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7 results for “Visual Servoing”
Figure 1. The use of visual servo control for helicopter stabilization-Design and Implementation of a Fully Autonomous UAV's Navigator Based on Omni-directional Vision System
<p>Visual servoing is an approach to control motion of a helicopter using information feedback<br> from a camera mounted on it. For their tremendous potential applications in various areas including<br> environmental monitoring and anti-terrorism, unmanned small helicopters are being extensively<br> studied in robotics and control in recent years. However, the research advance in dynamic control of<br> small helicopters is limited due to highly coupled non- linear dynamics and the existence of various<br> uncertain- ties. Many people studied controller design based on a Publisher Item Identifier.<br> linearized or simplified model, but the controllers developed under linearized models cannot<br> guarantee dynamic stability rigorously. Another effort is application of modern non-linear control<br> theory to helicopter control because small helicopter are good test beds for sophisticated control<br> techniques for their small size and highly coupled dynamics [4].</p>
Figure 4. (a) Therapy player software screen, where a) is the stimuli time, b) is the total therapy time, c) is the file path, d) displays the numeric values of each sequence of the therapy, e) shows the current value, and f) shows the current lag angle for zenith and azimuth values; (b) USB mechanism for conversion, where a) USB-UART converter, and b) USB-Zigbee converter.-Design of a Novel Servo-motorized Laser Device for Visual Pathways Diseases Therapy
<p>Where tt time expended by the servomotors to point the laser to a given position and execute<br> a laser beam sequence; tspin is the time that a servomotor needs to spin one degree; ttol is a given the<br> tolerance time; θservo is the addition of degrees that both servos in a laser driver need to spin point<br> the laser in a given position; tstimuli is the time expended in execute a laser beam, between 250 and<br> 605 ms (Weiskrantz et al., 1991); T is the total time of all repetitions in a therapy, suggested<br> between 20 and 60 minutes and N is the number of repetitions in a therapy.</p>
Figure 3. (Top): Illustration of the therapy selection main menu. This enables the user to select one of three options for the therapy. Stimuli sequence selectors; (Bottom): (a) Short distance – complete visual field; (b) Short distance – macular; (c) Middle-long distance.-Design of a Novel Servo-motorized Laser Device for Visual Pathways Diseases Therapy
<p>distance therapies for the prescribed time suggested by the ophthalmologist.<br> Note that the complete visual field therapy stimulates different parts in the entire visual field<br> whereas macular therapy stimulate only a small part of the visual field, only the first 10° of vision<br> range. In contrast, middle-long distance therapies are not developed inside the device; instead the<br> patient must sit watching a wall, where the stimuli will be presented. Figure 3 (Bottom) shows the<br> sequence selectors for the three different cases. The therapist will choose a desired number of<br> sequences according to the results of the examination to each patient; hence it is completely patient<br> dependent.<br> Once the therapist finishes the particular design of the stimuli sequence, the software<br> automatically displays a window where he can save the customized patient-specific details for future<br> use as a text file.</p>
Figure 2. (a) Representation of laser servo-driver for inverse kinematics analysis; (b) Representation of the lag angle, B, of the internal servomechanism (magnified version of the chin-rest).-Design of a Novel Servo-motorized Laser Device for Visual Pathways Diseases Therapy
<p>As the servo-driver will be attached in the chin-rest in a non-central area with respect to the<br> semispherical structure shown in Figure 1(a), it is necessary to calculate a lag angle, according to<br> the measurements from the chin-rest, see Figure 2(b). This was done using a hybrid formula based<br> on the law of cosines,</p>
Figure 1. (a) Part of the acrylic structure where the patient is enclosed to avoid external stimulus; (b) Chin rest, corresponding proportions and measurements.-Design of a Novel Servo-motorized Laser Device for Visual Pathways Diseases Therapy
