Journal articles: 'Shape Servoing'

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Shetab-Bushehri, Mohammadreza, Miguel Aranda, Youcef Mezouar, and Erol Ozgur. "As-Rigid-as-Possible Shape Servoing." IEEE Robotics and Automation Letters 7, no. 2 (April 2022): 3898–905. http://dx.doi.org/10.1109/lra.2022.3145960.

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Yuksel, Tolga. "Sliding Surface Designs for Visual Servo Control of Quadrotors." Drones 7, no. 8 (August 14, 2023): 531. http://dx.doi.org/10.3390/drones7080531.

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Autonomy is the main task of a quadrotor, and visual servoing assists with this task while providing fault tolerance under GPS failure. The main approach to visual servoing is image-based visual servoing, which uses image features directly without the need for pose estimation. The classical sliding surface design of sliding mode control is used by the linear controller law of image-based visual servoing, and focuses only on minimizing the error in the image features as convergence. In addition to providing convergence, performance characteristics such as visual-feature-convergence time, error, and motion characteristics should be taken into consideration while controlling a quadrotor under velocity limitations and disturbance. In this study, an image-based visual servoing system for quadrotors with five different sliding surface designs is proposed using analytical techniques and fuzzy logic. The proposed visual servo system was simulated, utilizing the moment characteristics of a preset shape to demonstrate the effectiveness of these designs. The stated parameters, convergence time, errors, motion characteristics, and length of the path, followed by the quadrotor, were compared for each of these design approaches, and a convergence time that was 46.77% shorter and path length that was 6.15% shorter were obtained by these designs. In addition to demonstrating the superiority of the designs, this study can be considered as a reflection of the realization, as well as the velocity constraints and disturbance resilience in the simulations.

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Guthikonda, Vrithik Raj, Ghananeel Rotithor, and Ashwin P. Dani. "Shape Servoing of Deformable Objects using Adaptive Deformation Model Estimation." IFAC-PapersOnLine 56, no. 2 (2023): 10793–98. http://dx.doi.org/10.1016/j.ifacol.2023.10.750.

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Xu, De, Min Tan, Zemin Jiang, and Huosheng Hu. "A shape constraint based visual positioning method for a humanoid robot." Robotica 24, no. 4 (February 21, 2006): 429–31. http://dx.doi.org/10.1017/s0263574705002420.

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This paper proposes a new visual positioning method for a humanoid robot to approach and grasp a valve based on colour and shape constraints. The robot has two cameras in its head and uses constraints of colour rectangle marks to determine the valve's position and pose. When the hands are near the valve, an image-based visual servoing method is employed to catch the handle of the valve via cameras in end-effectors. Experimental results are presented to verify the effectiveness of the proposed method.

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Yüksel, Tolga. "An intelligent visual servo control system for quadrotors." Transactions of the Institute of Measurement and Control 41, no. 1 (February 1, 2018): 3–13. http://dx.doi.org/10.1177/0142331217751599.

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While quadrotors are becoming more popular, control of these unmanned air vehicles should be improved. In this study, a new intelligent image-based visual servo control system is proposed for the flight guidance control of quadrotors. Features are essential for visual servoing and the proposed system utilizes the features of a shape that provide a clear sight of the landing site instead of point features. Furthermore, the system focuses on three problems of visual servo control: finding an appropriate gain value under velocity limits, keeping the shape features in the field of view and tracking a moving target. As a solution to the first problem, a fuzzy logic unit that uses feature error and error derivative norms as inputs are deployed to assign the gain, adaptively. The second problem is solved by defining safe and risky regions in the image plane to take precautions before field of view missing. Another fuzzy logic unit is activated when the shape passes through a risky region to provide counter velocity in x or y direction and to drag the shape through the safe region. As the last stage, Kalman filtering with Potter’s square root update is added to the proposed system to increase the feature tracking performance. This update also promises divergence avoidance. To show the performance of the proposed system, simulation results for fixed and moving targets under feature disturbance are presented for a quadrotor. The results verify that the proposed system is capable of handling visual servoing problems.

