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A Microscopic Framework For Distributed Object-Recognition & Pose-Estimation

A Microscopic Framework For Distributed Object-Recognition &...

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

作者： Sathyanarayan Anand Ahmed Kirmani Siddharth Shrivastava Santanu Chaudhury Basabi Bhaumik Department of Electrical Engineering Indian Institute of Technology Delhi New Delhi India

Effective self-organization schemes lead to the creation of autonomous and reliable robot teams that can outperform a single, sophisticated robot on several tasks. We present here a novel, vision-based microscopic framework for active and distributed object-recognition and pose-estimation using a team of robots of simple construction. the team performs the task of locating a given object(s) in an unknown territory, recognizing it with sufficient confidence and estimating its pose. the larger goal is to experiment with probabilistic frameworks and graph-theoretic methods in the design of robot teams to achieve autonomous self-organization independent of the task at hand. We have chosen 3D object recognition as a first problem area to evaluate the effectiveness of our system design. the system comprises a probabilistic framework for the successful detection of the object in a coordinated manner and adaptive measures in case of machinery failures or presence of obstacles. A pose estimation method for the detected object and graph theoretic solutions for optimal field coverage by the robots are also presented. Each robot is provided with a part-based, spatial model of the object. the object to be recognized is taken to be much bigger than the robots and need not fit completely into the field of view of the robot cameras. We assume no knowledge of the internal parameters of the robot cameras and perform no camera calibration procedures. Initial simulation results corroborate our system design and field coverage methods

关键词： Microscopy Robot kinematics Robot vision systems Cameras Object detection Design methodology Object recognition Coordinate measuring machines Machinery Calibration

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Development of Suture Simulator that Can Express 3D Deformation of Wounds and those Vicinities

Development of Suture Simulator That Can Express 3D Deformat...

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

作者： Kenta Miyazaki Yoshiyuki Yoshimoto Masamichi Sakaguchi Akihito Sano Hideo Fujimoto Department of Mechanical Engineering Nagoya Institute of Technology Nagoya Japan

In this research, a buried suture simulator is developed from attention that there is a most complicated diversity in plastic surgery. Buried suture is one of suture techniques with difficult usage. In comparison with normal suture, buried suture needs more care because it is difficult to handle it. Moreover accuracy of surgical techniques or effect of skill on postoperative deformation are unknown. Furthermore buried suture have two advantages; less mark of wound on cosmetic advantage, and no necessity to thread removal on clinical advantage. Buried suture simulator developed from the two major needs is available in each need. One is manipulation simulator for experience, study and training through manipulation from high difficulty skill. the other is deformation simulator for confirmed postoperative deformation that has an effect on difference of suture pattern from clinical point that is largely-concerned with QOL (quality of life) of a patient. In suture simulator, usually operating time or efficiency and the number of mistakes as typified by failure in gripping an object are the points of the quantitative evaluation. In this research, keeping the evaluation of the postoperative deformation in mind, a suture simulator that can express 3D deformation of wounds and those vicinities is developed. the elemental technologies of the developed simulator are described. Moreover the effect of passing point in suture exerted on the post-operative ligation deformation is considered

关键词： Deformable models Wounds Needles Plastics Haptic interfaces Minimally invasive surgery Yarn Robot sensing systems Medical robotics Medical simulation

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Fuzzy Logic thermal Error Compensation for Computer Numerical control Noncircular Turnning System

Fuzzy Logic Thermal Error Compensation for Computer Numerica...

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

作者： Hong'en Wu Guili Li Daguang Shi Chengrui Zhang Mechanical Engineering School Shandong University Jinan P. R. China College of Mechanical and Electronic Engineering Shandong University of Science and Technology Qingdao P. R. China

With the new emerging technologies of high performance machining and the increasing demand for improved machining accuracy in recent years, the problem of thermal deformation of machine tool structures is becoming more critical than ever. the computer numerical control (CNC) turning system for noncircular section pistons is designed with giant magnetostrictive actuator (GMA) as the turning module. When the temperature of the cooler system of the GMA varies for about 6degC, the dimension error of the surface contour varies for about 20 micron, and cannot meet the precision requirement of the piston's contour dimension. In this paper, a method using fuzzy logic control for the compensation of the thermally induced error is developed. the fuzzy rule is used to compensate directly for the nonlinearity and uncertainty of the cooler system. the rule development strategy for the compensation system is to change the feed quantity of GMA to control the tool the pistons dimension. the fuzzy logic control developed here is a two-input single-output controller. the two inputs are the temperature deviation from setpoint error, and error rate. the output is the compensated value of the feed system. the triangular membership functions are used to define the input linguistic variables and the output linguistic variables. the fuzzy logic approach incorporates many advantages of using fuzzy logic such as the incorporation of heuristic knowledge, ease of implementation and the lack of a need for an accurate mathematical model. the experimental results are presented and the effectiveness of the fuzzy thermal error compensation control technique is discussed. Accuracy is greatly improved using the developed error compensation system

关键词： Fuzzy logic Error compensation Computer numerical control Machining Turning Pistons Temperature Feeds thermal variables control Machine tools

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Design of Stable and Quadratic Optimal Linear State Feedback controllers for TS-Fuzzy-Model-Based control Systems

Design of Stable and Quadratic Optimal Linear State Feedback...

