[PDF] Top 20 Highly precise micropositioning task using a direct visual servoing scheme.

... MEMS using a direct vision-based control approach was studied in this ...Classical visual servoing schemes use geometrical visual features (points, lines, edges, ...proposed ... Voir le document complet

... require a positioning task that is accurate, robust to the ap- pearance variations of the scene and that is responsive (see the Figure ...with a partial state of the art on the different ... Voir le document complet

... but using a sensor-based servoing scheme, the considered data being directly the depth map obtained from a range ...image-based visual servoing (IBVS) [3], where a ... Voir le document complet

... by using directly the information provided by the entire image (Nayar et ...(2011), a control law was proposed that minimizes the error between the current image and the desired ...of visual feature ... Voir le document complet

... shows a lack of accuracy in some specific ...as a black box. In consequence, the task of laying-up is studied in ...and a precise fibre location. So, we propose to put in place a ... Voir le document complet

... control scheme ( ˙ q x , ˙ q y , ˙ q z , and ˙ q θ ) for experiment shown on Figure 14 along with the motion of the camera zoom ...velocity. highly accurate positioning task (below 100 nm in ... Voir le document complet

... as a visual feature, instead of using classic geometric features such as points or ...micro-scale, using only image intensity as a visual feature performs unsatisfactorily in ... Voir le document complet

... but using a sensor-based servoing scheme, the considered data being directly the depth map obtained from a range ...image-based visual servoing (IBVS) [2], where a ... Voir le document complet

... control scheme has been tested in our laboratory robot. It has a positive impact on the system to improve accuracy ...have a precise positioning along y-axis. So we propose to apply a ... Voir le document complet

... to a desired ...of a surgical forceps inserted in a beating heart through a trocar are controlled by US image-based visual ...developed a predictive control scheme to keep ... Voir le document complet

... Considering the image intensity as a feature has been considered previously [9], [10]. However, those works differ from our approach in two important points. First, they do not directly use the image intensity ... Voir le document complet

... sual servoing undressed so far: the use of shearlet coef- ficients for ...is a recent mathematics tool for signal (respectively image) representation introduced in 2005 [10] which can be considered as ... Voir le document complet

... Ultrasound-based Visual Servoing using Shearlet Coefficients Lesley-Ann Duflot, Alexandre Krupa, Brahim Tamadazte, and Nicolas Andreff Abstract— This paper deals with the development of a new ... Voir le document complet

... the visual measurements x(r k ). However, a robust extraction, matching (between x(r 0 ) and x ∗ = x(r ∗ )) and real-time spatio-temporal tracking (between x(r k−1 ) and x(r k )) have proved to be a ... Voir le document complet

... as a feature has previously been considered in [5], ...(using a principal component analysis) and then, for each new frame, the projection of the image on this ...precisely, a kernel method ... Voir le document complet

... points. Using the geometric properties of the spherical projec- tion of points, a new decoupled set of six visual features is ...present a linear link with respect to camera ...addition, ... Voir le document complet

... sation task was realized physically by moving the probe attached to a robotic arm to compensate for abdominal organ motion, we propose here to track the motion of the target using a 3D region ... Voir le document complet

... of a needle interacting with soft tissues is useful for many aspects of needle insertion ...reaching a targeted region inside the body, while reducing the risks of damaging other sensitive ...Secondly, ... Voir le document complet

... Visual Servoing using the Sum of Conditional Variance Bertrand Delabarre and Eric Marchand Abstract— In this paper we propose a new way to achieve direct visual ...of a ... Voir le document complet

... present a new redundancy-based strategy for avoiding joint limits of a robot ...and a tuning ...additional task with the main task and the avoidance process is also considered and ... Voir le document complet