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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

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Research on Potato Appearance Quality Detection Based on Computer vision 5

Research on Potato Appearance Quality Detection Based on Com...

引用

5th international conference on control, automation and robotics (ICCAR)

作者： Du, Yunming Hu, Yadan San, Linna Tian, Jing Jiamusi Univ Coll Informat & Elect Technol Jiamusi Heilongjiang Peoples R China

ISBN: (纸本)9781728133263

Aiming at the appearance quality detection of potato, this paper proposes an image feature detection and recognition algorithm based on computer vision. Firstly, the image of the potato obtained by the computer vision system was analyzed, and the background image of the potato was removed by Otsu method. then the image processing and recognition were carried out for the green skin, germination and mechanical damage state of the potato. For the green skin state of potato, the normal and green skin areas of potato are discriminated by the similarity of pixel Euclidean distance. For the potato sprouting from the epidermis, the germination area of the potato is detected by the gray difference method of the image G channel. Finally, the edge information and image geometric features are used to determine the damage site of the potato epidermis, and finally the appearance quality of the potato is detected.

关键词： appearance quality nondestructive detection computer vision image feature potato

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Combining Voronoi Graph and Spline-Based Approaches for a Mobile Robot Path Planning 14th

Combining Voronoi Graph and Spline-Based Approaches for a Mo...

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14th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Magid, Evgeni Lavrenov, Roman Svinin, Mikhail Khasianov, Airat Kazan Fed Univ Higher Sch Informat Technol & Informat Syst Intelligent Robot Dept Kremlyovskaya Str 35 Kazan Russia Ritsumeikan Univ Coll Informat Sci & Engn Robot Dynam & Control Lab Kyoto Japan Kazan Fed Univ Higher Sch Informat Technol & Informat Syst Kremlyovskaya Str 35 Kazan Russia

ISBN: (纸本)9783030112929;9783030112912

Potential function based methods play significant role in both global and local path planning. While these methods are characterized with good reactive behaviour and implementation simplicity, they suffer from a well-known problem of getting stuck in local minima of a navigation function. In this paper we propose a modification of our original spline-based path planning algorithm for a mobile robot navigation, which succeeds to solve local minima problem and considers additional criteria of start and target points visibility to help optimizing the path selection. We apply a Voronoi graph based path as an input for iterative multi criteria optimization algorithm and present a path finding strategy within different homotopies that uses the new method. the algorithm was implemented in Matlab environment and demonstrated significantly better results than the original approach. the comparison was based on success rate, number of iterations and running time of the algorithms. In total, several thousands tests were performed in 18 different simulated environments.

关键词： robotics Path planning algorithm Voronoi diagram Potential field Mobile robot Simulated experiments MATLAB

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Fine-Grained Visual Categorization of Fasteners in Overhaul Processes 5

Fine-Grained Visual Categorization of Fasteners in Overhaul ...

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5th international conference on control, automation and robotics (ICCAR)

作者： Taheritanjani, Sajjad Haladjian, Juan Bruegge, Bernd Tech Univ Munich Dept Informat Garching Germany

ISBN: (纸本)9781728133263

Commercial aircraft engines must be overhauled approximately every six years, during which hundreds of different parts must be disassembled, checked, and then reassembled. this includes undoing up to thousands of fasteners, cleaning, checking, refitting, and tightening them. Prior to refitting the fasteners, they must be classified and packaged. In this paper, we describe a system for classifying fasteners automatically, by use of computer vision and machine learning. Using the proposed system, we created sample datasets and performed a fine-grained visual categorization of the fasteners. Our trained model classifies 20 bolts and 14 washers with an accuracy of 99.4%. Our work is the first step towards an automated fastener classification system in overhaul processes.

关键词： Industrial automation Fine-grained Visual Categorization of Fasteners Small Parts Categorization FGVC Overhaul Processes

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Electronic vision System with Personalized Calibration of Color Compensation for People with Partial Color vision Deficiency Using Raspberry Pi Digital Image Processing 5

Electronic Vision System with Personalized Calibration of Co...

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5th international conference on control, automation and robotics (ICCAR)

作者： Ostia, Conrado F., Jr. Padilla, Dionis A. Cruz, Febus Reidj G. Galang, Roy Jayson D. Josafat, Anne Shirley M. Victoria, Edrick F. Mapua Univ Sch EECE Manila Philippines Mapua Univ Manila Philippines

ISBN: (纸本)9781728133263

Color blindness is the inability or the decreased ability to see colors, or perceive color differences, under normal lighting conditions. Color blindness affects a significant percentage of the population wherein 8% of all men and about 0.5% of all women are suffering from this deficiency. the paper aims to improve the color compensation of an electronic vision system by developing a prototype that has a feature of personalized calibration in which the device adjusts itself depending on the color blind person's deficiency. It was tested to people having partial color vision deficiencies. Pixelation technique was used to compensate the colors of the captured image. Results showed that the device had a high percentage of accuracy in compensating the colors of a captured image in accordance to the test subjects' type of color vision deficiency. It was also observed that the resolution of the camera and the memory size of the processing unit had significant effect on the compensation. the higher camera resolution and a larger processing unit memory, the more accurate compensation we can get.

关键词： non-verbal communication inability pixelation Ishihara Plate uncommon

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conference Guide [Front matter]

Conference Guide [Front matter]

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international conference on control, automation, robotics and vision (ICARCV)

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

conference proceedings front matter may contain various advertisements, welcome messages, committee or program information, and other miscellaneous conference information. this may in some cases also include the cover art, table of contents, copyright statements, title-page or half title-pages, blank pages, venue maps or other general information relating to the conference that was part of the original conference proceedings.

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Development of an Experimental Strawberry Harvesting Robotic System 16

Development of an Experimental Strawberry Harvesting Robotic...

