Perceptive Vision-Based robotic system control to Increase Radiation Safety
hosary, K., roman, M., rostom, M. (2019). Perceptive Vision-Based robotic system control to Increase Radiation Safety. EKB Journal Management System, 52(4), 218-227. doi: 10.21608/ajnsa.2019.9770.1181
khaled Mohamed hosary; magdy roman; mostafa rostom. "Perceptive Vision-Based robotic system control to Increase Radiation Safety". EKB Journal Management System, 52, 4, 2019, 218-227. doi: 10.21608/ajnsa.2019.9770.1181
hosary, K., roman, M., rostom, M. (2019). 'Perceptive Vision-Based robotic system control to Increase Radiation Safety', EKB Journal Management System, 52(4), pp. 218-227. doi: 10.21608/ajnsa.2019.9770.1181
hosary, K., roman, M., rostom, M. Perceptive Vision-Based robotic system control to Increase Radiation Safety. EKB Journal Management System, 2019; 52(4): 218-227. doi: 10.21608/ajnsa.2019.9770.1181

Perceptive Vision-Based robotic system control to Increase Radiation Safety

Arab Journal of Nuclear Sciences and Applications
Article 23, Volume 52, Issue 4, October 2019, Page 218-227  XML PDF (815.77 K)
Document Type: Original Article
DOI: 10.21608/ajnsa.2019.9770.1181
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Authors
khaled Mohamed hosary email 1; magdy roman2; mostafa rostom3
1Arab Academy for Science Technology and Maritime Transport, Cairo PO box 2033, Egypt.
2Mechanical Power Engineering Department- Faculty of Engineering, Helwan University, P.C. 11718 Egypt
3Mechanical Power Engineering Department, Arab Academy for Science Technology and Maritime Transport, Cairo PO box 2033, Egypt.
Abstract
Computer vision is one of the recent approaches used to increase robotic efficiency. Robotics has proved its effectiveness in working in radiation and nuclear environments in order to increase human safety. Nowadays, robots have become cheaper whereas the (re)programming and (re)training cost may exceed the robot installation cost. The current research investigates an application of perceptive Vision-based offline programming assisted by visual cues to control a robotic arm in a hazardous and radioactive environment to ease the robot programming and fill the gap of operator absence in the workspace. An experiment has been conducted to pick an object and place in a safe area. The position and orientation have been estimated without deep interference of the operator in mathematical calculation, visual feedback is provided to the operator, forward and inverse kinematics are calculated. A pick and place experiment has been conducted using MATLAB/SIMULINK program and embedded microcontroller system conducted to show the validity of the proposed system and prove its success.
Keywords
Robotic arm kinematics; Radiation Safety; Radioactive environment; Stereo-camera; Template matching; pose and orientation estimation
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