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Computer Engineering Commons

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Full-Text Articles in Computer Engineering

Visual Servoing Of Quadrotors For Perching By Hanging From Cylindrical Objects, Justin Thomas, Giuseppe Loianno, Kostas Daniilidis, Vijay Kumar Jan 2016

Visual Servoing Of Quadrotors For Perching By Hanging From Cylindrical Objects, Justin Thomas, Giuseppe Loianno, Kostas Daniilidis, Vijay Kumar

Departmental Papers (MEAM)

This paper addresses vision-based localization and servoing for quadrotors to enable autonomous perching by hanging from cylindrical structures using only a monocular camera. We focus on the problems of relative pose estimation, control, and trajectory planning for maneuvering a robot relative to cylinders with unknown orientations. We first develop a geometric model that describes the pose of the robot relative to a cylinder. Then, we derive the dynamics of the system, expressed in terms of the image features. Based on the dynamics, we present a controller which guarantees asymptotic convergence to the desired image space coordinates. Finally, we develop an ...


Vision-Based Robot Control In The Context Of Human-Machine Interactions, Andrzej Nycz Aug 2012

Vision-Based Robot Control In The Context Of Human-Machine Interactions, Andrzej Nycz

Doctoral Dissertations

This research has explored motion control based on visual servoing – in the context of complex human-machine interactions and operations in realistic environments. Two classes of intelligent robotic systems were studied in this context: operator assistance with a high dexterity telerobotic manipulator performing remote tooling-centric tasks, and a bio-robot for X-ray imaging of lower extremity human skeletal joints during natural walking. The combination of human-machine interactions and practical application scenarios has led to the following fundamental contributions: 1) exploration and evaluation of a new concept of acquiring fluoroscope images of musculoskeletal features of interest during natural human motion, 2) creation of ...


Towards Supervised Autonomous Task Completion Using An In Vivo Surgical Robot, Jason J. Dumpert Oct 2009

Towards Supervised Autonomous Task Completion Using An In Vivo Surgical Robot, Jason J. Dumpert

Mechanical (and Materials) Engineering -- Dissertations, Theses, and Student Research

Laparoscopy is a minimally invasive alternative to traditional abdominal surgery. Unlike traditional surgery, a laparoscopic procedure can be completed using small incisions. The use of these small incision results in reduced pain to the patient, shorter recovery times, and less trauma to skin, muscle and other tissues. However, these benefits to the patient are offset by the increased difficulty to the surgeon performing the procedure. These difficulties include reduced dexterity, reduced perception, and longer procedure times. The use of small in vivo robotic devices in minimally invasive surgery is one possible solution to these problems. The movement of these devices ...