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Obstacle avoidance of aerial vehicle based on monocular vision 7

Obstacle avoidance of aerial vehicle based on monocular visi...

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7th IEEE Annual international conference on CYBER Technology in automation, control, and Intelligent Systems (CYBER)

作者： Qiu, Weiheng Bi, Sheng Zhong, Cankun Luo, Yi Li, Jieming Sun, Boyu South China Univ Technol Sch Comp Sci & Engn Guangzhou 510640 Guangdong Peoples R China Univ Hong Kong Emerging Technol Inst Hong Kong Hong Kong Peoples R China

ISBN: (纸本)9781538604908

Collision-free autonomous navigation is extremely important for quadcopter and other flying robots. the implementation of autonomic moving capabilities can contribute significantly to their promotion and usage in fields such as goods delivering, aerial photos shooting, and monitoring. In order to realize the autonomous flight without crash, the obstacle avoidance problem demands a prompt solution. Also, with the concern of cost and endurance, using only single camera to perform this task would he a better choice for low-cost flying robots. thus, this paper focuses on achieving quadcopter's collision avoidance in unknown stable (rarely changes, such as high sky or inner room) environment only by single camera. the algorithm proposed by this paper is composed of PTAM (Parallel Tracking and Mapping), DTAM (Dense Tracking and Mapping in Real-Time) algorithm and CNN (Convolutional Neural Network). PTAM is used to create the 3D map of the environment. DTAM is used to obtain the depth map of those image frames. And the CNN is used to train and get a model used for automatically avoidance. Finally, this algorithm is proved to be valid by an experiment.

关键词： Cameras Feature extraction Tracking Robot vision systems three-dimensional displays Image edge detection"

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2017 IEEE 7th Annual international conference on CYBER Technology in automation, control, and Intelligent Systems, CYBER 2017

2017 IEEE 7th Annual International Conference on CYBER Techn...

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7th IEEE Annual international conference on CYBER Technology in automation, control, and Intelligent Systems, CYBER 2017

ISBN: (纸本)9781538604892

the proceedings contain 304 papers. the topics discussed include: Obstacle avoidance of aerial vehicle based on monocular vision;research on pedestrian detection technology based on improved DPM model;a global localization system for mobile robot using LIDAR sensor;temperature effect analysis of bridge natural frequency based on particle swarm optimized neural network;an improved artificial immune algorithm for trajectory optimization based on comprehensive index;a novel temporal coordination neural model for arm movement based on 3D-hand gesture tracing;an extensible local surface descriptor for 3D object recognition;kinematic calibration and compensation for industrial robots using a telescoping ballbar;and accurate estimation of the spring stiffness in series elastic actuators.

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Automated seam tracking system based on passive monocular vision for automated linear robotic welding process 15

Automated seam tracking system based on passive monocular vi...

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15th IEEE international conference on Industrial Informatics, INDIN 2017

作者： Weis, Atila A. Mor, Jusoan L. Soares, Luciane B. Steffens, Cristiano R. Drews-Jr, Paulo L. J. De Faria, Matheus F. Evald, Paulo J. D. O. Azzolin, Rodrigo Z. Filho, Nelson D. Botelho, Silvia S. Da C. Intelligent Robotics and Automation Group NAUTEC Science Computer Center - C3 Federal University of Rio Grande Brazil

ISBN: (纸本)9781538608371

Welding is an important process in the industrial scenario, especially in the shipbuilding industry. this process is recognized by the laborious work and the hazardous work environment. the use of robots to automate the welding process can reduce the human interference and improve the productivity. this paper proposes a system for automated seam tracking based on passive monocular vision. the vision provides a data feedback to the automated robotic welding system allowing quality and productivity gains. A trajectory controller is developed to correct the robot's movement over the seam reference. the controller and a visual algorithm to find the seam reference in a real Gas Metal Arc Welding (GMAW) process are presented. the proposed system allows the automated seam tracking, the trajectory control of the welding torch, and a higher automation level in linear robotic welding. the capabilities of the method is evaluated using a commercial linear welding robot showing its viability. © 2017 IEEE.

关键词： Productivity

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Stereo matching algorithm based on the combination of matching costs 7

Stereo matching algorithm based on the combination of matchi...