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16th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Klaoudatos, Dimitrios S. Moulianitis, Vassilis C. Aspragathos, N. A. Univ Patras Dept Elect & Comp Engn Patras Greece Univ Aegean Dept Prod & Syst Design Engn Ermoupolis Syros Greece Univ Patras Mech Engn & Aeronaut Dept Patras Greece

ISBN: (纸本)9789897583803

this paper presents the development of an integrated strawberry harvesting robotic system tested in lab conditions in order to contribute to the automation of strawberry harvesting. the developed system consists of three main subsystems;the vision system, the manipulator and the gripper. the procedure for the strawberry identification and localization based on vision is presented in detail. the performance of the robotic system is assessed by the results of experiments that take place in the lab and they are related to the recognition of occluded strawberries, the check of the strawberries for possible bruises after the grasping and the accuracy of detection of the strawberries' location. the results show that the developed vision algorithm recognizes correctly every single strawberry and has high accuracy in recognizing occluded strawberries in which the largest part of each of them is visible. A small localization error results in a correct grasp and cut without causing damage to the fruit.

关键词： Agriculture robotics Harvesting Robot Robot vision Robotic Gripper Robot Operating System Occluded Crops

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Research on Key Technology of Measurement and Location of Door and Window Handles Based on Binocular vision 2019

Research on Key Technology of Measurement and Location of Do...

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4th international conference on robotics, control and automation (ICRCA)

作者： Cao Hongshuang Zhong Peisi Huang Chaonan Shandong Univ Sci & Technol Coll Mech & Elect Engn Qingdao 266000 Peoples R China

ISBN: (纸本)9781450371834

According to the requirement of the door and window handles grasping robot for binocular vision measurement and calibration technology, the mathematical model of binocular vision system is analyzed. the distance and angle of the binocular camera are further verified and analyzed through experiments, so as to ensure that the theoretical resolution of the collected image meets the requirements. then the calibration of binocular vision system and the analysis of relevant models are studied, and the appropriate calibration methods are analyzed and selected to realize the calibration of binocular vision robot system, so as to provide accurate coordinate data for door and window handles grasping robot and provide theoretical basis for the follow-up grasping work.

关键词： Binocular vision Measurement and calibration Grasping robot Door and window handles

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Robot Position control with Force Information in Cooperation between Remote Robot Systems 5

Robot Position Control with Force Information in Cooperation...

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5th international conference on control, automation and robotics (ICCAR)

作者： Ishibashi, Yutaka Taguchi, Eijiro Huang, Pingguo Tateiwa, Yuichiro Nagoya Inst Technol Nagoya Aichi Japan Seijoh Univ Tokai Ibaraki Japan

ISBN: (纸本)9781728133263

this paper proposes robot position control which employs force information to alleviate large force applied to an object operated in cooperative work between remote robot manipulate a remote robot having a force sensor by using a haptic interface device while watching video. the proposed control moves the robot by taking advantage of human perception of force direction which we previously clarified. By experiment, we examine the effect of the control for work in which the two robots carry an object together. Experiment results demonstrate that the control can largely reduce the force applied to the object as compared with the case in which the control is not carried out.

关键词： remote robot systems remote control force feedback cooperation experiment

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Technology of Developing the Software for Robots vision Systems 16

Technology of Developing the Software for Robots Vision Syst...

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16th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Sokolov, S. M. Boguslavsky, A. A. Beklemichev, N. D. RAS Keldysh Inst Appl Math Miusskaya Sq 4 Moscow Russia

ISBN: (纸本)9789897583803

the article describes the technology of developing the software for real-time vision systems. the article shows the position of this technology in the existing software tools. this technology is based on a unified software framework. this framework is an application model that implements the input and processing of the real time visual data. the framework structure provides prompt reprocessing for use in specific application tasks and is focused on the real time visual data processing. the article provides examples of vision systems based on the described framework. In addition, as the analysis shows, this framework can be jointly used with the ROS software through processing as a part of a separate ROS node.

关键词： vision Systems Real-time Systems Software Framework Visual Data Processing Robot Software ROS

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Kinematics Analysis of Meshed Teeth Pairs of Harmonic Drive Gears Considering the Load Effect Using Computer vision 5

Kinematics Analysis of Meshed Teeth Pairs of Harmonic Drive ...

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5th international conference on control, automation and robotics (ICCAR)

作者： Ma, Donghui Rao, Pengfei Yan, Shaoze Wang, Yang Wang, Hao Tsinghua Univ Dept Mech Engn Beijing 100084 Peoples R China Beijing CTKM Harmon Drive Co Ltd Beijing 101318 Peoples R China

ISBN: (纸本)9781728133263

this paper presents a vision-based kinematics analysis method to reveal the effects of the load torque on the kinematics characteristics of the meshed teeth pairs of the harmonic drive (HD). First, the meshing process of the HD under different loading conditions is measured by a dedicated experimental apparatus, and the positions of the output FS teeth in the meshing process are obtained by a position tracking algorithm. Next, an image-based mathematical model is established to calculate the kinematics parameters of the output FS teeth, and the accuracies of the calculated results are evaluated by uncertainty analysis. the results show that the driving speed has negligible effects on the variation tendencies of the kinematics parameters of the output FS tooth in the meshing process under no-load condition. Moreover, the stick-slip motion exists in the meshing process under ultra-low speed and loading conditions, and the critical speed of the stick-slip motion increases as the load torque increases. Furthermore, the average transmission ratio of the meshed teeth pair in the meshing process is constant, and it is nearly not affected by the load torque. Our method opens an avenue for the further studies on the mechanism of the stick-slip motion in the meshing process of the HD.

关键词： harmonic drive gear load kinematics analysis computer vision stick-slip motion average transmission ratio

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