NDLI: A Test-Bed Internet Based Architecture Proposal for Benchmarking of Visual Servoing Techniques

Content Provider	IEEE Xplore Digital Library
Author	Esteller-Curto, R. del Pobil, A.P. Cervera, E. Marin, R.
Copyright Year	2012
Abstract	Using the Internet to control and access real devices such as robots opens the door to new opportunities as the design of telelaboratories that permit the implementation of new algorithms using specific and detailed constrains. This is fundamental for designing benchmarks that allow the experiments to be made in a more scientific manner, taking into account that these experiments should be able to be reproduced in the future by other people under the same circumstances. This fact is fundamental to the implementation of new algorithms that can be compared with previous results from other scientific teams. The authors of this article consider that an interesting way to rapidly evaluate and benchmark a new robotic manipulation algorithm is by including into the system the possibility to upload Mat lab programs. This tool is normally used by the engineers for prototyping, including a huge set of already existing and standardized algorithms, some of them related to vision and robotic control. This paper presents the system architecture of an Internet robotic system that permits uploading a Mat lab algorithm to control a robotic arm/hand by means of visual servoing techniques. The system can specify a particular experiment with a set of initial states by using an XML representation, and evaluate the results by grasping a particular set of objects. Therefore, this system architecture presents the following challenges, firstly, to be used as a test-bed for visual servoing control applications, and secondly to benchmark these algorithms. At the moment of writing the system is under construction and the software and hardware architecture is being tested. Every component of the architecture is designed following high modularity principles, offering its services through the net. This permits to accomplish the requirements of the architecture: interchangable parts and two-target design, trying to minimize its complexity.
Starting Page	864
Ending Page	867
File Size	413161
Page Count	4
File Format	PDF
ISBN	9781467313285
DOI	10.1109/IMIS.2012.132
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-04
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	System architecture REST Computer architecture Benchmark testing Cameras Benchmarking Visual servoing Internet MATLAB Robotics Matlab
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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