Article
Automation & Control Systems
Riby Abraham Boby
Summary: This article proposes a new method for kinematic identification of an industrial robot using a monocular camera mounted on its end-effector. By measuring solely in 2-D image space, the need for 3-D poses input in this process is eliminated, allowing for estimation of parameter corrections in a single stage. The use of camera enables a combination of geometric and parametric techniques of identification, providing a well-defined experimental strategy and identification of externally defined coordinate frames.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Engineering, Multidisciplinary
Hua Luo, Ke Zhang, Yu Su, Kai Zhong, Zhongwei Li, Jing Guo, Chao Guo
Summary: This study proposes a monocular vision pose determination-based method for large rigid-body automatic docking, which tracks the relative pose between mobile and fixed rigid-bodies using targets with circular feature points attached to their surfaces. The method achieves accurate docking much quicker than traditional methods and can replace manual methods for large rigid-body docking.
Article
Automation & Control Systems
Chenrong Long, Qinglei Hu
Summary: This article proposes a nonlinear optimization method based on monocular vision to estimate the relative pose for noncooperative target spacecraft. The method utilizes the parameters of ellipses derived from the perspective projection of circles to solve for the center position and normal of the multicircles. The roll angle is recovered through the geometric constraints of the solar panels, leading to the estimation of the six-degree-of-freedom spacecraft pose.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Chemistry, Multidisciplinary
Xudong Yu, Yang Shang
Summary: This paper proposes a new method to solve the pose and shape parameters problem for parallelogram objects based on the relative coordinate constraints of the parallelogram vertices. The correctness and effectiveness of the method have been verified through experiments. In addition to estimating the pose and shape of a parallelogram object, the new method extends the conclusions of the coplanar P4P problem when the four points are the vertices of a parallelogram.
APPLIED SCIENCES-BASEL
(2023)
Article
Computer Science, Artificial Intelligence
Sanjeev Sharma, Shaoli Huang
Summary: This study presents an end-to-end framework that robustly predicts hand prior information and accurately infers 3D hand pose using ConvNet models, introducing a novel keypoint-based method to enhance hand detector's robustness and two geometric constraints inspired by human hand's biological structure to improve 3D coordinates prediction.
PATTERN RECOGNITION
(2021)
Article
Chemistry, Analytical
Haeyoon Han, Hanik Kim, Hyochoong Bang
Summary: This paper proposes a new monocular pose estimation algorithm that addresses pose initialization issues for a known but uncooperative target spacecraft. By finding convexity defect features, matching them to points on the known target model, and solving the PnP problem, the algorithm estimates a pose. Simulations in three test scenarios show that it can accurately estimate spacecraft model poses under varying relative attitudes and distances.
Article
Computer Science, Artificial Intelligence
Qian Wang, Bo Jin, Ce Zhang
Summary: This paper proposes a cost-effective kinematic calibration method for a hexapod robot, using a monocular camera and planar markers, to improve the positioning accuracy and walking performance of the robot.
MACHINE VISION AND APPLICATIONS
(2022)
Article
Engineering, Electrical & Electronic
Ying Fang, Bingo Wing-Kuen Ling, Yuxin Lin, Ziyin Huang, Yui-Lam Chan
Summary: This paper proposes a method based on joint generalized singular value decomposition and tensor decomposition for three-dimensional image super-resolution, which reconstructs high-resolution images without the need for prior knowledge. Numerical simulation results demonstrate that the proposed method achieves a higher peak signal-to-noise ratio compared to existing methods.
SIGNAL IMAGE AND VIDEO PROCESSING
(2022)
Article
Engineering, Multidisciplinary
Kuai Zhou, Xiang Huang, Shuanggao Li, Hangyu Li, Shengjie Kong
Summary: This study introduces a new method for measuring the pose of large gear structures based on monocular vision, which improves assembly accuracy and efficiency through feature detection and pose calculation.
Article
Chemistry, Analytical
Jiangying Zhao, Yongbiao Hu, Mingrui Tian
Summary: This study proposes a method for estimating the pose of excavator manipulators using computer vision technology, demonstrating its feasibility through experiments and error analysis while establishing a measurement system to simulate the pose estimation process.
Article
Engineering, Aerospace
Michele Bechini, Michele Lavagna, Paolo Lunghi
Summary: Recent studies have shown the potential of using monocular images for navigation near uncooperative space objects. However, the development and testing of new algorithms in this field are limited by the availability of spaceborne image datasets. To address this issue, a new algorithm embedded in a tool to generate synthetic high-fidelity spaceborne image datasets is presented. The algorithm is based on open-source ray-tracing software and can be customized for various scenarios.
