Science Foundation of China(No.60474036) and Shanghai Municipal Science and Technology CommitteeFoundation, China (No.021111116).
文摘A method is put forward to realize the recognition and guiding of initial welding position. The weld seams are marked with black lines, which simplify the computational complexity of image processing greatly. A two-time template matching method has been advanced to search for the target point, which is simple and has higher calculation speed. According to the depth computing principle with the special point matching using binocular stereovision, the initial welding position can be confirmed by calculating the middle point of the perpendicular line of two radials in the space. Taking the welding of propellant fuel container for example, good results are obtained with the algorithms. Finally, similar method for terminating welding position is also advanced.
基金Supported by the National High Technology Research and Development Program of China （No. 2003AA421030） and the National Science Foundation of China （No. 60375026）.
文摘A dual operational modes mobile robot system based on visual guiding and visual servo control is presented. This system consists of a mobile robot with a two-axis manipulator and a tele-operation station. In the visual guiding mode, for the robot works in an open loop visual servo control mode, the manipulating burden of the operator is reduced largely. In the visual servo mode the robot can locate the position of the target assigned by the operator and pick it up by its manipulator. With the help of the operator, the diffieuh problems of finding and handling a target in a complicated environment by the robot can be solved easily.
基金supported by Beijing Natural Science Foundation (No.4164091)China Postdoctoral Science Foundation (No.2015M580048)+2 种基金Fundamental Research Funds for the Central Universities (No.FRF-TP-15034A1)National Natural Science Foundation of China (No.61672093,61432004)National Key Research and Development Plan(2016YFB1001404)
文摘This paper proposes a continuous cognitive emotional regulation model for robot in the case of external emotional stimulus from interactive person's expressions. It integrates a guiding cognitive reappraisal strategy into the HMM(Hidden Markov Model) emotional interactive model for empathizing between robot and person. The emotion is considered as a source in the 3D space(Arousal, Valence, and Stance). State transition and emotion intensity can be quantitatively analyzed in the continuous space. This cognition-emotion interactive model have been verified by the expression and behavior robot. Empathizing is the main distinguishing feature of our work, and it is realized by the emotional regulation which operated in a continuous 3D emotional space enabling a wide range of intermediate emotions. The experiment results provide evidence with acceptability, accuracy, richness, fluency, interestingness, friendliness and exaggeration that the robot with cognition and emotional control ability could be better accepted in the human-robot interaction(HRI).
