Visual Servoing in Robotics

Visual servoing is a well-known approach to guide robots using visual information. Image processing, robotics, and control theory are combined in order to control the motion of a robot depending on the visual information extracted from the images captured by one or several cameras. With respect to vision issues, a number of issues are currently being addressed by ongoing research, such as the use of different types of image features (or different types of cameras such as RGBD cameras), image processing at high velocity, and convergence properties. As shown in this book, the use of new control schemes allows the system to behave more robustly, efficiently, or compliantly, with fewer delays. Related issues such as optimal and robust approaches, direct control, path tracking, or sensor fusion are also addressed. Additionally, we can currently find visual servoing systems being applied in a number of different domains. This book considers various aspects of visual servoing systems, such as the design of new strategies for their application to parallel robots, mobile manipulators, teleoperation, and the application of this type of control system in new areas

Haptic Guidance for Extended Range Telepresence

A novel navigation assistance for extended range telepresence is presented. The haptic information from the target environment is augmented with guidance commands to assist the user in reaching desired goals in the arbitrarily large target environment from the spatially restricted user environment. Furthermore, a semi-mobile haptic interface was developed, one whose lightweight design and setup configuration atop the user provide for an absolutely safe operation and high force display quality

Dynamic Active Constraints for Surgical Robots using Vector Field Inequalities

Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In these procedures, surgeons have restricted vision to areas near the surgical tooltips, which increases the risk of unexpected collisions between the shafts of the instruments and their surroundings. In this work, our vector-field-inequalities method is extended to provide dynamic active-constraints to any number of robots and moving objects sharing the same workspace. The method is evaluated with experiments and simulations in which robot tools have to avoid collisions autonomously and in real-time, in a constrained endonasal surgical environment. Simulations show that with our method the combined trajectory error of two robotic systems is optimal. Experiments using a real robotic system show that the method can autonomously prevent collisions between the moving robots themselves and between the robots and the environment. Moreover, the framework is also successfully verified under teleoperation with tool-tissue interactions.Comment: Accepted on T-RO 2019, 19 Page

Alignment control using visual servoing and mobilenet single-shot multi-box detection (SSD): a review

The concept is highly critical for robotic technologies that rely on visual feedback. In this context, robot systems tend to be unresponsive due to reliance on pre-programmed trajectory and path, meaning the occurrence of a change in the environment or the absence of an object. This review paper aims to provide comprehensive studies on the recent application of visual servoing and DNN. PBVS and Mobilenet-SSD were chosen algorithms for alignment control of the film handler mechanism of the portable x-ray system. It also discussed the theoretical framework features extraction and description, visual servoing, and Mobilenet-SSD. Likewise, the latest applications of visual servoing and DNN was summarized, including the comparison of Mobilenet-SSD with other sophisticated models. As a result of a previous study presented, visual servoing and MobileNet-SSD provide reliable tools and models for manipulating robotics systems, including where occlusion is present. Furthermore, effective alignment control relies significantly on visual servoing and deep neural reliability, shaped by different parameters such as the type of visual servoing, feature extraction and description, and DNNs used to construct a robust state estimator. Therefore, visual servoing and MobileNet-SSD are parameterized concepts that require enhanced optimization to achieve a specific purpose with distinct tools

Parallel Manipulators

In recent years, parallel kinematics mechanisms have attracted a lot of attention from the academic and industrial communities due to potential applications not only as robot manipulators but also as machine tools. Generally, the criteria used to compare the performance of traditional serial robots and parallel robots are the workspace, the ratio between the payload and the robot mass, accuracy, and dynamic behaviour. In addition to the reduced coupling effect between joints, parallel robots bring the benefits of much higher payload-robot mass ratios, superior accuracy and greater stiffness; qualities which lead to better dynamic performance. The main drawback with parallel robots is the relatively small workspace. A great deal of research on parallel robots has been carried out worldwide, and a large number of parallel mechanism systems have been built for various applications, such as remote handling, machine tools, medical robots, simulators, micro-robots, and humanoid robots. This book opens a window to exceptional research and development work on parallel mechanisms contributed by authors from around the world. Through this window the reader can get a good view of current parallel robot research and applications