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Laranjeira, Matheus, Claire Dune, and Vincent Hugel. "Catenary-based visual servoing for tether shape control between underwater vehicles." Ocean Engineering 200 (March 2020): 107018. http://dx.doi.org/10.1016/j.oceaneng.2020.107018.

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Xu, Fan, Hesheng Wang, Weidong Chen, and Yanzi Miao. "Visual Servoing of a Cable-Driven Soft Robot Manipulator With Shape Feature." IEEE Robotics and Automation Letters 6, no. 3 (July 2021): 4281–88. http://dx.doi.org/10.1109/lra.2021.3067285.

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Lagneau, Romain, Alexandre Krupa, and Maud Marchal. "Automatic Shape Control of Deformable Wires Based on Model-Free Visual Servoing." IEEE Robotics and Automation Letters 5, no. 4 (October 2020): 5252–59. http://dx.doi.org/10.1109/lra.2020.3007114.

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Cherubini, Andrea, Valerio Ortenzi, Akansel Cosgun, Robert Lee, and Peter Corke. "Model-free vision-based shaping of deformable plastic materials." International Journal of Robotics Research 39, no. 14 (February 25, 2020): 1739–59. http://dx.doi.org/10.1177/0278364920907684.

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We address the problem of shaping deformable plastic materials using non-prehensile actions. Shaping plastic objects is challenging, because they are difficult to model and to track visually. We study this problem, by using kinetic sand, a plastic toy material that mimics the physical properties of wet sand. Inspired by a pilot study where humans shape kinetic sand, we define two types of actions: pushing the material from the sides and tapping from above. The chosen actions are executed with a robotic arm using image-based visual servoing. From the current and desired view of the material, we define states based on visual features such as the outer contour shape and the pixel luminosity values. These are mapped to actions, which are repeated iteratively to reduce the image error until convergence is reached. For pushing, we propose three methods for mapping the visual state to an action. These include heuristic methods and a neural network, trained from human actions. We show that it is possible to obtain simple shapes with the kinetic sand, without explicitly modeling the material. Our approach is limited in the types of shapes it can achieve. A richer set of action types and multi-step reasoning is needed to achieve more sophisticated shapes.

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Shen, Jinglin, and Nicholas Gans. "Robot-to-human feedback and automatic object grasping using an RGB-D camera–projector system." Robotica 36, no. 2 (August 23, 2017): 241–60. http://dx.doi.org/10.1017/s0263574717000339.

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SUMMARYThis paper presents a novel system for human–robot interaction in object-grasping applications. Consisting of an RGB-D camera, a projector and a robot manipulator, the proposed system provides intuitive information to the human by analyzing the scene, detecting graspable objects and directly projecting numbers or symbols in front of objects. Objects are detected using a visual attention model that incorporates color, shape and depth information. The positions and orientations of the projected numbers are based on the shapes, positions and orientations of the corresponding objects. Users select a grasping target by indicating the corresponding number. Projected arrows are then created on the fly to guide a robotic arm to grasp the selected object using visual servoing and deliver the object to the human user. Experimental results are presented to demonstrate how the system is used in robot grasping tasks.

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Almaghout, K., and A. Klimchik. "Vision-Based Robotic Comanipulation for Deforming Cables." Nelineinaya Dinamika 18, no. 5 (2022): 0. http://dx.doi.org/10.20537/nd221213.

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Although deformable linear objects (DLOs), such as cables, are widely used in the majority of life fields and activities, the robotic manipulation of these objects is considerably more complex compared to the rigid-body manipulation and still an open challenge. In this paper, we introduce a new framework using two robotic arms cooperatively manipulating a DLO from an initial shape to a desired one. Based on visual servoing and computer vision techniques, a perception approach is proposed to detect and sample the DLO as a set of virtual feature points. Then a manipulation planning approach is introduced to map between the motion of the manipulators end effectors and the DLO points by a Jacobian matrix. To avoid excessive stretching of the DLO, the planning approach generates a path for each DLO point forming profiles between the initial and desired shapes. It is guaranteed that all these intershape profiles are reachable and maintain the cable length constraint. The framework and the aforementioned approaches are validated in real-life experiments.

