The Experts below are selected from a list of 4095 Experts worldwide ranked by ideXlab platform
B. Kuchen - One of the best experts on this subject based on the ideXlab platform.
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Tracking Robust Impedance Robot Control with Visual Feedback
IFAC Proceedings Volumes, 2000Co-Authors: O. Nasisi, R. Carelli, B. KuchenAbstract:Abstract In this paper, it is proposed a tracking robust impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is designed to compensate for full non linear robot dynamics. Robust control law is introduced to reduce the sensibility of the control system to dynamic uncertainties of the robot and the manipulated load. It is proved that the vision control errors are ultimately bounded in the Image Coordinate system. Simulations are carried out to evaluate the controller performance.
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Tracking adaptive impedance robot control with visual feedback
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998Co-Authors: O. Nasisi, R. Carelli, B. KuchenAbstract:We propose a tracking adaptive impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is designed to compensate for full nonlinear robot dynamics. Robot parameters adjustment is introduced to reduce the sensuality of the controller design to dynamic uncertainties of the robot and the manipulated load. It is proved that the vision control errors are ultimately bounded in the Image Coordinate system. Simulations are carried out to evaluate the controller performance.
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ICRA - Tracking adaptive impedance robot control with visual feedback
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998Co-Authors: O. Nasisi, R. Carelli, B. KuchenAbstract:We propose a tracking adaptive impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is designed to compensate for full nonlinear robot dynamics. Robot parameters adjustment is introduced to reduce the sensuality of the controller design to dynamic uncertainties of the robot and the manipulated load. It is proved that the vision control errors are ultimately bounded in the Image Coordinate system. Simulations are carried out to evaluate the controller performance.
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Tracking Adapitive Control of Robots with Visual Feedback
IFAC Proceedings Volumes, 1996Co-Authors: O. Nasisi, R. Carelli, B. KuchenAbstract:Abstract In this paper an adaptive controller for robot tracking using visual feedback with camerain-hand configuration is proposed. The controller is designed to compensate for full robot dynamics. Adaptation is introduced to reduce the design sensitivity due to robot and payload dynamic uncertainties. It is proved that the vision control errors are ultimately bounded in the Image Coordinate system. Simulations are carried out to evaluate the controller performance.
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Adaptive robot control with visual feedback
Proceedings of 1994 American Control Conference - ACC '94, 1994Co-Authors: R. Carelli, O. Nasisi, B. KuchenAbstract:In this paper we propose an adaptive controller for robots with camera-in-hand configuration using visual feedback. The controller is designed to compensate for full robot dynamics. Adaptation is introduced to reduce the design sensitivity due to robot and payload dynamic uncertainties. The control system is proved to asymptotically achieve the position control objective in the Image Coordinate system. Simulations are carried out to evaluate the controller performance.
O. Nasisi - One of the best experts on this subject based on the ideXlab platform.
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Adaptive servo visual robot control
Robotics and Autonomous Systems, 2003Co-Authors: O. Nasisi, R. CarelliAbstract:Abstract Adaptive controllers for robot positioning and tracking using direct visual feedback with camera-in-hand configuration are proposed in this paper. The controllers are designed to compensate for full robot dynamics. Adaptation is introduced to reduce the design sensitivity due to robot and payload dynamics uncertainties. It is proved that the control system achieves the motion control objective in the Image Coordinate system. Simulations are carried out to evaluate the controller performance. Also, discretization and measurement effects are considered in simulations.
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Tracking Robust Impedance Robot Control with Visual Feedback
IFAC Proceedings Volumes, 2000Co-Authors: O. Nasisi, R. Carelli, B. KuchenAbstract:Abstract In this paper, it is proposed a tracking robust impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is designed to compensate for full non linear robot dynamics. Robust control law is introduced to reduce the sensibility of the control system to dynamic uncertainties of the robot and the manipulated load. It is proved that the vision control errors are ultimately bounded in the Image Coordinate system. Simulations are carried out to evaluate the controller performance.
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Tracking adaptive impedance robot control with visual feedback
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998Co-Authors: O. Nasisi, R. Carelli, B. KuchenAbstract:We propose a tracking adaptive impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is designed to compensate for full nonlinear robot dynamics. Robot parameters adjustment is introduced to reduce the sensuality of the controller design to dynamic uncertainties of the robot and the manipulated load. It is proved that the vision control errors are ultimately bounded in the Image Coordinate system. Simulations are carried out to evaluate the controller performance.
