Purpose – The purpose of this paper is to describe a calibration method developed to improve the accuracy of a six degrees-of-freedom medical robot. The proposed calibration approach aims to enhance the robot’s accuracy in a specific target workspace. A comparison of five observability indices is also done in order to choose the most appropriate calibration robot configurations. Design/methodol...

With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms ...

High accuracy registration between real and virtual environments is crucial in Augmented Reality (AR) systems. However, when a vision/inertial hybrid tracker is used,such accuracy depends mostly on the calibration procedure to determine transformations between the sensors frames. This calibration allows to project all data in a single reference frame. In this paper, we describe a new calibratio...

This paper discusses methods behind tracker evaluation, the aim being to evaluate how well a tracker is able to determine the position of a target object. Few metrics exist for positional tracker evaluation; here the fundamental issues of trajectory comparison are addressed, and metrics are presented which allow the key features to be described. Often little evaluation on how precisely a target...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

In this article, we modeled image target tracking into reinforcement learning framework, and we proposed a two-step reinforcement learning algorithm for target tracking. In this algorithm, we set multiple tracker agent to track the pixel of target, the intention of reinforcement learning is to achieve tracking strategy of every tracker agent, we divided each learning step of tracker into two pa...

The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...

We study the problem of multiple target tracking using multiple mobile robots. Our approach is to divide the cooperative multi-target tracking problem into two sub-problems: target tracking using a single mobile robot and on-line motion strategy design for multi-robot coordination. For single robot-based tracking, we address two key challenges: how to separate the egomotion of the robot from th...

This paper describes and evaluates the use of a head-mounted display (HMD) for the teleoperation of a field robot. The HMD presents a pair of video streams to the operator (one to each eye) originating from a pair of stereo cameras located on the front of the robot, thus providing him/her with a sense of depth (stereopsis). A tracker on the HMD captures 3-DOF head orientation data which is then...

This papers introduces the stealth tracking problem, in which a robot, equipped with visual sensors, tries to track a moving target among obstacles and, at the same time, remain hidden from the target. Obstacles impede both the tracker’s motion and visibility, but on the other hand, provide hiding places for the tracker. Our proposed tracking algorithm uses only local information from the track...