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Wei, A. Hui, and B. Yang Chen. "Robotic object recognition and grasping with a natural background." International Journal of Advanced Robotic Systems 17, no. 2 (March 1, 2020): 172988142092110. http://dx.doi.org/10.1177/1729881420921102.

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In this article, a novel, efficient grasp synthesis method is introduced that can be used for closed-loop robotic grasping. Using only a single monocular camera, the proposed approach can detect contour information from an image in real time and then determine the precise position of an object to be grasped by matching its contour with a given template. This approach is much lighter than the currently prevailing methods, especially vision-based deep-learning techniques, in that it requires no prior training. With the use of the state-of-the-art techniques of edge detection, superpixel segmentation, and shape matching, our visual servoing method does not rely on accurate camera calibration or position control and is able to adapt to dynamic environments. Experiments show that the approach provides high levels of compliance, performance, and robustness under diverse experiment environments.

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Shin, Ryu, Cho, Yang, and Lee. "Development of a Spherical Positioning Robot and Neuro-Navigation System for Precise and Repetitive Non-Invasive Brain Stimulation." Applied Sciences 9, no. 21 (October 27, 2019): 4561. http://dx.doi.org/10.3390/app9214561.

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Although non-invasive brain stimulation techniques do not involve surgical procedures, the challenge remains in correctly locating the stimulator from outside the head. There is a limit to which one can manually and precisely position and orient the stimulator or repeatedly move the stimulator around the same position. Therefore, in this study, we developed a serial robot with 6 degrees-of-freedom to move the stimulator and a neuro-navigation system to determine the stimulus point from looking at the shape of the subject’s brain. The proposed robot applied a spherical mechanism while considering the safety of the subject, and the workspace of the robot was designed considering the shape of the human head. Position-based visual servoing was applied to compensate for unexpected movements during subject stimulation. We also developed a neuro-navigation system that allows us visually to check the focus of the stimulator and the human brain at the same time and command the robot to the desired point. To verify the system performance, we first performed repeatability and motion compensation experiments of the robot and then evaluated the repeated biosignal response experiments through transcranial magnetic stimulation, a representative technique of non-invasive brain stimulation.

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Navarro-Alarcon, David, and Yun-Hui Liu. "Fourier-Based Shape Servoing: A New Feedback Method to Actively Deform Soft Objects into Desired 2-D Image Contours." IEEE Transactions on Robotics 34, no. 1 (February 2018): 272–79. http://dx.doi.org/10.1109/tro.2017.2765333.

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Song, Wei, Yasushi Mae, and Mamoru Minami. "Evolutionary Pose Measurement by Stereo Model Matching." Journal of Advanced Computational Intelligence and Intelligent Informatics 9, no. 2 (March 20, 2005): 150–58. http://dx.doi.org/10.20965/jaciii.2005.p0150.

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This paper presents a pose measurement method of a 3-D object. The proposed method utilizes an evolutionary search technique of the genetic algorithm (GA) and a fitness evaluation based on a matching stereo model, named as surface-strips model here. The unprocessed gray-scale image, called a raw image, is used in order to perform recognition of a target using known target object shape. Here, the problem to recognize the position/orientation of the target object is converted to an optimization problem of a fitness function that consists in the computation of the brightness difference between an internal surface and a contour-strips. In order to evaluate the proposed 3-D recognition method, experiments to detect position/orientation of a rectangular solid block have been conducted to show its effectiveness of recognizing objects in static image. Furthermore, experiments to recognize a ball on a turning table by a robot manipulator equipped with two hand-eye cameras have also been conducted to show the effectiveness of this method for Real-Time visual servoing.

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Collewet, C., and F. Chaumette. "Positioning a camera with respect to planar objects of unknown shape by coupling 2-D visual servoing and 3-D estimations." IEEE Transactions on Robotics and Automation 18, no. 3 (June 2002): 322–33. http://dx.doi.org/10.1109/tra.2002.1019462.

