This paper discussed seam tracking technology by computer vision sensing in real time for robot GTAW. An image processing algorithm was presented to extract the seam trajectory and the offset of the torch to the seam ...
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ISBN:
(纸本)9783540733737
This paper discussed seam tracking technology by computer vision sensing in real time for robot GTAW. An image processing algorithm was presented to extract the seam trajectory and the offset of the torch to the seam in the welded pool images of aluminum alloys with grooves. Also the tracking sequence was analyzed and designed. C++ computer language was used to realize the algorithm. The experimental results showed that the error of real-time image process could meet the requirement of production. Such an algorithm was proved to be feasibility in factual manufacturing.
Dynamic tracking of motion trajectories of human fingertips is a very challenging job considering the requirement of accuracy as well as speed. A binocular vision is adopted to dynamically measure the fingertip positi...
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ISBN:
(纸本)9783540733737
Dynamic tracking of motion trajectories of human fingertips is a very challenging job considering the requirement of accuracy as well as speed. A binocular vision is adopted to dynamically measure the fingertip positions of the human hand. Based on Kalman filter, combined with the historical motion data of human hand, a dynamic tracking model is presented which can fast and accurately track the fingertip positions. The experimental result shows that when human fingers move in a natural speed, the dynamic fingertip positions can be tracked successfully.
An automatic path planning method, including the torch pose planning, is proposed to improve the flexibility and automatic planning ability of arc welding robot. The virtual object, which representing the real object ...
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ISBN:
(纸本)9783540733737
An automatic path planning method, including the torch pose planning, is proposed to improve the flexibility and automatic planning ability of arc welding robot. The virtual object, which representing the real object to be welded, is reconstructed firstly by non-rational B-spline surface from geometric polygonal mesh model or measured point cloud. Based on the reconstructed non-rational surface model, the tangent vector and the tangent plane of each sampling point on the space welding seam is calculated, as well as the normal plane of each sampling point. Thus the position and pose of torch with respect to each sampling point of space seam can be determined by the calculated tangent vector, normal plane and concrete requirement of welding process. The final path planning of arc welding robot in joint space is obtained by its inverse kinematics. Experimental results demonstrate the accuracy and the feasibility of the proposed method.
We revisit the deterministic subspace identification methods for discrete-time LTI systems, and show that each column vector of the L-matrix of the LQ decomposition in MOESP and N4SID methods is a pair of input-output...
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ISBN:
(纸本)9783540735694
We revisit the deterministic subspace identification methods for discrete-time LTI systems, and show that each column vector of the L-matrix of the LQ decomposition in MOESP and N4SID methods is a pair of input-output vectors formed by linear combinations of given input-output data. Thus, under the assumption that the input is persistently exciting (PE) of sufficient order, we can easily compute zero-input and zero-state responses by appropriately dividing given input-output data into past and future in the LQ decomposition. This reveals the role of the LQ decomposition in subspace identification methods. Also, a related issue in stochastic realization is briefly discussed in Appendix.
Welding pool deformation has a close relationship with the backside bead width, so pool surface shape sensing is used to monitoring and control weld quality, specifically of weld penetration. In this paper, several th...
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ISBN:
(纸本)9783540733737
Welding pool deformation has a close relationship with the backside bead width, so pool surface shape sensing is used to monitoring and control weld quality, specifically of weld penetration. In this paper, several three-dimensional (3D) reconstruction techniques is analyzed, which were used to reconstruct 3D shape of welding pool. The direct method obtain clear image of pool, so the reconstruction accurate is high. As an indirect method, three SFS algorithms are implemented. Some improved measures are: modeling welding reflection map;new constraint equations;image pretreatment. 3D shape of welding pool was reconstructed and validating results showed this technique can be applied practically.
A wide angle-of-view far infrared (FIR) system based on the method of optical path rotation is presented. The system integrated one FIR camera and one rotating Gold-sprayed mirror controlled by one stepping motor. The...
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ISBN:
(纸本)9783540733737
A wide angle-of-view far infrared (FIR) system based on the method of optical path rotation is presented. The system integrated one FIR camera and one rotating Gold-sprayed mirror controlled by one stepping motor. The FIR camera takes image sequence from the rotating mirror in the real-time monitor. Meanwhile, the speed of pixel movement on the FIR imaging plane is analyzed to obtain the rapidest data acquisition without motion blur. Besides, the view range of the proposed system is considered. Then, the prototype has been designed according to the results of simulation. The experiment data has verified the theory of motion blur. This thermal imaging technique is complexless, noninvasive and feasible for many fields involving the automatic temperature acquisition module.
This paper studies canonical operators on finite graphs, with the aim of characterizing the toolbox of linear feedback laws available to control networked dynamical systems.
ISBN:
(纸本)9783540735694
This paper studies canonical operators on finite graphs, with the aim of characterizing the toolbox of linear feedback laws available to control networked dynamical systems.
In this paper a new distance on the set of multivariate Gaussian linear stochastic processes is proposed based on the notion of mutual information. The definition of the distance is inspired by various properties of t...
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ISBN:
(纸本)9783540735694
In this paper a new distance on the set of multivariate Gaussian linear stochastic processes is proposed based on the notion of mutual information. The definition of the distance is inspired by various properties of the mutual information of past and future of a stochastic process. For two special classes of stochastic processes this mutual information distance is shown to be equal to a cepstral distance. For general multivariate processes, the behavior of the mutual information distance is similar to the behavior of an ad hoc defined multivariate cepstral distance.
We present a new coordinated control law for a group of vehicles in the plane that stabilizes an arbitrary desired group shape. The control law is derived for an arbitrary shape using models of tensegrity structures w...
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ISBN:
(纸本)9783540738893
We present a new coordinated control law for a group of vehicles in the plane that stabilizes an arbitrary desired group shape. The control law is derived for an arbitrary shape using models of tensegrity structures which are spatial networks of interconnected struts and cables. The symmetries in the coupled system and the energy-momentum method are used to investigate stability of relative equilibria corresponding to steady translations of the prescribed rigid shape.
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