VISUAL DETECTION OF LEGGED ROBOTS AND ITS APPLICATION TO ROBOT SOCCER PLAYING AND REFEREEING

2010 ◽  
Vol 07 (04) ◽  
pp. 669-698 ◽  
Author(s):  
JAVIER RUIZ-DEL-SOLAR ◽  
MATIAS ARENAS ◽  
RODRIGO VERSCHAE ◽  
PATRICIO LONCOMILLA
Keyword(s):  
Visual Detection ◽  
Humanoid Robots ◽  
Legged Robots ◽  
False Detection ◽  
Fast Processing ◽  
Horizon Line ◽  
Boosting Algorithm ◽  
Domain Partitioning ◽  
Robotic Applications ◽  
Very High

The visual detection of robots is a difficult but relevant problem in several robotic applications. In this article, a framework for the robust and fast visual detection of legged robots is proposed. This framework uses cascades of nested classifiers, the Adaboost boosting algorithm, and domain-partitioning-based weak classifiers. Using the proposed framework, frontal, profile, and back detectors for AIBO robots (model ERS7), as well as detectors for humanoid robots, are built. The detection rate (DR) of the obtained systems is quite high: 90% with an average of 0.1 false positives (FPs) per image, when the final detections are filtered out using context information (horizon line). In addition, a robot referee that uses these detectors to track players during a soccer game is described. Experiment results showed that the referee achieves very high robot DRs (98.7% DR with ~ 1 false detection every 16 images) and fast processing speed.

scholarly journals Object detection networks and augmented reality for cellular detection in fluorescence microscopy

2020 ◽  
Vol 219 (10) ◽  
Author(s):  
Dominic Waithe ◽  
Jill M. Brown ◽  
Katharina Reglinski ◽  
Isabel Diez-Sevilla ◽  
David Roberts ◽  
...  
Keyword(s):  
Augmented Reality ◽  
Fluorescence Microscopy ◽  
Object Detection ◽  
High Performance ◽  
Back Projection ◽  
Detection Algorithms ◽  
High Classification Accuracy ◽  
Fast Processing ◽  
Automate Detection ◽  
Very High

Object detection networks are high-performance algorithms famously applied to the task of identifying and localizing objects in photography images. We demonstrate their application for the classification and localization of cells in fluorescence microscopy by benchmarking four leading object detection algorithms across multiple challenging 2D microscopy datasets. Furthermore we develop and demonstrate an algorithm that can localize and image cells in 3D, in close to real time, at the microscope using widely available and inexpensive hardware. Furthermore, we exploit the fast processing of these networks and develop a simple and effective augmented reality (AR) system for fluorescence microscopy systems using a display screen and back-projection onto the eyepiece. We show that it is possible to achieve very high classification accuracy using datasets with as few as 26 images present. Using our approach, it is possible for relatively nonskilled users to automate detection of cell classes with a variety of appearances and enable new avenues for automation of fluorescence microscopy acquisition pipelines.

Gripper with Average Continuous Reconfigurability for Industrial Robots

2015 ◽  
Vol 811 ◽  
pp. 279-283
Author(s):  
Sebastian Jitariu ◽  
Ionel Staretu
Keyword(s):  
Industrial Robot ◽  
Low Complexity ◽  
Industrial Robots ◽  
Original Version ◽  
Cad Model ◽  
Cad Simulation ◽  
Alternative Solutions ◽  
Robotic Applications ◽  
Very High ◽  
Continuous Average

Anthropomorphic grippers for robots are used increasingly in robotic applications for handling and assembly. Currently there are several versions of anthropomorphic grippers as projects, prototypes or commercial variants that due to high prices or even for very high ones, are not available for current applications. Among them, high functionality at a relatively low complexity can be noticed in the case of reconfigurable grippers with high reconfigurability, Barrett Hand type. In this context, it is justified finding alternative solutions at lower prices at a lower reconfigurability, with acceptable functionality for current robotic operations. The paper presents an original version of modular anthropomorphic gripper continuous average reconfigurability, with three fingers. There are mentioned, briefly, major structural, kinematic and static issues, a CAD model and CAD simulation for gripping several types of pieces. Furthermore, we intend to achieve a prototype and test it by mounting on an industrial robot.

scholarly journals Rational imitation for robots: the cost difference model

2017 ◽  
Vol 25 (2) ◽  
pp. 60-71 ◽  
Author(s):  
Dieter Vanderelst ◽  
Alan Winfield
Keyword(s):  
Unsolved Problem ◽  
Humanoid Robots ◽  
Cost Difference ◽  
Difference Model ◽  
The Cost ◽  
Robotic Applications

Infants imitate behaviour flexibly. Depending on the circumstances, they copy both actions and their effects or only reproduce the demonstrator’s intended goals. In view of this selective imitation, infants have been called rational imitators. The ability to selectively and adaptively imitate behaviour would be a beneficial capacity for robots. Indeed, selecting what to imitate is an outstanding unsolved problem in the field of robotic imitation. In this paper, we first present a formalized model of rational imitation suited for robotic applications. Next, we test and demonstrate it using two humanoid robots.

scholarly journals Non-consensual personified sexbots: an intrinsic wrong

2021 ◽  
Author(s):  
Karen Lancaster
Keyword(s):  
Body Shape ◽  
Ethical Issues ◽  
Skin Pigmentation ◽  
Humanoid Robots ◽  
Martha Nussbaum ◽  
Sexual Objectification ◽  
Eye Colour ◽  
High Degree ◽  
Very High

