In this paper, a technique for 3D reconstruction of welding environment is presented in order to improve the intelligence of welding robot. Based on the novel framework of spacetime stereo, the technique can be viewed...
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ISBN:
(纸本)9783540733737
In this paper, a technique for 3D reconstruction of welding environment is presented in order to improve the intelligence of welding robot. Based on the novel framework of spacetime stereo, the technique can be viewed as a combination of structured light and traditional stereo vision. To overcome the problem in stereo matching of the untextured object in the welding environments, a series of light pattern is designed to add artificial "texture" onto the surface. The result of experiment shows that the technique is a promising means to reconstruct the completely unstructured welding environment.
This paper proposes a novel pose system for mobile robots, which can provide cheap and robust solution for pose estimation. Its pose estimation approach is based on at least two optical sensors. The pose system also p...
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ISBN:
(纸本)9783540733737
This paper proposes a novel pose system for mobile robots, which can provide cheap and robust solution for pose estimation. Its pose estimation approach is based on at least two optical sensors. The pose system also presents a method for system calibration to improve accuracy. There are several advantages with respect to this system: (1) the measurement from the optical sensors is insensitive to slipping and crawling;(2) this pose estimation system is independent from the kinematics of the robot;(3) compared to incremental encoders, our system is a low-cost and flexible solution for indoor mobile robots. Some simulations have been done to validate our system.
We show how the Kimura-Georgiou parametrization for interpolating a function and its derivatives at 0 is independent of the particular choice of basis of Szego-polynomials of first and second kind, but only on the map...
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ISBN:
(纸本)9783540735694
We show how the Kimura-Georgiou parametrization for interpolating a function and its derivatives at 0 is independent of the particular choice of basis of Szego-polynomials of first and second kind, but only on the map between these two polynomial bases. This leads to a more general parametrization, which extends to different interpolation points and multivariable setup.
We propose a class of second order mechanical systems on Grassmarm manifolds that converge to the dominant eigenspace of a given symmetric matrix. Such second order flows for principal subspace analysis are derived fr...
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ISBN:
(纸本)9783540738893
We propose a class of second order mechanical systems on Grassmarm manifolds that converge to the dominant eigenspace of a given symmetric matrix. Such second order flows for principal subspace analysis are derived from a modification of the familiar Euler-Lagrange equation by inserting a suitable damping term. The kinetic energy of the system is defined by the Riemannian metric on the Grassmannian while the potential energy is given by a trace function, that is defined by the symmetric matrix. Convergence of the algorithm to the dominant subspace is shown for generic initial conditions and a comparison with the Oja flow is made.
Multi-modal signal fusion is an important way to improve immersion and fidelity of virtual reality training systems. With the help of a robotic arm, haptic device, it is possible to supply haptic-visual-audio display ...
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ISBN:
(纸本)9783540733737
Multi-modal signal fusion is an important way to improve immersion and fidelity of virtual reality training systems. With the help of a robotic arm, haptic device, it is possible to supply haptic-visual-audio display for training dentist. Architecture is firstly proposed to integrate different signals in a training system. High efficient sound synthesis algorithm is proposed based on hybrid combination of parameter identification from recorded sound signal, then use signal synthesis method to form final sound signal. Mapping method among audio, haptic and visual signal is proposed based on parameter mapping under various interaction status. Experiment based on Phantom desktop proves the stability of the rendering algorithm and the improved fidelity after adding audio feedback to current haptic-visual dental training system.
It is well known that energy balancing control is stymied by the presence of pervasive dissipation. To overcome this problem in electrical circuits, the authors recently proposed the alternative paradigm of power shap...
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ISBN:
(纸本)9783540738893
It is well known that energy balancing control is stymied by the presence of pervasive dissipation. To overcome this problem in electrical circuits, the authors recently proposed the alternative paradigm of power shaping-where, as suggested by its name, stabilization is achieved shaping a function akin to power instead of the energy function. In this paper we extend this technique to general nonlinear systems and apply it for the stabilization of the benchmark tunnel diode circuit. It is shown that, in contrast with other techniques recently reported in the literature, e.g. piece-wise approximation of nonlinearities, power shaping yields a simple linear static state feedback that ensures (robust) global asymptotic stability of the desired equilibrium.
In this paper, welding pool image processing software is developed to measure the weld shape parameters in different images. Firstly the visual sensing system was established according to the principle of the passive ...
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ISBN:
(纸本)9783540733737
In this paper, welding pool image processing software is developed to measure the weld shape parameters in different images. Firstly the visual sensing system was established according to the principle of the passive visual image sensing. Next, the image processing and pattern recognition techniques are discussed to get a clear contour of the pool and measure its size. Finally, in order to testify the efficiency of the software, an image of aluminum alloy welding pool is used and validating results indicate these techniques can be applied practically.
In the present work we are interested on the derivation of power-based passivity properties for a certain class of non-linear mechanical systems. While for general mechanical systems, it is of common use to adopt a st...
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ISBN:
(纸本)9783540738893
In the present work we are interested on the derivation of power-based passivity properties for a certain class of non-linear mechanical systems. While for general mechanical systems, it is of common use to adopt a storage function related to the system's energy in order to show passivity and stabilize the system on a desired equilibrium point(e.g., IDA-PBC [1]), we want here to obtain similar properties related to the system's power. The motivation arises from the idea that in some engineering applications (satellite orbit motion, aircraft dynamic,etc...)seems more sensible to copewith the power flowing into the system instead of the energy that, for stabilization purposes, means to consider the systems's equilibrium the state for which the energy flow-rate (i.e.,system's power)achieve its minimum. In this respect, we recall first the power-based description for a certain class of (non)-linear mechanical systems given in [2] and then we give sufficient conditions to obtain power-based passivity properties, provided a suitable choice of port-variables. We conclude with the example of the inverted pendulum on the cart.
This paper presents a method for recognizing the initial position of the weld in the global environment based on corner detection technology. Through the image preprocess that include the smoothing process, the sharpe...
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ISBN:
(纸本)9783540733737
This paper presents a method for recognizing the initial position of the weld in the global environment based on corner detection technology. Through the image preprocess that include the smoothing process, the sharpening process, the region segmentation and so on, the work pieces can be segmented from the background. Based on the preprocess image, the initial position of the weld seam can be detected by the Harris operator in global environment. The Harris operator is a kind of stable algorithm of corner detection. The operator is logical and symmetrical. The result shows that this method has the characters of anti-jamming, accuracy and fast computing.
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