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Cheng, Li-Wei, Shih-Wei Liu, and Jen-Yuan Chang. "Design of an Eye-in-Hand Smart Gripper for Visual and Mechanical Adaptation in Grasping." Applied Sciences 12, no. 10 (May 16, 2022): 5024. http://dx.doi.org/10.3390/app12105024.

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With the advancement of robotic technologies, more and more tasks in industrial and commercial applications rely on the use of robots to assist or even replace humans. To fulfill the needs of grasping and handling different objects, the development of a universal grasping device acting as an end-effector to a robotic manipulator has been one of the main robotic research and development focuses. Therefore, this study was aimed at the development of a general robotic gripper with three fingers for adaptive actuation and an eye-in-hand vision system. With the adaptive actuation feature, each finger of the robotic gripper contained multiple degrees of freedom that allowed the finger to change its shape to wrap around an object’s geometry adaptively for stable grasping. With the eye-in-hand configuration in the adaptive gripper, it offered advantages including occlusion avoidance, intuitive teleoperation, imaging from different angles, and simple calibration. This study proposed and integrated a plug-and-play gripper module, controller module, and visual calculation module all in the model smart gripper, of which the gripper was further validated by calibrated experiments. The proposed gripper featured mechanical adaptation and visual servoing adaptivity to achieve 100% gripping success rate when gripping a moving target of any shape that was carried by conveyor belt with moving speed less than 70 mm/s. By integrating mechanical and visual adaptivity, the proposed gripper enabled the inclusion of intelligence in robotic applications and can further be used in smart manufacturing and intelligent robotic applications.

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Rogelio, Jayson, Elmer Dadios, Argel Bandala, Ryan Rhay Vicerra, and Edwin Sybingco. "Alignment control using visual servoing and mobilenet single-shot multi-box detection (SSD): a review." International Journal of Advances in Intelligent Informatics 8, no. 1 (March 31, 2022): 97. http://dx.doi.org/10.26555/ijain.v8i1.819.

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The concept is highly critical for robotic technologies that rely on visual feedback. In this context, robot systems tend to be unresponsive due to reliance on pre-programmed trajectory and path, meaning the occurrence of a change in the environment or the absence of an object. This review paper aims to provide comprehensive studies on the recent application of visual servoing and DNN. PBVS and Mobilenet-SSD were chosen algorithms for alignment control of the film handler mechanism of the portable x-ray system. It also discussed the theoretical framework features extraction and description, visual servoing, and Mobilenet-SSD. Likewise, the latest applications of visual servoing and DNN was summarized, including the comparison of Mobilenet-SSD with other sophisticated models. As a result of a previous study presented, visual servoing and MobileNet-SSD provide reliable tools and models for manipulating robotics systems, including where occlusion is present. Furthermore, effective alignment control relies significantly on visual servoing and deep neural reliability, shaped by different parameters such as the type of visual servoing, feature extraction and description, and DNNs used to construct a robust state estimator. Therefore, visual servoing and MobileNet-SSD are parameterized concepts that require enhanced optimization to achieve a specific purpose with distinct tools.

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Collewet, Christophe, François Chaumette, and Laurence Wallian. "2D Visual Servoing on Complex Shapes Based on a Polar Description." IFAC Proceedings Volumes 33, no. 27 (September 2000): 225–30. http://dx.doi.org/10.1016/s1474-6670(17)37933-8.

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Babić, Anja, Filip Mandić, and Nikola Mišković. "Development of Visual Servoing-Based Autonomous Docking Capabilities in a Heterogeneous Swarm of Marine Robots." Applied Sciences 10, no. 20 (October 13, 2020): 7124. http://dx.doi.org/10.3390/app10207124.