자동차 사양 변경을 실시간 반영하는 데이터 기반 디자인 접근 방법

학위논문 (박사) -- 서울대학교 대학원 : 융합과학기술대학원 융합과학부(지능형융합시스템전공), 2020. 8. 곽노준.The automotive industry is entering a new phase in response to changes in the external environment through the expansion of eco-friendly electric/hydrogen vehicles and the simplification of modules during the manufacturing process. However, in the existing automotive industry, conflicts between structured production guidelines and various stake-holders, who are aligned with periodic production plans, can be problematic. For example, if there is a sudden need to change either production parts or situation-specific designs, it is often difficult for designers to reflect those requirements within the preexisting guidelines. Automotive design includes comprehensive processes that represent the philosophy and ideology of a vehicle, and seeks to derive maximum value from the vehicle specifications. In this study, a system that displays information on parts/module components necessary for real-time design was proposed. Designers will be able to use this system in automotive design processes, based on data from various sources. By applying the system, three channels of information provision were established. These channels will aid in the replacement of specific component parts if an unexpected external problem occurs during the design process, and will help in understanding and using the components in advance. The first approach is to visualize real-time data aggregation in automobile factories using Google Analytics, and to reflect these in self-growing characters to be provided to designers. Through this, it is possible to check production and quality status data in real time without the use of complicated labor resources such as command centers. The second approach is to configure the data flow to be able to recognize and analyze the surrounding situation. This is done by applying the vehicles camera to the CCTV in the inventory and distribution center, as well as the direction inside the vehicle. Therefore, it is possible to identify and record the parts resources and real-time delivery status from the internal camera function without hesitation from existing stakeholders. The final approach is to supply real-time databases of vehicle parts at the site of an accident for on-site repair, using a public API and sensor-based IoT. This allows the designer to obtain information on the behavior of parts to be replaced after accidents involving light contact, so that it can be reflected in the design of the vehicle. The advantage of using these three information channels is that designers can accurately understand and reflect the modules and components that are brought in during the automotive design process. In order to easily compose the interface for the purpose of providing information, the information coming from the three channels is displayed in their respective, case-specific color in the CAD software that designers use in the automobile development process. Its eye tracking usability evaluation makes it easy for business designers to use as well. The improved evaluation process including usability test is also included in this study. The impact of the research is both dashboard application and CAD system as well as data systems from case studies are currently reflected to the design ecosystem of the motors group.자동차 산업은 친환경 전기/수소 자동차의 확대와 제조 공정에서의 모듈 단순화를 통해서 외부 환경의 변화에 따른 새로운 국면을 맞이하고 있다. 하지만 기존의 자동차 산업에서 구조화된 생산 가이드라인과 기간 단위 생산 계획에 맞춰진 여러 이해관계자들과의 갈등은 변화에 대응하는 방안이 관성과 부딪히는 문제로 나타날 수 있다. 