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

作者： Wen-Hsien Ho Ming-Ren Hsu Jyh-Horng Chou Department of Medical Information Management Kaohsiung Medical University Kaohsiung Taiwan Institute of Engineering Science and Technology National Kaohsiung First University of Science and Technology Kaohsiung Taiwan Institute of System Information and Control National Kaohsiung First University of Science and Technology Kaohsiung Taiwan

this paper considers the stable and quadratic finite-horizon optimal design problem of the linear state feedback controllers for the Takagi-Sugeno (TS) fuzzy-model-based control systems by integrating the stabilizability condition, the shifted-Chebyshev-series approach (SCSA), and the hybrid Taguchi-genetic algorithm (HTGA), where the stabilizability condition is proposed in terms of linear matrix inequalities (LMIs). Based on the SCSA, an algorithm only involving the algebraic computation is derived in this paper for solving the TS-fuzzy-model-based feedback dynamic equations, and then is integrated with both the proposed sufficient LMI condition and the HTGA to design the stable and quadratic optimal linear state feedback controllers of the TS-fuzzy-model-based control systems under the criterion of minimizing a quadratic integral performance index, where the quadratic integral performance index is also converted into the algebraic form by using the SCSA. the presented new approach, which integrates the proposed LMI-based stabilizability condition, the SCSA and the HTGA, is non-differential, non-integral, straightforward, and well-adapted to computer implementation. the computational complexity may therefore be reduced remarkably. thus, this proposed approach facilitates the design task of the stable and quadratic optimal linear state feedback controllers for the TS-fuzzy-model-based control systems. A design example of stable and quadratic optimal linear state feedback controller for the ball-and-beam system is given to demonstrate the applicability of the proposed new integrative approach

关键词： Optimal control Linear feedback control systems control systems State feedback Integral equations Algorithm design and analysis Performance analysis Takagi-Sugeno model Linear matrix inequalities Computational complexity

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2D/3D vision-Based Mango's Feature Extraction and Sorting

2D/3D Vision-Based Mango's Feature Extraction and Sorting

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

作者： thanarat Chalidabhongse Panitnat Yimyam Panmanas Sirisomboon Faculty of Information Technology King Mongkut''s Institute of Technology Ladkrabang Bangkok Thailand Department of Agricultural Engineering Faculty of Engineering King Mongkut''s Institute of Technology Bangkok Thailand

this paper describes a vision system that can extract 2D and 3D visual properties of mango such as size (length, width, and thickness), projected area, volume, and surface area from images and use them in sorting. the 2D/3D visual properties are extracted from multiple view images of mango. the images are first segmented to extract the silhouette regions of mango. the 2D visual properties are then measured from the top view silhouette as explained by Yimyam et al. (2005). the 3D mango volume reconstruction is done using volumetric caving on multiple silhouette images. First the cameras are calibrated to obtain the intrinsic and extrinsic camera parameters. then the 3D volume voxels are crafted based on silhouette images of the fruit in multiple views. After craving all silhouettes, we obtain the coarse 3D shape of the fruit and then we can compute the volume and surface area. We then use these features in automatic mango sorting which we employ a typical backpropagation neural networks. In this research, we employed the system to evaluate visual properties of a mango cultivar called "Nam Dokmai". there were two sets total of 182 mangoes in three various sizes sorted by weights according to a standard sorting metric for mango export. Two experiments were performed. One is for showing the accuracy of our vision-based feature extraction and measurement by comparing results with the measurements using various instruments. the second experiment is to show the sorting accuracy by comparing to human sorting. the results show the technique could be a good alternative and more feasible method for sorting mango comparing to human's manual sorting.

关键词： Feature extraction Sorting Cameras Humans Machine vision Image segmentation Image reconstruction Shape Backpropagation Neural networks

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Estimating Geospatial Trajectory of a Moving Camera

Estimating Geospatial Trajectory of a Moving Camera

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international conference on Pattern Recognition