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This paper describes the design, development, and testing of both hardware and software for a visual servoing-based system that enables agents within a heterogeneous marine robotic swarm to share energy. The goal of this system is prolonging the active operational time of the swarm as a whole, allowing it to perform long-term environmental monitoring and data collection missions. The implementation presented in the paper features an over-actuated autonomous surface platform docking up to four floating sensor nodes at a time and replenishing their batteries using wireless inductive charging. Mechanical solutions for each robot segment related to the docking procedure are presented, along with pertinent high-level and low-level control structures. A node featuring an extended Kalman filter and additional heuristics is used to fuse measurements from a neural network trained for object detection and a hue thresholding image processing algorithm, in order to track the docking target and achieve visual servoing. Finally, experimental results in both a controlled environment and challenging conditions on-site are presented. Once deployed, the developed system successfully enables the approach and docking of the designated target, showing its feasibility in different real-life conditions.

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Imasato, Akimitsu, and Noriaki Maru. "Guidance and Control of Nursing Care Robot Using Gaze Point Detector and Linear Visual Servoing." International Journal of Automation Technology 5, no. 3 (May 5, 2011): 452–57. http://dx.doi.org/10.20965/ijat.2011.p0452.

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The gaze guidance and control we propose for a nursing robot uses a gaze point detector (GPD) and linear visual servoing (LVS). The robot captures stereo camera images, presents them via a head-mounted display (HMD) to the user, calculates the user’s gaze tracked by the camera, and moves to gaze of the LVS. Since in the proposal, persons requiring nursing share the robot’s field of view via the GPD, the closer they get to the target, the more accurate control becomes. The GPD, on the user’s head, has an HMD and a CCD camera.

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Malis, E., G. Chesi, and R. Cipolla. "212D Visual Servoing with Respect to Planar Contours having Complex and Unknown Shapes." International Journal of Robotics Research 22, no. 10-11 (October 2003): 841–53. http://dx.doi.org/10.1177/027836490302210004.

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Dirik, Mahmut, Oscar Castillo, and Adnan Fatih Kocamaz. "Visual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Control." Axioms 8, no. 2 (May 10, 2019): 58. http://dx.doi.org/10.3390/axioms8020058.

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Mobile robot motion planning in an unstructured, static, and dynamic environment is faced with a large amount of uncertainties. In an uncertain working area, a method should be selected to address the existing uncertainties in order to plan a collision-free path between the desired two points. In this paper, we propose a mobile robot path planning method in the visualize plane using an overhead camera based on interval type-2 fuzzy logic (IT2FIS). We deal with a visual-servoing based technique for obstacle-free path planning. It is necessary to determine the location of a mobile robot in an environment surrounding the robot. To reach the target and for avoiding obstacles efficiently under different shapes of obstacle in an environment, an IT2FIS is designed to generate a path. A simulation of the path planning technique compared with other methods is performed. We tested the algorithm within various scenarios. Experiment results showed the efficiency of the generated path using an overhead camera for a mobile robot.

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IWASAKI, Takuya, and Kimitoshi YAMAZAKI. "Visual Servoing Corresponding to Various Obstacle Placements and Target Object Shapes Based on Learning in Virtual Environments." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2021 (2021): 2P2—H12. http://dx.doi.org/10.1299/jsmermd.2021.2p2-h12.

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Filipescu, Adrian, Eugenia Mincă, Adriana Filipescu, and Henri-George Coandă. "Manufacturing Technology on a Mechatronics Line Assisted by Autonomous Robotic Systems, Robotic Manipulators and Visual Servoing Systems." Actuators 9, no. 4 (December 3, 2020): 127. http://dx.doi.org/10.3390/act9040127.

