Development of a bio-inspired vision system for mobile micro-robots

In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control

Correlation Flow: Robust Optical Flow Using Kernel Cross-Correlators

Robust velocity and position estimation is crucial for autonomous robot navigation. The optical flow based methods for autonomous navigation have been receiving increasing attentions in tandem with the development of micro unmanned aerial vehicles. This paper proposes a kernel cross-correlator (KCC) based algorithm to determine optical flow using a monocular camera, which is named as correlation flow (CF). Correlation flow is able to provide reliable and accurate velocity estimation and is robust to motion blur. In addition, it can also estimate the altitude velocity and yaw rate, which are not available by traditional methods. Autonomous flight tests on a quadcopter show that correlation flow can provide robust trajectory estimation with very low processing power. The source codes are released based on the ROS framework.Comment: 2018 International Conference on Robotics and Automation (ICRA 2018

A Miniature Robot for Isolating and Tracking Neurons in Extracellular Cortical Recordings

This paper presents a miniature robot device and control algorithm that can autonomously position electrodes in cortical tissue for isolation and tracking of extracellular signals of individual neurons. Autonomous electrode positioning can significantly enhance the efficiency and quality of acute electrophysiolgical experiments aimed at basic understanding of the nervous system. Future miniaturized systems of this sort could also overcome some of the inherent difficulties in estabilishing long-lasting neural interfaces that are needed for practical realization of neural prostheses. The paper describes the robot's design and summarizes the overall structure of the control system that governs the electrode positioning process. We present a new sequential clustering algorithm that is key to improving our system's performance, and which may have other applications in robotics. Experimental results in macaque cortex demonstrate the validity of our approach

Perception-aware Path Planning

In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue that motion planning for vision-controlled robots should be perception aware in that the robot should also favor texture-rich areas to minimize the localization uncertainty during a goal-reaching task. Thus, we describe how to optimally incorporate the photometric information (i.e., texture) of the scene, in addition to the the geometric one, to compute the uncertainty of vision-based localization during path planning. To avoid the caveats of feature-based localization systems (i.e., dependence on feature type and user-defined thresholds), we use dense, direct methods. This allows us to compute the localization uncertainty directly from the intensity values of every pixel in the image. We also describe how to compute trajectories online, considering also scenarios with no prior knowledge about the map. The proposed framework is general and can easily be adapted to different robotic platforms and scenarios. The effectiveness of our approach is demonstrated with extensive experiments in both simulated and real-world environments using a vision-controlled micro aerial vehicle.Comment: 16 pages, 20 figures, revised version. Conditionally accepted for IEEE Transactions on Robotic

Multi-Objective Design Optimization of the Leg Mechanism for a Piping Inspection Robot

This paper addresses the dimensional synthesis of an adaptive mechanism of contact points ie a leg mechanism of a piping inspection robot operating in an irradiated area as a nuclear power plant. This studied mechanism is the leading part of the robot sub-system responsible of the locomotion. Firstly, three architectures are chosen from the literature and their properties are described. Then, a method using a multi-objective optimization is proposed to determine the best architecture and the optimal geometric parameters of a leg taking into account environmental and design constraints. In this context, the objective functions are the minimization of the mechanism size and the maximization of the transmission force factor. Representations of the Pareto front versus the objective functions and the design parameters are given. Finally, the CAD model of several solutions located on the Pareto front are presented and discussed.Comment: Proceedings of the ASME 2014 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference, Buffalo : United States (2014

Smart Focal Plane Technologies for VLT Instruments

As we move towards the era of ELTs, it is timely to think about the future role of the 8-m class telescopes. Under the OPTICON programme, novel technologies have been developed that are intended for use in multi-object and integral-field spectrographs. To date, these have been targeted at instrument concepts for the European ELT, but there are also significant possibilities for their inclusion in new VLT instruments, ensuring the continued success and productivity of these unique telescopes.Comment: 5 pages, to appear in the proceedings of the ESO Workshop "Science with the VLT in the ELT era