Article
Computer Science, Artificial Intelligence
Libo Weng, Xiuqi Chen, Qi Qiu, Yaozhong Zhuang, Fei Gao
Summary: In this paper, a semantic-aware monocular projection model is proposed for accurate pose measurement. By using a deep learning network to extract semantic features and optimizing the parameters with Kalman filter, the proposed method achieves high performance and accuracy.
PATTERN ANALYSIS AND APPLICATIONS
(2023)
Article
Engineering, Mechanical
Chujin Sun, Donglian Gu, Xinzheng Lu
Summary: This study proposes a 3D structural displacement measurement method using monocular vision and deep learning based pose estimation. The method synthesizes a training set using virtual rendering, trains a deep learning model called DPOD to estimate the poses of the target object, and finally measures the 3D translation of the structures based on the original and destination poses or the original pose and keypoint matching.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2023)
Article
Mathematics, Applied
Yonghong Duan, Ruiping Wen
Summary: This paper proposes an alternating direction power method for computing the largest singular value and singular vector of a matrix. The method is similar to the power method but requires fewer operations in the iterations. Convergence of the new method is proven under suitable conditions. Theoretical analysis and numerical experiments demonstrate that the new method is feasible and more effective than the power method in certain cases.
Article
Computer Science, Information Systems
Yantao Yu, Heng Li, Jiannong Cao, Xiaochun Luo
Summary: This article proposed a monocular-camera-based 3-D estimation method suitable for industrial working poses, utilizing a residual artificial neural network (RANN) with flexible complexity and weighted training loss. By establishing a 3-D pose data set containing diverse working poses in worksites, the network's performance in complex scenarios was evaluated. Compared to previous 3-D pose capture methods, the mean per joint position error was reduced by 31.42%, with a latency of 0.24 s. Hence, the proposed monocular-camera-based method shows great potential in industrial application scenarios.
IEEE INTERNET OF THINGS JOURNAL
(2021)
Article
Engineering, Civil
Anil Kumar Sharma, Subir Kumar Saha
Summary: This article presents a simplified modeling of drag forces for underwater manipulators, using velocity distribution over the body's surface to determine drag. The method was found to be in good agreement with experimental results when simulating a two-link manipulator. Compared to strip theory, this approach eliminates the need for numerical integration or discretization, providing a more efficient alternative.
IEEE JOURNAL OF OCEANIC ENGINEERING
(2021)
Article
Chemistry, Analytical
Lim Yi, Anh Vu Le, Balakrishnan Ramalingam, Abdullah Aamir Hayat, Mohan Rajesh Elara, Tran Hoang Quang Minh, Braulio Felix Gomez, Lum Kai Wen
Summary: The article describes a self-reconfigurable pavement sweeping robot named Panthera, which can adapt to various pavement environments by reconfiguring its width while avoiding pedestrians during movement.
Article
Chemistry, Analytical
Balakrishnan Ramalingam, Abdullah Aamir Hayat, Mohan Rajesh Elara, Braulio Felix Gomez, Lim Yi, Thejus Pathmakumar, Madan Mohan Rayguru, Selvasundari Subramanian
Summary: A deep learning-based pavement inspection framework is proposed in this study for detecting and localizing pavement defects and garbage. Experimental results show that this technique can accurately identify pavement issues and is suitable for real-time garbage detection and cleaning tasks.
Article
Computer Science, Artificial Intelligence
Riby Abraham Boby, Alexander Maloletov, Alexandr Klimchik
Summary: A method for measuring the performance metrics of an under-actuated cable-driven robot using a monocular camera was proposed, with comparisons made to a laser tracker. Suitable camera positions for measuring throughout the entire workspace were determined, showing that the camera could be located in four feasible regions.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2021)
Article
Chemistry, Analytical
Balakrishnan Ramalingam, Thein Tun, Rajesh Elara Mohan, Braulio Felix Gomez, Ruoxi Cheng, Selvasundari Balakrishnan, Madan Mohan Rayaguru, Abdullah Aamir Hayat
Summary: A study introduces an AI-enabled IoRT framework for rodent activity monitoring in false ceilings, using a robot named Falcon. The algorithm is tested in a real-world environment, showing good detection accuracy for rodent signs and 3D-printed rodents.
Article
Automation & Control Systems
Riby Abraham Boby
Summary: This article proposes a new method for kinematic identification of an industrial robot using a monocular camera mounted on its end-effector. By measuring solely in 2-D image space, the need for 3-D poses input in this process is eliminated, allowing for estimation of parameter corrections in a single stage. The use of camera enables a combination of geometric and parametric techniques of identification, providing a well-defined experimental strategy and identification of externally defined coordinate frames.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Engineering, Mechanical
A. A. Hayat, Lim Yi, M. Kalimuthu, M. R. Elara, K. L. Wood
Summary: This paper proposes a heuristic framework for designing reconfigurable robots, applying established transformation principles to system and subsystem design for innovation. Experiments demonstrate that this design method enables high performance in multiple modalities.