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This paper proposes the implementation of an assisting technology to a processing/reprocessing mechatronics line (P/RML), comprising the following: two autonomous robotic systems (ARSs), two robotic manipulators (RMs) and three visual servoing systems (VSSs). The P/RML has four line-shaped workstations assisted by two ARSs—wheeled mobile robots (WMRs): one of them equipped with an RM, used for manipulation, and the other one used for transport. Two types of VSSs—eye to hand and eye in hand—are used as actuators for precise positioning of RMs to catch and release the work-piece. The work-piece visits stations successively as it is moved along the line for processing. If the processed piece does not pass the quality test, it is taken from the last stations of the P/RML and it is transported to the first station where it will be considered for reprocessing. The P/RML, assisted by ARSs, RMs and VSSs, was modelled with the synchronized hybrid Petri nets (SHPN). To control the ARSs, we propose the use of trajectory-tracking and sliding-mode control (TTSMC). The precise positioning that allows the picking up and releasing of the work-piece was performed using two types of VSSs. In the case of the first one, termed eye to hand VSS, the cameras have a fixed position, located at the last and the first workstations of the P/RML. For the second one, named eye in hand VSS, the camera is located at the end effector of the RM.

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Krishnan, Megha G., Abhilash T. Vijayan, and Ashok Sankar. "Performance enhancement of two-camera robotic system using adaptive gain approach." Industrial Robot: the international journal of robotics research and application 47, no. 1 (November 4, 2019): 45–56. http://dx.doi.org/10.1108/ir-08-2019-0174.

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Purpose This paper aims to improve the performance of a two-camera robotic feedback system designed for automatic pick and place application by modifying its velocity profile during switching of control. Design/methodology/approach Cooperation of global and local vision sensors ensures visibility of the target for a two-camera robotic system. The master camera, monitoring the workspace, guides the robot such that image-based visual servoing (IBVS) by the eye-in-hand camera transcends its inherent shortcomings. A hybrid control law steers the robot until the system switches to IBVS in a region proven for its asymptotic stability and convergence through a qualitative overview of the scheme. Complementary gain factors can ensure a smooth transition in velocity during switching considering the versatility and range of the workspace. Findings The proposed strategy is verified through simulation studies and implemented on a 6-DOF industrial robot ABB IRB 1200 to validate the practicality of adaptive gain approach while switching in a hybrid visual feedback system. This approach can be extended to any control problem with uneven switching surfaces or coarse/fine controllers which are subjected to discrete time events. Practical implications In complex workspace where robots operate in parallel with other robots/humans and share workspaces, the supervisory control scheme ensures convergence. This study proves that hybrid control laws are more effective than conventional approaches in unstructured environments and visibility constraints can be overcome by the integration of multiple vision sensors. Originality/value The supervisory control is designed to combine the visual feedback data from eye-in-hand and eye-to-hand sensors. A gain adaptive approach smoothens the velocity characteristics of the end-effector while switching the control from master camera to the end-effector camera.

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Cao, Bin, Xizhe Zang, Xuehe Zhang, Zhuo Chen, Shouqiang Li, and Jie Zhao. "Shape Control of Elastic Deformable Linear Objects for Robotic Cable Assembly." Advanced Intelligent Systems, April 21, 2024. http://dx.doi.org/10.1002/aisy.202300835.

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Currently, cables are manually installed in aircraft manufacturing scenarios. The utilization of robots in cable assemblies can enhance efficiency and ensure quality, presenting great promise for the future. However, the assembly process must control the shape of the cables, which is a significant challenge for robots. On the one hand, cables have high degrees of freedom in space, making accurate modeling of cable dynamics for robotic arm manipulation difficult; on the other hand, cable deformation has uncertainty, and the applied forces cause simultaneous deformation and motion, which is difficult to control. To address these problems, this study proposes a cable‐shape control method based on graph neural networks and online visual shape‐servoing. The method first approximates cable dynamics with a graph neural network. Then, in practice, the learnt model is used alongside visual‐based shape‐servoing to generate optimal robotic arm movements, controlling the cable to attain the desired shape. In the experiments, precise control of three different cable types is realized, and an example of a completed cable assembly is shown.

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Shetab-Bushehri, Mohammadreza, Miguel Aranda, Youcef Mezouar, and Erol Özgür. "Lattice-based Shape Tracking and Servoing of Elastic Objects." IEEE Transactions on Robotics, 2023, 1–18. http://dx.doi.org/10.1109/tro.2023.3331596.