예를 들어, 갑작스럽게 생산에 필요한 부품을 변경해야 하거나 특정 상황에 적용되는 디자인을 변경할 경우, 주어진 가이드라인에 따라 디자이너가 직접 의견을 반영하기 어려운 경우가 많다. 자동차 디자인은 차종의 철학과 이념을 나타내고 해당 차량제원으로 최대의 가치를 끌어내고자 하는 종합적인 과정이다. 본 연구에서는 여러 원천의 데이터를 기반으로 자동차 디자인 과정에서 활용할 수 있도록 디자인에 필요한 부품/모듈 구성요소들에 대한 정보를 실시간으로 표시해주는 시스템을 고안하였다. 이를 적용하여 자동차 디자인 과정에서 예상 못한 외부 문제가 발생했을 때 선택할 구성 부품을 대체하거나 사전에 해당 부품을 이해하고 디자인에 활용할 수 있도록 세 가지 정보 제공 채널을 구성하였다. 첫 번째는 자동차 공장 내 실시간 데이터 집계를 Google Analytics를 활용하여 시각화하고, 이를 공장 자체의 자가 성장 캐릭터에 반영하여 디자이너에게 제공하는 방식이다. 이를 통해 종합상황실 등의 복잡한 인력 체계 없이도 생산 및 품질 현황 데이터를 실시간으로 확인 가능하도록 하였다. 두 번째는 차량용 주차보조 센서 카메라를 차량 부착 뿐만 아니라 인벤토리와 물류센터의 CCTV에도 적용하여 주변상황을 인식하고 분석할 수 있도록 구성하였다. 차량의 조립 생산 단계에서 부품 단위의 이동, 운송, 출하를 거쳐 완성차의 주행 단계에 이르기까지 데이터 흐름을 파악하는 것이 디자인 부문에 필요한 정보를 제공할 수 있는 방법으로 활용되었다. 이를 통해 기존 이해관계자들의 큰 반발 없이 내부의 카메라 기능으로부터 부품 리소스와 운송 상태를 실시간 파악 및 기록 가능하도록 하였다. 마지막으로 공공 API와 센서 기반의 사물인터넷을 활용해서 도로 위 차량 사고가 발생한 위치에서의 현장 수리를 위한 차량 부품 즉시 수급 및 데이터베이스화 방법도 개발 되었다. 이는 디자이너로 하여금 가벼운 접촉 사고에서의 부품 교체 행태에 대한 정보를 얻게 하여 차량의 디자인에 반영 가능하도록 하였다. 시나리오를 바탕으로 이 세 가지 정보 제공 채널을 활용할 경우, 자동차 디자인 과정에서 불러들여오는 부품 및 모듈의 구성 요소들을 디자이너가 정확히 알고 반영할 수 있다는 장점이 부각되었다. 정보 제공의 인터페이스를 쉽게 구성하기 위해서, 실제로 디자이너들이 자동차 개발 과정에서 디자인 프로세스 상에서 활용하는 CAD software에 세 가지 채널들로부터 들어오는 정보를 사례별 컬러로 표시하고, 이를 시선추적 사용성 평가를 통해 현업 디자이너들이 사용하기 쉽게 개선한 과정도 본 연구에 포함시켜 설명하였다.1 Introduction 1 1.1 Research Background 1 1.2 Objective and Scope 2 1.3 Environmental Changes 3 1.4 Research Method 3 1.4.1 Causal Inference with Graphical Model 3 1.4.2 Design Thinking Methodology with Co-Evolution 4 1.4.3 Required Resources 4 1.5 Research Flow 4 2 Data-driven Design 7 2.1 Big Data and Data Management 6 2.1.1 Artificial Intelligence and Data Economy 6 2.1.2 API (Application Programming Interface) 7 2.1.3 AI driven Data Management for Designer 7 2.2 Datatype from Automotive Industry 8 2.2.1 Data-driven Management in Automotive Industry 8 2.2.2 Automotive Parts Case Studies 8 2.2.3 Parameter for Generative Design 9 2.3 Examples of Data-driven Design 9 2.3.1 Responsive-reactive 9 2.3.2 Dynamic Document Design 9 2.3.3 Insignts from Data-driven Design 10 3 Benchmark of Data-driven Automotive Design 12 3.1 Method of Global Benchmarking 11 3.2 Automotive Design 11 3.2.1 HMI Design and UI/UX 11 3.2.2 Hardware Design 12 3.2.3 Software Design 12 3.2.4 Convergence Design Process Model 13 3.3 Component Design Management 14 4 Vehicle Specification Design in Mobility Industry 16 4.1 Definition of Vehicle Specification 16 4.2 Field Study 17 4.3 Hypothesis 18 5 Three Preliminary Practical Case Studies for Vehicle Specification to Datadriven 21 5.1 Production Level 31 5.1.1 Background and Input 31 5.1.2 Data Process from Inventory to Designer 41 5.1.3 Output to Designer 51 5.2 Delivery Level 61 5.2.1 Background and Input 61 5.2.2 Data Process from Inventory to Designer 71 5.2.3 Output to Designer 81 5.3 Consumer Level 91 5.3.1 Background and Input 91 5.3.2 Data Process from Inventory to Designer 101 5.3.3 Output to Designer 111 6 Two Applications for Vehicle Designer 86 6.1 Real-time Dashboard DB for Decision Making 123 6.1.1 Searchable Infographic as a Designer's Tool 123 6.1.2 Scope and Method 123 6.1.3 Implementation 123 6.1.4 Result 124 6.1.5 Evaluation 124 6.1.6 Summary 124 6.2 Application to CAD for vehicle designer 124 6.2.1 CAD as a Designer's Tool 124 6.2.2 Scope and Method 125 6.2.3 Implementation and the Display of the CAD Software 125 6.2.4 Result 125 6.2.5 Evaluation: Usability Test with Eyetracking 126 6.2.6 Summary 128 7 Conclusion 96 7.1 Summary of Case Studies and Application Release 129 7.2 Impact of the Research 130 7.3 Further Study 131Docto