JOURNAL OF MECHANICAL DESIGN
(2022)
Article
Computer Science, Interdisciplinary Applications
Riby Abraham Boby, Alexandr Klimchik
Summary: The combination of geometric and parametric approaches in kinematic identification is proposed in the study. The experimental strategy is similar to the geometric approach, activating each axis one by one. Estimation and correction processes are carried out step by step for improved accuracy.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2021)
Article
Robotics
Prabakaran Veerajagadheswar, Shi Yuyao, Prathap Kandasamy, Mohan R. Elara, Abdullah A. Hayat
Summary: This letter introduces a novel robotic platform called s-Sacrr, which can change its morphology to traverse different surfaces for cleaning tasks on staircases and slopes. The robot has a reconfiguring feature that allows it to perform area coverage on various structures. Experimental results demonstrate the robot's ability to smoothly traverse and cover staircases and inclined surfaces.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Computer Science, Interdisciplinary Applications
Riby Abraham Boby
Summary: This study discusses the identification of elasto-static parameters of an industrial robot using measurements from a monocular camera, proposing an effective method for identification. Experimental results show that initial estimation of kinematic parameters on the robot is more accurate compared to other methods when considering positioning errors. Additionally, the proposed method can effectively reduce errors in the end-effector by compensating for errors due to kinematic and elasto-static parameters.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2022)
Proceedings Paper
Automation & Control Systems
A. P. Povendhan, Lim Yi, A. A. Hayat, Anh Vu Le, K. L. J. Kai, B. Ramalingam, M. R. Elara
Summary: Efficient sensor fusion framework is necessary for autonomous robots. Our research proposes an adaptive sensor fusion framework that can be implemented on any reconfigurable robot and has been tested on a real robot.
2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2021)
Proceedings Paper
Automation & Control Systems
Madan Mohan Rayguru, M. R. Elara, A. A. Hayat, B. Ramalingana, Spandan Roy
Summary: This paper presents a dynamic model and robust controller design for the self-reconfigurable pavement sweeping robot PANTHERA to tackle uncertainties arising from the reconfiguration process, external disturbances, and actuator saturation, which is validated through experiments.
2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2021)
Article
Nutrition & Dietetics
Tabassum Alvi, Aalia Akhtar Hayat, Waqas Sami, Saira Farhan
Summary: A study was conducted in Majmaah, Saudi Arabia, to investigate the trends of 147 patients with intellectual disability. The findings revealed a balanced gender distribution, with most individuals aged between 11 and 44 years old, and a large proportion bedridden. The study also demonstrated a significant association between GAF scores and the severity of intellectual disability.
PROGRESS IN NUTRITION
(2021)
Article
Computer Science, Information Systems
Rizuwana Parween, Abdullah Aamir Hayat, Karthikeyan Elangovan, Koppaka Ganesh Sai Apuroop, Manuel Vega Heredia, Mohan Rajesh Elara
Article
Computer Science, Information Systems
Ning Tan, Abdullah Aamir Hayat, Mohan Rajesh Elara, Kristin L. Wood
Article
Computer Science, Interdisciplinary Applications
Shenglin Wang, Jingqiong Zhang, Peng Wang, James Law, Radu Calinescu, Lyudmila Mihaylova
Summary: In Industry 5.0, Digital Twins provide flexibility and efficiency for smart manufacturing. Deep learning techniques are used to enhance the Digital Twin framework, enabling the detection and classification of human operators and robots during the manufacturing process. The framework shows promising results in accurately detecting and classifying actions of human operators and robots in various scenarios.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Yi Liu, Junpeng Qiu, Jincheng Wang, Junhe Lian, Zeran Hou, Junying Min
Summary: In this study, a double-sided robotic roller forming process was developed to form ultrahigh strength steels to thin-walled profiles. Synchronized laser heating and iterative path compensation method were used to reduce forming forces and achieve high-precision forming.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Zequn Zhang, Yuchen Ji, Dunbing Tang, Jie Chen, Changchun Liu
Summary: This paper proposes a digital twin system for human-robot collaboration (HRC) that overcomes the limitations of current methods and improves the overall performance. The system includes a human mesh recovery algorithm and uncertainty estimation to enhance the system's capabilities. Experimental results demonstrate the superiority of the proposed methods over baseline methods. The feasibility and effectiveness of the HRC system are validated through a case study involving component assembly.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Junmin Park, Taehoon Kim, Chengyan Gu, Yun Kang, Joono Cheong
Summary: This paper proposes a highly reliable and accurate collision estimator for robot manipulators in human-robot collaborative environments using the Bayesian approach. By assuming robot collisions as dynamic Markov processes, the estimator can integrate prior beliefs and measurements to produce current beliefs in a recursive form. The method achieves compelling performance in collision estimation with high accuracy and no false alarms.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Meng Wang, Kaixuan Chen, Panfeng Wang, Yimin Song, Tao Sun