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7th IEEE Annual international conference on CYBER Technology in automation, control, and Intelligent Systems, CYBER 2017

作者： Ende, Wang Yalong, Zhu Liangyu, Peng Yijun, Li Tianyao, Wu Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Opto-Electronic Information Processing CAS Shenyang110016 China Key Lab of Image Understanding and Computer Vision Liaoning Province Shenyang110016 China College of Electrical Engineering Yanshan University Qinhuangdao066004 China School of Metallurgy Northeastern University Shenyang110819 China

ISBN: (纸本)9781538604892

Aiming at solving the problem of low accuracy of weak texture region and disparity discontinuous region and sensitivity to illumination caused by existing local stereo matching algorithm, a new stereo matching algorithm based on the combination of Sum of Absolute Difference algorithm and Absolute Difference of Gradient algorithm is presented here. Using the average of the pixels in the disparity range to apply adaptive weight to the SAD part. the new algorithm can adaptively adjust each part of the cost function in the proportion of the total cost function according to the different texture, illumination characteristics of image. Moreover, we use the semiglobal matching algorithm to calculate the cost of 8 directions, to carry out optimized processing on disparity image, finally a dense disparity map is obtained. the experimental results shows that the proposed method not only improve accuracy of stereo matching, but also has well results in weak texture region and disparity discontinuous region. © 2017 IEEE.

关键词： Textures

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Enabling ∼100fps detection on a landing unmanned aircraft for its on-ground vision-based recovery

Enabling ∼100fps detection on a landing unmanned aircraft f...

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international conference on Advanced robotics (ICAR)

作者： Zhengjiang Cao Kuang Zhao Qiang Fang Weiwei Kong Dengqing Tang Tianjiang Hu College of Mechatronics & Automation National University of Defense Technology Changsha China

ISBN: (纸本)9781538631584

In this paper, a deep learning inspired solution is proposed and developed to enable timeliness and practicality of the pre-existing ground stereo vision guidance system for flxed-wing UAVs' safe landing. Since the ground guidance prototype was restricted within applications due to its untimeliness, eventually the vision-based detection less than 15 fps (frame per second). Under such circumstances, we employ a regression based deep learning algorithm into automatic detection on the flying aircraft in the landing sequential images. the system architecture is upgraded so as to be compatible with the novel deep learning requests, and furthermore, annotated datasets are conducted to support training and testing of the regression-based learning detection algorithm. Experimental results validate that the detection attaches 100 fps or more while the localization accuracy is kept in the same level.

关键词： Machine learning Prototypes Unmanned aerial vehicles Testing Graphics processing units Aircraft Object detection

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Adaptive region control for robotic soldering of flexible PCBs

Adaptive region control for robotic soldering of flexible PC...

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international conference on Advanced robotics (ICAR)

作者： Xiang Li Xing Su Yunhui Liu Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781538631584

While robot manipulators have been widely applied in manufacturing and industry, most applications are limited to rigid objects. Increasing demands for manipulating soft objects have been reflected in the emerging 3C manufacturing, such as the soldering of flexible PCBs. Because of the property of deformation, soldering the flexible PCB cannot be performed with conventional robotic manipulation techniques. In this paper, an adaptive region controller is proposed to deal with the deformation of flexible PCBs, where the control objective is specified as a region attached to the flexible PCB. the proposed controller enables an additional assistive arm to reach the region and contact and fix the PCB, which thus eliminates the deformation. A coordination scheme is also developed to activate the soldering end effector after the deformation is stabilized. the stability of the closed-loop system is rigorously proved with Lyapunov methods, and experimental results are presented to illustrate the performance of the proposed controller.

关键词： Soldering End effectors Robot kinematics Service robots Potential energy

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Formation control of quadrotor UAVs without linear velocity measurements

Formation control of quadrotor UAVs without linear velocity ...

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international conference on Advanced robotics (ICAR)

作者： Zhiqiang Miao Yun-Hui Liu Yaonan Wang Rafael Fierro Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong College of Electrical and Information Engineering Hunan University Changsha China Department of Electrical and Computer Engineering University of New Mexico Albuquerque New Mexico USA

ISBN: (纸本)9781538631584

the problem of formation control of a group of quadrotors without linear velocity measurements is addressed in this paper. A distributed controller is developed directly on the orthogonal group SE(3) to avoid the singularities associated with Euler-angles and the ambiguity of quaternions. the control design procedure can be divided into two main steps. First, an intermediary control input is designed to achieve the formation objective, where some auxiliary systems are introduced to obviate the need for linear-velocity measurements. After decoding the intermediary control input into the trust force and reference angular velocity, then the torque input for each quadrotor is designed to drive the actual angular velocity to the desired ones. the asymptotic stability analysis is presented with Lyapunov-like tools. Simulation results on three quadrotors show the effectiveness of the proposed strategy.