AbstractHumanoid robots used for sexual purposes (sexbots) are beginning to look increasingly lifelike. It is possible for a user to have a bespoke sexbot created which matches their exact requirements in skin pigmentation, hair and eye colour, body shape, and genital design. This means that it is possible—and increasingly easy—for a sexbot to be created which bears a very high degree of resemblance to a particular person. There is a small but steadily increasing literature exploring some of the ethical issues surrounding sexbots, however sexbots made to look like particular people is something which, as yet, has not been philosophically addressed in the literature. In this essay I argue that creating a lifelike sexbot to represent and resemble someone is an act of sexual objectification which morally requires consent, and that doing so without the person’s consent is intrinsically wrong. I consider two sexbot creators: Roy and Fred. Roy creates a sexbot of Katie with her consent, and Fred creates a sexbot of Jane without her consent. I draw on the work of Alan Goldman, Rae Langton, and Martha Nussbaum in particular to demonstrate that creating a sexbot of a particular person requires consent if it is to be intrinsically permissible.

Development of lightweight hydraulic cylinder for humanoid robots applications

2017 ◽  
Vol 232 (18) ◽  
pp. 3351-3364 ◽  
Author(s):  
M Elasswad ◽  
A Tayba ◽  
A Abdellatif ◽  
S Alfayad ◽  
K Khalil
Keyword(s):  
Humanoid Robot ◽  
Mechanical Design ◽  
Experimental Testing ◽  
Fiber Composite ◽  
Humanoid Robots ◽  
Hydraulic Cylinder ◽  
Hydraulic Actuator ◽  
Carbon Fiber Composite ◽  
Robotic Applications ◽  
Actuator Performance

This paper presents a lightly weighted hydraulic actuator that is designed mainly for robotic applications. This hydraulic cylinder will be used as the main actuator for the hydraulic humanoid robot HYDROïD. For implementation, the knee joint is taken as an example in order to execute the necessary steps to build the actuator from carbon fiber composite material. An optimization process is used to minimize the total weight of the actuator and satisfy its constraints. Meanwhile, the mechanical design with the integrated sensors is shown. In addition, results are discussed on the spot of the weight minimization and actuator performance. Finally, experimental testing is carried out to monitor the pressure and the position readings of the hydraulic cylinder.

Time-Optimal Gait Planning for Six-Parallel-Legged Robot With Bounded Acceleration and Velocity

2017 ◽  
Author(s):  
Zhijun Chen ◽  
Feng Gao
Keyword(s):  
Integration Method ◽  
Optimal Solution ◽  
Humanoid Robots ◽  
Legged Robots ◽  
Feasible Region ◽  
Legged Robot ◽  
Gait Planning ◽  
Time Optimal ◽  
Optimal Gait ◽  
End Effectors

Time-optimal gait planning for legged robots can be seldom found, except in the field of humanoid robots. This paper proposes a time-optimal gait planning method for a six-parallel-legged robot with bounded velocities and accelerations of the active joints. The optimization model is established for the case when the robot uses 3–3 gait to walk and the end-effectors move along the specified elliptical path. The feasible region is analyzed, based on which a numerical integration method is applied to find the optimal solution. The optimized trajectory is compared with the non-optimized one in detail. The results show that the period of the optimized trajectory is shorten by 21.5%.

scholarly journals Analysis of the Alignment of Non-Random Patterns of Spin Directions in Populations of Spiral Galaxies

Particles ◽  
2021 ◽  
Vol 4 (1) ◽  
pp. 11-28
Author(s):  
Lior Shamir
Keyword(s):  
Random Distribution ◽  
Spiral Galaxies ◽  
Dipole Axis ◽  
False Detection ◽  
Annotation Process ◽  
Axis Alignment ◽  
Celestial Pole ◽  
The Galaxy ◽  
Random Patterns ◽  
Very High

Observations of non-random distribution of galaxies with opposite spin directions have recently attracted considerable attention. Here, a method for identifying cosine-dependence in a dataset of galaxies annotated by their spin directions is described in the light of different aspects that can impact the statistical analysis of the data. These aspects include the presence of duplicate objects in a dataset, errors in the galaxy annotation process, and non-random distribution of the asymmetry that does not necessarily form a dipole or quadrupole axes. The results show that duplicate objects in the dataset can artificially increase the likelihood of cosine dependence detected in the data, but a very high number of duplicate objects is required to lead to a false detection of an axis. Inaccuracy in galaxy annotations has relatively minor impact on the identification of cosine dependence when the error is randomly distributed between clockwise and counterclockwise galaxies. However, when the error is not random, even a small bias of 1% leads to a statistically significant cosine dependence that peaks at the celestial pole. Experiments with artificial datasets in which the distribution was not random showed strong cosine dependence even when the data did not form a full dipole axis alignment. The analysis when using the unmodified data shows asymmetry profile similar to the profile shown in multiple previous studies using several different telescopes.

Very High Resolution Analysis of the Dynamics of a Coronal Plasmoid

1994 ◽  
Vol 144 ◽  
pp. 593-596
Author(s):  
O. Bouchard ◽  
S. Koutchmy ◽  
L. November ◽  
J.-C. Vial ◽  
J. B. Zirker
Keyword(s):  
High Resolution ◽  
Solar Eclipse ◽  
Total Solar Eclipse ◽  
Field Of View ◽  
Small Field ◽  
High Resolution Analysis ◽  
Ccd Observations ◽  
Resolution Analysis ◽  
Very High ◽  
Small Field Of View

AbstractWe present the results of the analysis of a movie taken over a small field of view in the intermediate corona at a spatial resolution of 0.5“, a temporal resolution of 1 s and a spectral passband of 7 nm. These CCD observations were made at the prime focus of the 3.6 m aperture CFHT telescope during the 1991 total solar eclipse.

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