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ICRA - Tracking adaptive impedance robot control with visual feedback
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998Co-Authors: O. Nasisi, R. Carelli, B. KuchenAbstract:We propose a tracking adaptive impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is designed to compensate for full nonlinear robot dynamics. Robot parameters adjustment is introduced to reduce the sensuality of the controller design to dynamic uncertainties of the robot and the manipulated load. It is proved that the vision control errors are ultimately bounded in the Image Coordinate system. Simulations are carried out to evaluate the controller performance.
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Tracking Adapitive Control of Robots with Visual Feedback
IFAC Proceedings Volumes, 1996Co-Authors: O. Nasisi, R. Carelli, B. KuchenAbstract:Abstract In this paper an adaptive controller for robot tracking using visual feedback with camerain-hand configuration is proposed. The controller is designed to compensate for full robot dynamics. Adaptation is introduced to reduce the design sensitivity due to robot and payload dynamic uncertainties. It is proved that the vision control errors are ultimately bounded in the Image Coordinate system. Simulations are carried out to evaluate the controller performance.
R. Carelli - One of the best experts on this subject based on the ideXlab platform.
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Adaptive servo visual robot control
Robotics and Autonomous Systems, 2003Co-Authors: O. Nasisi, R. CarelliAbstract:Abstract Adaptive controllers for robot positioning and tracking using direct visual feedback with camera-in-hand configuration are proposed in this paper. The controllers are designed to compensate for full robot dynamics. Adaptation is introduced to reduce the design sensitivity due to robot and payload dynamics uncertainties. It is proved that the control system achieves the motion control objective in the Image Coordinate system. Simulations are carried out to evaluate the controller performance. Also, discretization and measurement effects are considered in simulations.
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Tracking Robust Impedance Robot Control with Visual Feedback
IFAC Proceedings Volumes, 2000Co-Authors: O. Nasisi, R. Carelli, B. KuchenAbstract:Abstract In this paper, it is proposed a tracking robust impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is designed to compensate for full non linear robot dynamics. Robust control law is introduced to reduce the sensibility of the control system to dynamic uncertainties of the robot and the manipulated load. It is proved that the vision control errors are ultimately bounded in the Image Coordinate system. Simulations are carried out to evaluate the controller performance.
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Tracking adaptive impedance robot control with visual feedback
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998Co-Authors: O. Nasisi, R. Carelli, B. KuchenAbstract:We propose a tracking adaptive impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is designed to compensate for full nonlinear robot dynamics. Robot parameters adjustment is introduced to reduce the sensuality of the controller design to dynamic uncertainties of the robot and the manipulated load. It is proved that the vision control errors are ultimately bounded in the Image Coordinate system. Simulations are carried out to evaluate the controller performance.
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ICRA - Tracking adaptive impedance robot control with visual feedback
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998Co-Authors: O. Nasisi, R. Carelli, B. KuchenAbstract:We propose a tracking adaptive impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is designed to compensate for full nonlinear robot dynamics. Robot parameters adjustment is introduced to reduce the sensuality of the controller design to dynamic uncertainties of the robot and the manipulated load. It is proved that the vision control errors are ultimately bounded in the Image Coordinate system. Simulations are carried out to evaluate the controller performance.
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Tracking Adapitive Control of Robots with Visual Feedback
IFAC Proceedings Volumes, 1996Co-Authors: O. Nasisi, R. Carelli, B. KuchenAbstract:Abstract In this paper an adaptive controller for robot tracking using visual feedback with camerain-hand configuration is proposed. The controller is designed to compensate for full robot dynamics. Adaptation is introduced to reduce the design sensitivity due to robot and payload dynamic uncertainties. It is proved that the vision control errors are ultimately bounded in the Image Coordinate system. Simulations are carried out to evaluate the controller performance.
Mohd Haffiz Johar - One of the best experts on this subject based on the ideXlab platform.
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SoCPaR - Disparity Mapping for Navigation of Stereo Vision Autonomous Guided Vehicle
2009 International Conference of Soft Computing and Pattern Recognition, 2009Co-Authors: Anwar Hasni Abu Hasan, Rostam Affendi Hamzah, Mohd Haffiz JoharAbstract:Stereo vision system is a practical method for depth gathering of objects and features in an environment. This paper presents the disparity mapping for navigation of stereo vision autonomous guided vehicle using block matching algorithm. The stereo vision baseline is based on horizontal configuration. The block matching technique is briefly described with the performance of its output. The disparity mapping is generated by the algorithm with reference to the left Image Coordinate. The algorithm is using Sum of Absolute Differences (SAD) which runs in Matlab software.