作者： A. Hakeem R. Vezzani M. Shah R. Cucchiara School of Electrical Engineering and Computer Science University of Central Florida Orlando FL USA Dipartimento di Ingegneria dell'Informazione University of Modena and Reggio Emilia and INFM Modena Italy

this paper proposes a novel method for estimating the geospatial trajectory of a moving camera. the proposed method uses a set of reference images with known GPS (global positioning system) locations to recover the trajectory of a moving camera using geometric constraints. the proposed method has three main steps. First, scale invariant features transform (SIFT) are detected and matched between the reference images and the video frames to calculate a weighted adjacency matrix (WAM) based on the number of SIFT matches. Second, using the estimated WAM, the maximum matching reference image is selected for the current video frame, which is then used to estimate the relative position (rotation and translation) of the video frame using the fundamental matrix constraint. the relative position is recovered up to a scale factor and a triangulation among the video frame and two reference images is performed to resolve the scale ambiguity. third, an outlier rejection and trajectory smoothing (using b-spline) post processing step is employed. this is because the estimated camera locations may be noisy due to bad point correspondence or degenerate estimates of fundamental matrices. Results of recovering camera trajectory are reported for real sequences

关键词： Cameras Global Positioning System Robot sensing systems Robot vision systems Image reconstruction Navigation Remotely operated vehicles Mobile robots Cities and towns robotics and automation

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the Study of Positioning with High-precision by Single Camera based on P3P Algorithm

The Study of Positioning with High-precision by Single Camer...

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IEEE international conference on Industrial Informatics (INDIN)

作者： Jia. Qingxuan Zheng. Ping Sun. Hanxu Automation School Beijing University of Posts and Telecommunications Beijing China

Binocular method is always used in the object location of robot, but the matching problem of the control points in the images is not settled perfectly. this paper introduces a method of Real-time positioning with high-precision by single camera based on P3P algorithm. When the camera and the control points were set on specific spatial location, we could get the position of the object. the experiment results show that the technique is fit for the robot operation.

关键词： Cameras Robot vision systems Robot kinematics robotics and automation Optical control Sun Automatic control Telecommunication control Optical sensors Robot sensing systems

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Circuit Tolerance Design Using an Improved Genetic Algorithm

Circuit Tolerance Design Using an Improved Genetic Algorithm

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

作者： Jinn-Tsong Tsai Jyh-Horng Chou Department of Computer Science National Ping Tung University of Education Ping Tung Taiwan Institute of System Information and Control National Kaohsiung First University of Science and Technology Kaohsiung Taiwan

In this paper, we present an improved genetic algorithm to solve the worst-case circuit tolerance design problem, which has many design parameters and constraints. the evolutionary design approach, which is called a quality-engineering-based genetic algorithm (QEGA), with a penalty function is proposed for solving the constrained optimization problem. the QEGA approach is able to explore a wide design parameter space without any prior knowledge about position and size of the region of acceptability. the QEGA approach is a method of combining the traditional genetic algorithm (TGA), which has a powerful global exploration capability, with the quality engineering method, which can exploit the optimum offspring. the quality engineering method is inserted between crossover and mutation operations of the TGA. then, the systematic reasoning ability of the quality engineering method is incorporated in the crossover operations to select the better genes to achieve crossover, and consequently enhance the genetic algorithms. therefore, the QEGA approach can be more robust and quickly convergent. In the worst-case circuit tolerance design problem, the vertex analysis has been used to check the feasibility of any candidate tolerance region. For this reason, if, as for a large part of cases, the region of acceptability is convex and simply connected, the QEGA approach ensures an optimal design with 100% yield. the proposed QEGA approach with a penalty function is effectively applied to solve the worst-case circuit tolerance design problem. the computational experiments also show that the presented QEGA approach can obtain better results than previous design methods

关键词： Circuits Algorithm design and analysis Genetic algorithms Power engineering and energy Genetic engineering Constraint optimization Design optimization Genetic mutations Robustness Design methodology

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Supervising Remote Humanoids Across Intermediate Time Delay

Supervising Remote Humanoids Across Intermediate Time Delay

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IEEE-RAS international conference on Humanoid Robots

作者： Kimberly Hambuchen William Bluethmann Michael Goza Robert Ambrose Kenneth Rabe Mark Allan Automation Robotics and Simulation Division NASA-Johnson Space Center Houston TX USA Planning Software Systems Group Jet Propulsion Laboratory/California Institute of Technology Pasadena CA USA Intelligent Robotics Group NASA Ames Research Center Moffett Field CA USA

ISBN: (纸本)1424401992;142440200X

the President's vision for Space Exploration, laid out in 2004, relies heavily upon robotic exploration of the lunar surface in early phases of the program. Prior to the arrival of astronauts on the lunar surface, these robots will be required to be controlled across space and time, posing a considerable challenge for traditional telepresence techniques. Because time delays will be measured in seconds, not minutes as is the case for Mars Exploration, uploading the plan for a day seems excessive. An approach for controlling humanoids under intermediate time delay is presented. this approach uses software running within a ground control cockpit to predict an immersed robot supervisor's motions which the remote humanoid autonomously executes. Initial results are presented

关键词： Delay effects Orbital robotics Moon Space exploration Robot vision systems Extraterrestrial measurements Time measurement Mars Motion control Humanoid robots

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9th international conference on control, automation, robotics and vision

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控制理论与应用 2005年第6期22卷 1012-1012页

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