关键词： Angular velocity Velocity measurement Force Mathematical model Torque Unmanned aerial vehicles Symmetric matrices

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the intelligent distribution network WSNs performance optimization and control method based on fuzzy cognition graph

The intelligent distribution network WSNs performance optimi...

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2nd international conference on Mechanical, Electronic, control and automation Engineering (MECAE 2018)

作者： Chunhua Fu Xiaojing Wang Lijun Zhang Liying Qiao China Agricultural Means of Production Association

Wireless Sensor network(Wireless Sensor Networks WSNs) with low cost, low power consumption and ad-hoc network and a series of characteristics of the experts and scholars at home and abroad for its application in the power system to give a high degree of attention. WSNs in intelligent distribution network is thought to have a very wide development and application of vision, its application in high performance in intelligent power distribution network data communication, the essence of which is of a random process is optimized and meet for multiple target data transmission of real-time, reliability, Quality of Service(Quality of Service, Qo S) performance index requirements. the core is to optimize the way of channel preemption of the IEEE802.15.4 standard MAC protocol, so that the data transmission service can satisfy Qo S requirements without adding additional network communication overhead.

关键词： WSNs Smart Distribution Power Grid Quality of Service FCM

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Static human behavior classification based on LLC features and GIST features 7

Static human behavior classification based on LLC features a...

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7th IEEE Annual international conference on CYBER Technology in automation, control, and Intelligent Systems, CYBER 2017

作者： Ende, Wang Xukui, Hou Xuepeng, Li Shenyang Institute of Automation Chinese Academic of Sciences Key Lab of Image Understanding and Computer Vision Key Laboratory of Optical Electrical Image Processing Shenhe District Shenyang Liaoning China

ISBN: (纸本)9781538604892

this paper presents a method for recognizing human behavior in static images based on LLC and GIST features. the feature points in the image is densely located in sub-region of images and we extract SIFT feature from each sub-region. then using the LLC method to encode the extracted dense SIFT features of each sub-region and each feature point descriptor is assigned to several nearest words, so that each descriptor can be expressed by the linear correlation coefficient of vocabulary. In order to increase the spatial information, we use the SPM model to divide the image into many blocks under different levels. We can get the pooled feature from each sub-region using the max pooling method. then these pooled features from sub-region are concatenated and normalized as the final pooled features. In order to get GIST features, we divide the image into blocks and construct the Gabor filter group of 32 different scales and directions. then each Gabor filter in the Gabor filter group does convolution operation with image blocks and we take the mean value of each blocks under each Gabor filter as the feature description. the features from each block under each Gabor filter are concatenated and normalized as the final GIST feature representation of the image. then concatenating the final pooled features and the GIST features and take as the final feature representation. Finally, the intersection kernel function of SVM is used for classification. We performed experiments on several databases. By contrast, this algorithm has a good effect in accuracy and efficiency. © 2017 IEEE.

关键词： Gabor filters

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Adaptive backstepping control based on structural reliability for a turret-moored FPSO vessel

Adaptive backstepping control based on structural reliabilit...

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international conference on Advanced robotics (ICAR)

作者： Yuanhui Wang Yulong Tuo Simon X. Yang College of Automation Harbin Engineering University Harbin Heilongjiang Province China School of Engineering University of Guelph Guelph ON Canada

ISBN: (纸本)9781538631584

For floating production storage and offloading (FPSO) vessels, a positioning controller is necessary because only a mooring system alone cannot always keep the ship within a predefined region. this paper develops a new adaptive backstepping controller based on structural reliability index to deal with the model uncertainties of the FPSO vessel. Model uncertainties can be estimated by the adaptive law derived from the Lyapunov stability theory. the capacity of the mooring system can be fully utilized to position the FPSO vessel by adjusting the structural reliability index on the premise of ensuring the safety of mooring lines, and hence less control effort is needed for the positioning controller. the robustness of the proposed control algorithm is demonstrated through simulations using three sets of different system parameters. In addition, a comparison to the PID controller without the structural reliability shows that less control effort is needed using the proposed controller.

关键词： Reliability Backstepping Indexes Lyapunov methods Adaptation models Adaptive systems Marine vehicles

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