Novel dynamic template matching of visual servoing for tethered space robot

2014 ◽  
Author(s):  
Jia Cai ◽  
Panfeng Huang ◽  
Dongke Wang
Keyword(s):  
Template Matching ◽  
Visual Servoing ◽  
Space Robot ◽  
Dynamic Template

scholarly journals A TSR Visual Servoing System Based on a Novel Dynamic Template Matching Method

Sensors ◽  
2015 ◽  
Vol 15 (12) ◽  
pp. 32152-32167 ◽  
Author(s):  
Jia Cai ◽  
Panfeng Huang ◽  
Bin Zhang ◽  
Dongke Wang
Keyword(s):  
Template Matching ◽  
Visual Servoing ◽  
Matching Method ◽  
Dynamic Template

scholarly journals Reactionless visual servoing of a dual-arm space robot

2014 ◽  
Author(s):  
A. H. Abdul Hafez ◽  
V. V. Anurag ◽  
S. V. Shah ◽  
K. Madhava Krishna ◽  
C. V. Jawahar
Keyword(s):  
Visual Servoing ◽  
Space Robot ◽  
Dual Arm

An Improved Visual Tracking Method in Scanning Electron Microscope

2012 ◽  
Vol 18 (3) ◽  
pp. 612-620 ◽  
Author(s):  
Changhai Ru ◽  
Yong Zhang ◽  
Haibo Huang ◽  
Tao Chen
Keyword(s):  
Template Matching ◽  
Visual Servoing ◽  
Open Loop ◽  
Tracking Accuracy ◽  
Feedback Mechanisms ◽  
Contour Models ◽  
Electron Microscopes ◽  
Feed Forward Controller ◽  
Scanning Electron Microscopes ◽  
Scanning Electron

AbstractSince their invention, nanomanipulation systems in scanning electron microscopes (SEMs) have provided researchers with an increasing ability to interact with objects at the nanoscale. However, most nanomanipulators that are capable of generating nanometer displacement operate in an open-loop without suitable feedback mechanisms. In this article, a robust and effective tracking framework for visual servoing applications is presented inside an SEM to achieve more precise tracking manipulation and measurement. A subpixel template matching tracking algorithm based on contour models in the SEM has been developed to improve the tracking accuracy. A feed-forward controller is integrated into the control system to improve the response time. Experimental results demonstrate that a subpixel tracking accuracy is realized. Furthermore, the robustness against clutter can be achieved even in a challenging tracking environment.

scholarly journals Online Programming Semantic Error Feedback using Dynamic Template Matching

2021 ◽  
Vol 12 (9) ◽  
Author(s):  
Razali M. K. A ◽  
S. Suhailan ◽  
Mohamed M. A ◽  
M. D. M. Sufian
Keyword(s):  
Template Matching ◽  
Error Feedback ◽  
Semantic Error ◽  
Dynamic Template

scholarly journals Visual Servoing of Space Robot for Autonomous Satellite Capture

2003 ◽  
Vol 46 (153) ◽  
pp. 173-179 ◽  
Author(s):  
Noriyasu INABA ◽  
Mitsushige ODA ◽  
Masato HAYASHI
Keyword(s):  
Visual Servoing ◽  
Space Robot ◽  
Satellite Capture

An ultrasound guided tracking method for a tumor utilizing HLAC based dynamic template matching

2017 ◽  
Vol 2017 (0) ◽  
pp. 1A1-L04
Author(s):  
Ryosuke KONDO ◽  
Norihiro KOIZUMI ◽  
Kyohei TOMITA ◽  
Yu NISHIYAMA ◽  
Hiroyuki FUKUDA ◽  
...  
Keyword(s):  
Template Matching ◽  
Ultrasound Guided ◽  
Tracking Method ◽  
Dynamic Template

Rapid satellite capture by a space robot based on delay compensation

2017 ◽  
Vol 44 (3) ◽  
pp. 363-376 ◽  
Author(s):  
Zhenyu Li ◽  
Bin Wang ◽  
Haitao Yang ◽  
Hong Liu
Keyword(s):  
Time Delay ◽  
Visual Servoing ◽  
Error Control ◽  
Three Dimensional ◽  
Experimental System ◽  
Space Robot ◽  
Robot Kinematics ◽  
Delay Compensation ◽  
Content Type ◽  
Satellite Capture

Purpose Rapid satellite capture by a free-floating space robot is a challenge problem because of no-fixed base and time-delay issues. This paper aims to present a modified target capturing control scheme for improving the control performance. Design/methodology/approach For handling such control problem including time delay, the modified scheme is achieved by adding a delay calibration algorithm into the visual servoing loop. To identify end-effector motions in real time, a motion predictor is developed by partly linearizing the space robot kinematics equation. By this approach, only ground-fixed robot kinematics are involved in the predicting computation excluding the complex space robot kinematics calculations. With the newly developed predictor, a delay compensator is designed to take error control into account. For determining the compensation parameters, the asymptotic stability condition of the proposed compensation algorithm is also presented. Findings The proposed method is conducted by a credible three-dimensional ground experimental system, and the experimental results illustrate the effectiveness of the proposed method. Practical implications Because the delayed camera signals are compensated with only ground-fixed robot kinematics, this proposed satellite capturing scheme is particularly suitable for commercial on-orbit services with cheaper on-board computers. Originality/value This paper is original as an attempt trying to compensate the time delay by taking both space robot motion predictions and compensation error control into consideration and is valuable for rapid and accurate satellite capture tasks.

Sign in / Sign up

Export Citation Format

Share Document