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Region of Interest in Disparity Mapping for Navigation of Stereo Vision Autonomous Guided Vehicle
2009 International Conference on Computer Technology and Development, 2009Co-Authors: Anwar Hasni Abu Hasan, Rostam Affendi Hamzah, Mohd Haffiz JoharAbstract:Stereo vision system is a practical method for depth gathering of objects and features in an environment. This paper presents the region of interest in disparity mapping for stereo vision autonomous guided vehicle using block matching algorithm. This region is a reference sight of the stereo camera and tereo vision baseline is based on horizontal configuration. The block matching technique is briefly described with the performance of its output. The disparity mapping is generated by the algorithm with the reference to the left Image Coordinate. The algorithm uses Sum of Absolute Differences (SAD) which is developed using Matlab software.
John A. Wemmie - One of the best experts on this subject based on the ideXlab platform.
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CVPR Workshops - Population Shape Collapse in Large Deformation Registration of MR Brain Images
2016 IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2016Co-Authors: Wei Shao, Joo Hyun Song, Gary E. Christensen, Hans J. Johnson, Oguz C. Durumeric, Casey P. Johnson, Joseph J. Shaffer, Vincent A. Magnotta, Jess G. Fiedorowicz, John A. WemmieAbstract:This paper examines the shape collapse problem that occurs when registering a pair of Images or a population of Images of the brain to a reference (target) Image Coordinate system using diffeomorphic Image registration. Shape collapse occurs when a foreground or background structure in an Image with non-zero volume is transformed into a set of zero or near zero volume as measured on a discrete voxel lattice in the target Image Coordinate system. Shape collapse may occur during Image registration when the moving Image has a structure that is either missing or does not sufficiently overlap the corresponding structure in the target Image[4]. Such a problem is common in Image registration algorithms with large degrees of freedom such as many diffeomorphic Image registration algorithms. Shape collapse is a concern when mapping functional data. For example, loss of signal may occur when mapping functional data such as fMRI, PET, SPECT using a transformation with a shape collapse if the functional signal occurs at the collapse region. This paper proposes an novel shape collapse measurement algorithm to detect the regions of shape collapse after Image registration in pairwise registration. We further compute the shape collapse for a population of pairwise transformations such as occurs when registering many Images to a common atlas Coordinate system. Experiments are presented using the SyN diffeomorphic Image registration algorithm. We demonstrate how changing the input parameters to the SyN registration algorithm can mitigate some of the collapse Image registration artifacts.
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Population Shape Collapse in Large Deformation Registration of MR Brain Images
2016 IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2016Co-Authors: Wei Shao, Gary E. Christensen, Hans J. Johnson, Joo H. Song, Oguz C. Durumeric, Casey P. Johnson, Joseph J. Shaffer, Vincent A. Magnotta, Jess G. Fiedorowicz, John A. WemmieAbstract:This paper examines the shape collapse problem that occurs when registering a pair of Images or a population of Images of the brain to a reference (target) Image Coordinate system using diffeomorphic Image registration. Shape collapse occurs when a foreground or background structure in an Image with non-zero volume is transformed into a set of zero or near zero volume as measured on a discrete voxel lattice in the target Image Coordinate system. Shape collapse may occur during Image registration when the moving Image has a structure that is either missing or does not sufficiently overlap the corresponding structure in the target Image[4]. Such a problem is common in Image registration algorithms with large degrees of freedom such as many diffeomorphic Image registration algorithms. Shape collapse is a concern when mapping functional data. For example, loss of signal may occur when mapping functional data such as fMRI, PET, SPECT using a transformation with a shape collapse if the functional signal occurs at the collapse region. This paper proposes an novel shape collapse measurement algorithm to detect the regions of shape collapse after Image registration in pairwise registration. We further compute the shape collapse for a population of pairwise transformations such as occurs when registering many Images to a common atlas Coordinate system. Experiments are presented using the SyN diffeomorphic Image registration algorithm. We demonstrate how changing the input parameters to the SyN registration algorithm can mitigate some of the collapse Image registration artifacts.
