Search results for "DIO"
showing 10 items of 27885 documents
Teleoperation of industrial robot manipulators based on augmented reality
2020
[EN] This research develops a novel teleoperation for robot manipulators based on augmented reality. The proposed interface is equipped with full capabilities in order to replace the classical teach pendant of the robot for carrying out teleoperation tasks. The proposed interface is based on an augmented reality headset for projecting computer-generated graphics onto the real environment and a gamepad to interact with the computer-generated graphics and provide robot commands. In order to demonstrate the benefits of the proposed method, several usability tests were conducted using a 6R industrial robot manipulator in order to compare the proposed interface and the conventional teach pendant…
Visual contact with catadioptric cameras
2015
Abstract Time to contact or time to collision (TTC) is utmost important information for animals as well as for mobile robots because it enables them to avoid obstacles; it is a convenient way to analyze the surrounding environment. The problem of TTC estimation is largely discussed in perspective images. Although a lot of works have shown the interest of omnidirectional camera for robotic applications such as localization, motion, monitoring, few works use omnidirectional images to compute the TTC. In this paper, we show that TTC can be also estimated on catadioptric images. We present two approaches for TTC estimation using directly or indirectly the optical flow based on de-rotation strat…
A non-stationary relay-based 3D MIMO channel model with time-variant path gains for human activity recognition in indoor environments
2021
AbstractExtensive research showed that the physiological response of human tissue to exposure to low-frequency electromagnetic fields is the induction of an electric current in the body segments. As a result, each segment of the human body behaves as a relay, which retransmits the radio-frequency (RF) signal. To investigate the impact of this phenomenon on the Doppler characteristics of the received RF signal, we introduce a new three-dimensional (3D) non-stationary channel model to describe the propagation phenomenon taking place in an indoor environment. Here, the indoor space is equipped with a multiple-input multiple-output (MIMO) system. A single person is moving in the indoor space an…
Central catadioptric image processing with geodesic metric
2011
International audience; Because of the distortions produced by the insertion of a mirror, catadioptric images cannot be processed similarly to classical perspective images. Now, although the equivalence between such images and spherical images is well known, the use of spherical harmonic analysis often leads to image processing methods which are more difficult to implement. In this paper, we propose to define catadioptric image processing from the geodesic metric on the unitary sphere. We show that this definition allows to adapt very simply classical image processing methods. We focus more particularly on image gradient estimation, interest point detection, and matching. More generally, th…
Optimisation of refractory coatings realised with cored wire addition using a high-power diode laser
2005
Laser; Cladding; Refractory alloys; Factorial experiments; International audience; The objective or our research was to obtain refractory alloys using the high-power diode laser (HPDL) coating technique. After optimisation using factorial experiments, two different cladding regimes were clearly distinguished. It was also shown that a very narrow transition zone exists between the two regimes, and, inside this zone, clad layers having a satisfactory compromise between the response functions (surface aspect and cavity presence) were obtained. The main objective of our study, namely, the control of the operating parameters (geometrical and kinematical) to realise adequate coatings, without cav…
Laser-assisted narrow gap arc welding of an 18MND5 steel thick plate
2020
Abstract Narrow gap arc welding is a common solution for the welding of thick structures. In this study, a defocused laser beam is used to pre-melt the narrow gap walls in front of an arc-welding bath. Such a welding configuration can be referred to a hybrid welding configuration. In the present work, a particular attention is given to evaluation of the interaction between an arc plasma and a defocused laser beam. High-speed imaging of the metal transfer through arc plasma is achieved thanks to a diode laser illumination system. Electrical arc parameters are logged, synchronously, in order to perform a correlation analysis and to make a diagnosis of the interaction level between laser beam …
Fast Earth Mover's Distance Computation for Catadioptric Image Sequences
2016
International audience; Earth mover's distance is one of the most effective metric for comparing histograms in various image retrieval applications. The main drawback is its computational complexity which hinders its usage in various comparison tasks. We propose fast earth mover's distance computation by providing better initialization to the transportation simplex algorithm. The new approach enables faster EMD computation in Visual Memory (VM) compared to the state of the art methods. The new proposed strategy computes earth mover distance without compromising its accuracy.
Diode laser welding of ABS: Experiments and process modeling
2009
International audience; The laser beam weldability of acrylonitrile/butadiene/styrene (ABS) plates is determined by combining both experimental and theoretical aspects. In modeling the process, an optical model is used to determine how the laser beam is attenuated by the first material and to obtain the laser beam profile at the interface. Using this information as the input data to a thermal model, the evolution of the temperature field within the two components can be estimated. The thermal model is based on the first principles of heat transfer and utilizes the temperature variation laws of material properties. Corroborating the numerical results with the experimental results, some impor…
Gradient-based time to contact on paracatadioptric camera
2013
International audience; The problem of time to contact or time to collision (TTC) estimation is largely discussed in perspective images. However, a few works have dealt with images of catadioptric sensors despite of their utility in robotics applications. The objective of this paper is to develop a novel model for estimating TTC with catadioptric images relative to a planar surface, and to demonstrate that TTC can be estimated only with derivative brightness and image coordinates. This model, called "gradient based time to contact", does not need high processing such as explicit estimation of optical flow and feature detection/or tracking. The proposed method allows to estimate TTC and give…
Tracking Moving Objects With a Catadioptric Sensor Using Particle Filter
2011
International audience; Visual tracking in video sequences is a widely developed topic in computer vision applications. However, the emergence of panoramic vision using catadioptric sensors has created the need for new approaches in order to track an object in this type of images. Indeed the non-linear resolution and the geometric distortions due to the insertion of the mirror, make tracking in catadioptric images a very challenging task. This paper describes particle filter for tracking moving object over time using a catadioptric sensor. In this work different problems due to the specificities of the catadioptric systems such as geometry are considered. The obtained results demonstrate an…