Summary: In this study, a novel teleoperation machining mode and control strategy were proposed to improve efficiency and accuracy in small batch production of large casting parts. By using variable motion mapping and elastic compensation, constant cutting force was achieved, and the workpiece was protected by employing forbidden virtual fixtures and movement constraints on the slave robot.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Zhaoyu Li, Dong He, Xiangyu Li, Xiaoke Deng, Pengcheng Hu, Jiancheng Hao, Yue Hou, Hongyu Yu, Kai Tang
Summary: This paper presents a novel algorithm for planning a five-axis inspection path for arbitrary freeform surfaces. By converting the inspection path planning problem into a set-covering problem, the algorithm generates a near-minimum set of inspection paths that satisfy necessary constraints. Both computer simulation and physical inspection experiments confirm the effectiveness and advantages of the proposed method.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Hang Zhang, Wenhu Wang, Shusheng Zhang, Yajun Zhang, Jingtao Zhou, Zhen Wang, Bo Huang, Rui Huang
Summary: This paper introduces a novel framework based on deep reinforcement learning for generating machining process routes for designated parts. The framework utilizes graph representations of parts and employs convolutional graph neural networks for effective processing. Experimental results demonstrate the ability of the proposed method to generate efficient machining process routes and overcome limitations of traditional methods.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Regina Kyung-Jin Lee, Hao Zheng, Yuqian Lu
Summary: Future manufacturing will witness a shift towards collaboration and compassion in human-robot relationships. To enable seamless knowledge transfer, a unified knowledge representation system that can be shared by humans and robots is essential. The Human-Robot Shared Assembly Taxonomy (HR-SAT) proposed in this study allows comprehensive assembly tasks to be represented as a knowledge graph that is understandable by both humans and robots. HR-SAT incorporates rich assembly information and has diverse applications in process planning, quality checking, and human-robot collaboration.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Jianhui He, Lefeng Gu, Guilin Yang, Yiyang Feng, Silu Chen, Zaojun Fang
Summary: This paper presents a new modular kinematic error model for collaborative robots and proposes a portable self-calibration device to improve their positioning accuracy.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Hongwei Sun, Jixiang Yang, Han Ding
Summary: This paper proposes an asymmetrical FIR filter-based tool path smoothing algorithm to fully utilize the joint drive capability of robot manipulators. The algorithm considers the pose-dependent dynamics and constraints of the robot and improves motion efficiency by over 10% compared to traditional methods.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Dongsheng Ge, Huan Zhao, Yiwei Wang, Dianxi Li, Xiangfei Li, Han Ding
Summary: This paper focuses on learning a stable force control policy from human demonstration during contact transients. Based on the analysis of human demonstration data, a novel human-inspired force control strategy called compliant dynamical system (CDS) is proposed. The effectiveness of the proposed method is validated through simulation and real-world experiments.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Xuepeng Huang, Zhenzhong Wang, Lucheng Li, Qi Luo
Summary: This study models the stiffness of a robot and modifies the tool influence function (TIF) with the Preston equation in order to achieve uniform surface quality in robotic bonnet polishing (RBP) of optical components. Experimental results validate the accuracy of the modified model.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Mario D. Fiore, Felix Allmendinger, Ciro Natale
Summary: This paper presents a constraint-based programming framework for task specification and motion optimization. The framework can handle constraints on robot joint and Cartesian coordinates, as well as time dependency. It also compares with existing methods and provides numerical support through illustrative examples and case studies.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Yongxue Chen, Yaoan Lu, Ye Ding
Summary: This paper presents an optimization method for directly generating a six-degree-of-freedom toolpath for robotic flank milling. By optimizing the smoothness of the toolpath and the stiffness of the robot, the efficiency, accuracy, and finish of the machining are improved.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Chungang Zhuang, Haoyu Wang, Han Ding
Summary: This article proposes an end-to-end pipeline for synchronously regressing potential object poses from an unsegmented point cloud. It extracts point pair features and uses a voting architecture for instance feature extraction, along with a 3D heatmap for clustering votes and generating center seeds. An attention voting module is also employed to adaptively fuse point-wise features into instance-wise features. The network demonstrates robustness and improved performance in pose estimation.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)