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Yang, Bohan, Congying Sui, Fangxun Zhong, and Yun-Hui Liu. "Modal-graph 3D shape servoing of deformable objects with raw point clouds." International Journal of Robotics Research, September 4, 2023. http://dx.doi.org/10.1177/02783649231198900.

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Deformable object manipulation (DOM) with point clouds has great potential as nonrigid 3D shapes can be measured without detecting and tracking image features. However, robotic shape control of deformable objects with point clouds is challenging due to: the unknown point correspondences and the noisy partial observability of raw point clouds; the modeling difficulties of the relationship between point clouds and robot motions. To tackle these challenges, this paper introduces a novel modal-graph framework for the model-free shape servoing of deformable objects with raw point clouds. Unlike the existing works studying the object’s geometry structure, we propose a modal graph to describe the low-frequency deformation structure of the DOM system, which is robust to the measurement irregularities. The modal graph enables us to directly extract low-dimensional deformation features from raw point clouds without extra processing of registrations, refinements, and occlusion removal. It also preserves the spatial structure of the DOM system to inverse the feature changes into robot motions. Moreover, as the framework is built with unknown physical and geometric object models, we design an adaptive robust controller to deform the object toward the desired shape while tackling the modeling uncertainties, noises, and disturbances online. The system is proved to be input-to-state stable (ISS) using Lyapunov-based methods. Extensive experiments are conducted to validate our method using linear, planar, tubular, and volumetric objects under different settings.

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Guthikonda, Vrithik Raj, and Ashwin P. Dani. "Shape Servoing of Deformable Objects Using Model Estimation and Barrier Lyapunov Function." IEEE/ASME Transactions on Mechatronics, 2024, 1–11. http://dx.doi.org/10.1109/tmech.2024.3382590.

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Xu, Fan, Yuyou Zhang, Jing Sun, and Hesheng Wang. "Adaptive Visual Servoing Shape Control of a Soft Robot Manipulator Using Bézier Curve Features." IEEE/ASME Transactions on Mechatronics, 2022, 1–11. http://dx.doi.org/10.1109/tmech.2022.3210762.

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Qi, Jiaming, Guangtao Ran, Bohui Wang, Jian Liu, Wanyu Ma, Peng Zhou, and David Navarro-Alarcon. "Adaptive Shape Servoing of Elastic Rods using Parameterized Regression Features and Auto-Tuning Motion Controls." IEEE Robotics and Automation Letters, 2023, 1–8. http://dx.doi.org/10.1109/lra.2023.3346758.

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Lu, Yiang, Wei Chen, Bo Lu, Jianshu Zhou, Zhi Chen, Qi Dou, and Yun-Hui Liu. "Adaptive Online Learning and Robust 3-D Shape Servoing of Continuum and Soft Robots in Unstructured Environments." Soft Robotics, February 6, 2024. http://dx.doi.org/10.1089/soro.2022.0158.

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Almanzor, Elijah, Nzebo Richard Anvo, Thomas George Thuruthel, and Fumiya Iida. "Autonomous detection and sorting of litter using deep learning and soft robotic grippers." Frontiers in Robotics and AI 9 (December 1, 2022). http://dx.doi.org/10.3389/frobt.2022.1064853.

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Road infrastructure is one of the most vital assets of any country. Keeping the road infrastructure clean and unpolluted is important for ensuring road safety and reducing environmental risk. However, roadside litter picking is an extremely laborious, expensive, monotonous and hazardous task. Automating the process would save taxpayers money and reduce the risk for road users and the maintenance crew. This work presents LitterBot, an autonomous robotic system capable of detecting, localizing and classifying common roadside litter. We use a learning-based object detection and segmentation algorithm trained on the TACO dataset for identifying and classifying garbage. We develop a robust modular manipulation framework by using soft robotic grippers and a real-time visual-servoing strategy. This enables the manipulator to pick up objects of variable sizes and shapes even in dynamic environments. The robot achieves greater than 80% classified picking and binning success rates for all experiments; which was validated on a wide variety of test litter objects in static single and cluttered configurations and with dynamically moving test objects. Our results showcase how a deep model trained on an online dataset can be deployed in real-world applications with high accuracy by the appropriate design of a control framework around it.