<p>The device consists mainly of an acrylic semi-spherical structure (Figure 1(a)) where visual<br> stimuli will be shown, according to a pre-designed therapy. Four servomotors will drive the lasers,<br> two inside the structure (short distances drive the lasers, two inside the structure (short distance<br> therapies) and two outside (middle-long distance therapies). A chin-rest must be used to have a<br> better line of sight fixation. A webcam with infrared light will catch the Purkinje-Sanson images to<br> identify the sight line (Borah, 2006; Halswanter, 2011; Pambakian et al., 2000). LabVIEW software<br> is used to control the device, including an audio stimulus along with an image-processing pipeline.<br> Finally a microcontroller is used to control the servo movements, laser beams and buzzers.</p>
AEROARMS Visual servoing with actively movable camera
<p>This dataset includes a library of elementary behaviours, namely atomic tasks to be assigned to a dual arm aerial manipulator in a priority order. The devised approach, developed within the EU funded research project AEROARMS (AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance) funded by the European Commission under Horizon 2020 Program (grant agreement No. 644271), is based on a set-based inverse kinematics control [1]. For each elementary task the Jacobian matrix and the task function are provided.</p> <p>The code has been developed in C++ under ROS environment and it has been experimentally tested on the AEROARMS dual-arm prototype developed by the University of Seville constituted by an under-actuated multi-rotor with two arms, each of them characterized by 4 DOFs. The total number of DOFs of the system is 12, while the amount of implemented tasks required a total number of 23 DOFs. This is possible since the different tasks are never activated all together but only a subset of them, based on the state of the system. More in detail, the following equality tasks (i.e. tasks characterized by a specific desired value) have been implemented: </p> <p>• Position and orientation trajectory tracking of left arm end-effectors. Such a tasks requires 6 DOFs.</p> <p>• Center of mass, this task is aimed at ensuring that the center of mass of the dual-arm system is, as much as possible, aligned with that of the UAV, in such a way to avoid to destabilize the flight and reduce the power consumption. Such a task requires 1 DOFs.</p> <p>• Field of View of the end effector of the right arm, equipped with a micro camera.</p> <p>As concerns the set-based tasks (i.e. tasks whose desired value is represented by an interval) the following have been implemented:</p> <p>• Joint limits: for each joint, upper and lower limits are set in order to avoid its mechanical limits. Such a task requires 1 DOF for each joint of the arms, thus the total number of required DOFs is 8.</p> <p>• Virtual wall between the two arms: to avoid collisions between the two arms, a virtual wall is implemented in order to delimit their working spaces. Such a task requires 2 DOF.</p> <p>• Virtual wall between the arms and the vehicle: to avoid collisions between the arms and the vehicle, virtual walls are implemented in order to delimit their working spaces. Such a task requires 1 DOF for each arm, thus the total number of required DOFs is 2.</p> <p>• Manipulability, aimed at keeping the manipulators far enough from singular configurations, at which the structure loses mobility. Such a task requires 1 DOF.</p> <p>The equality tasks are always active, while the set-based tasks are active only when the task variable is close to the domain border. The experimental results are reported in the paper:</p> <p>E. Cataldi, F. Real, A. Suarez, P.A. Di Lillo, F. Pierri, G. Antonelli, F. Caccavale, G. Heredia, A. Ollero, Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator, 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada.</p> <p>The following data and files are included:</p> <p>• The ROS code: ros_code_set_based.zip, that includes the nodes ros_aeroarms_set_based_seville and lib_multitasks that can be tested in simulation with the simulator V-Rep.</p> <p>• The model of a dual arm aerial manipulator, developed in V-Rep.</p> <p>• The experimental data both in the .mat format for reading with Matlab and in the .bag format for ROS.</p> <p>• The experimental results in ASCII files.</p> <p>[1] S. Moe, G. Antonelli, A. R. Teel, K. Y. Pettersen e J. Schrimpf, «Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results,» Frontiers in Robotics and AI , vol. 3, n. 16, 2016.</p>
Results of visual servoing architecture of mobile manipulators for precise industrial operations on moving objects
<p>Results obtained during the experiment of screw fastening on moving objects using a mobile manipulator.</p>
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OpenNeuro
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