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Sermet, Yusuf, and Ibrahim Demir. "Camera-based intelligent stream stage sensing for decentralized environmental monitoring." Journal of Hydroinformatics, February 15, 2023. http://dx.doi.org/10.2166/hydro.2023.032.

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Abstract Accurate, vast, and real-time coverage of water level monitoring is crucial for the advancement of environmental research, specifically in the areas of climate change, water distribution, and natural disaster preparedness and management. The current state of the monitoring network requires an immediate solution to produce low-cost and accurate water level measurement sensors. This research presents a novel methodology for intelligent stream stage measurement, creating a distinct opportunity for a low-cost, camera-based embedded system that will measure water levels and share surveys to support environmental monitoring and decision-making. It is implemented as a stand-alone device that utilizes a registry of structures and points of interest (POI) along with the core modules of the application logic: (1) deep-learning powered water segmentation; (2) visual servoing; and (3) POI geolocation computation. The implementation relies on a Raspberry-Pi with a motorized camera for automated measurements and is supported by a Proportional–Integral–Derivative controller and multiprocessing. For future work, the involvement of the camera supports further use cases such as recognizing objects (e.g., debris, trees, humans, and boats) on the water surface. Additionally, the method shown can be made into a Progressive Web Application (PWA) that can be used on smartphones to allow crowdsourced citizen science applications for environmental monitoring.

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Brown, Terrence, Albert Caruana, Michael Mulvey, and Leyland Pitt. "Understanding the Emotions of Those With a Gambling Disorder: Insights From Automated Text Analysis." Journal of Gambling Issues, no. 47 (March 8, 2021). http://dx.doi.org/10.4309/jgi.2021.47.5.

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The diffusion and growth of the web and the social media applications that it has provided have seen people increasingly turn to social media to express their feelings, frustrations, and ambitions and to generally share life events. Like other internet users, those with a gambling disorder are also known to use specialized online forums to read the experiences articulated by others and to open up, share, and express themselves online. In this study, we examined how those with a gambling disorder talk about their emotions and express sentiment through their online comments. Sentiment Analysis in IBM Watson was used to capture expressed emotions (anger, disgust, fear, happiness, sadness, and surprise) and sentiments. These data were then used as input to a latent class cluster modelling procedure aimed at categorizing those with a gambling disorder into distinct groups. The findings show how qualitative online data can be transformed into quantitative insights in order to identify different categories of people with a gambling disorder. The technique offers a non-intrusive method of data collection that can provide useful insights into the emotions felt and expressed by those with a gambling disorder.Résumé L’usage répandu d’applications Internet et de médias sociaux a conduit les gens à se tourner de plus en plus vers les réseaux sociaux pour communiquer leurs sentiments, leurs ambitions et ce qui se passe dans leur vie. À l’instar d’autres internautes, les personnes qui ont des problèmes de jeu fréquentent des forums spécialisés en ligne pour s’exprimer et savoir ce que vivent des gens ayant des problèmes semblables aux leurs. Cette étude examine, à travers leurs commentaires en ligne, comment ces personnes aux prises avec une dépendance au jeu parlent de leurs émotions. Nous nous servons de la fonction d’analyse des sentiments d’IBM Watson pour capturer les émotions exprimées (colère, aversion, peur, joie, tristesse et étonnement) et autres sentiments. Ces données font ensuite l’objet d’une modélisation conjuguant l’analyse des classes latentes et l’analyse par grappe, et qui vise à constituer des sous-groupes de joueurs ayant un problème de dépendance. Les résultats font voir que les données qualitatives en ligne peuvent être transformées en données quantitatives qui permettent de distinguer des sous-groupes parmi les personnes aux prises avec une dépendance au jeu. Nous traitons dans cet article de la possibilité de traitements ciblés à l’intention de ces sous-groupes, ainsi que des limites de cette méthode.

Journal articles on the topic 'Shape Servoing'

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