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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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the bielefeld anthropomorphic robot head “Flobi”

The bielefeld anthropomorphic robot head “Flobi”

引用

IEEE international conference on robotics and automation (ICRA)

作者： Ingo Lütkebohle Frank Hegel Simon Schulz Matthias Hackel Britta Wrede Sven Wachsmuth Gerhard Sagerer Applied Informatics Group Bielefeld University Germany Central Lab Facilities Bielefeld University Germany Mabotics GmbH Germany

A robot's head is important both for directional sensors and, in human-directed robotics, as the single most visible interaction interface. However, designing a robot's head faces contradicting requirements when integrating powerful sensing with social expression. Furher, reactions of the general public show that current head designs often cause negative user reactions and distract from the functional capabilities. therefore, this contribution presents a novel anthropomorphic robot head called "Flobi", which combines state-of-the-art sensing functionality with an exterior that elicits a sympathetic emotional response. It can display primary and secondary emotions in a human-like way, to enable intuitive human-robot-interaction. To facilitate further research on facial appearance, the exterior is fully modular and replaceable. While current state-of-the-art still requires trade-offs when integrating sensing and social expression, Flobi has been designed to enable service robotic applications, with high-resolution, wide-angle stereo vision, gyroscope motion compensation and stereo audio. For ease of integration, the head is self-contained, including 18 actuators, sensors and control boards, all in a human-head sized package.

关键词： Anthropomorphism Robot sensing systems Human robot interaction Displays Robot vision systems Stereo vision Gyroscopes Motion compensation Actuators Size control

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Redundancy Concepts for Real-Time Cloud- and Edge-based control of Autonomous Mobile Robots

Redundancy Concepts for Real-Time Cloud- and Edge-based Cont...

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IEEE international Workshop on Factory Communication Systems (WFCS)

作者： Jan Nouruzi-Pur Jens Lambrecht the Duy Nguyen Axel Vick Jö rg Krü ger Autonomous Mobile Robotics &#x0026 AI Gestalt Robotics GmbH Berlin Germany Division Automation Technology Fraunhofer IPK Berlin Germany

Deploying navigation algorithms on an edge or cloud server according to the Software-as-a-Service paradigm has many advantages for autonomous mobile robots in indus-trial environments, e.g. cooperative planning and less onboard energy consumption. However, outsourcing corresponding real-time critical control functions requires a high level of reliability, which cannot be guaranteed either by modern wireless networks nor by the outsourced computing infrastructure. this work introduces redundancy concepts, which enable real-time capability within these uncertain infrastructures by providing redundant computation nodes, as well as robot-controlled switching between them. Redundancies can vary regarding their physical location, robot behavior during the switchover process and degree of activeness while quality of service concerning the primary controller is sufficient. In the case that fallback redun-dancies are not continuously active, when a disturbance occurs an initial state estimation of the robot pose has to be provided and an activation time has to be anticipated. To gain some insights on expected behavior, redundant computation nodes are deployed locally on the robot and on an outsourced computation node and consequently evaluated empirically. Quantitative and qualitative results in simulation and a real environment show that redun-dancies help to significantly improve the robot-trajectory within an unreliable network. Moreover, resource-saving redundancies, which are not continuously active, can robustly take over control by using an estimated state.

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sUAS-Based Multispectral Imaging in Support of Detection of Camouflaged Targets and Battlefield Anomalies

sUAS-Based Multispectral Imaging in Support of Detection of ...

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international conference on control and automation (ICCA)

作者： Stergios Barmpas Oleg Yakimenko Systems Engineering Department Naval Postgraduate School Monterey CA USA

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

In response to the extended usage of tactical- and theater-level unmanned aerial systems (U ASs) for reconnaissance and surveillance in the modern battlefield, the ground forces put more and more emphasize on hiding their assets using camouflage or exploiting terrain and vegetation so that these assets are not visible using regular day/ $n$ ight vision sensors. the aerial multispectral (MS) imaging technology is considered as a promising remedy to rectify this situation. this paper explores the performance of commercial-off-the-shelf MS imaging sensor integrated with a small UAS to collect imagery in multiple spectral bands to potentially contribute to the detection of camouflaged targets and battlefield anomalies. In doing so it introduces a new spectral index and examines its effectiveness compared to several other methods.

关键词： Normalized difference vegetation index Landmine detection Surveillance Vegetation mapping Object detection vision sensors Real-time systems

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Analysis and Design of Four-Phase Interleaved Parallel Buck Converter Based on High-Power Charging System for Electric Vehicles

Analysis and Design of Four-Phase Interleaved Parallel Buck ...

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

作者： Haozhe Li Rong Long Liyan Zhang Qihong Chen School of Automation Wuhan University of Technology Wuhan China College of Science Huazhong Agricultural University Wuhan China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

the DC-DC circuit is widely discussed in Electric Vehicle Charging Systems (EVCS). In this paper, a high-power, high-voltage four-phase interleaved parallel Buck converter topology structure is designed, which is suitable for both contact and contactless charging systems. A small-signal mathematical model of a four-phase interleaved parallel Buck converter is established by constructing the state variables of the converter; a Proportion Integration (PI) controller is designed by analyzing the Bode diagram to compensate the system and ensure the control performance of the closed-loop system; a control strategy based on PI control and maximum current sharing control is proposed. the simulation results demonstrate that, the output ripple of this new type of converter cancels each other, the currents of each phase are balanced, and a large output power can be achieved.

关键词： Buck converters Capacitors Topology Inductors Switches Mathematical model Integrated circuit modeling

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Vibration Tests of a Spacecraft via a Switched Robust controller-based Virtual Shaker

Vibration Tests of a Spacecraft via a Switched Robust Contro...

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

作者： Samsul Arefin Didier Dumur Sihem Tebbani Aurélien Hot Jean-Marie Pasquet Structures and Mechanics Department Laboratoire des Signaux et Systèmes CNES Université Paris-Saclay CNRS CentraleSupélec Thales Alenia Space Technical Authority Cannes France Université Paris-Saclay CNRS CentraleSupélec Laboratoire des Signaux et Systèmes Gif sur Yvette France Structures and Mechanics Department CNES Toulouse France Technical Authority Thales Alenia Space Cannes France

ISBN: (纸本)9781665476881

this paper considers the control of spacecraft's vibration testing system. this test system is used for the qualification of the dynamic behavior of spacecraft under severe launch environment. the vibration testing system shall cover the launcher's vibration frequency band with respect to the spacecraft limitations (notching around the eigen frequencies). Several control strategies were already studied, leading however to inaccurate tracking performance and important oscillations due to the excitation of the vibrational modes of the spacecraft. An additional difficulty results from the large spectral interval tracking problem, generally beginning at 5 Hz, and continuing up to 150 Hz. In this paper, a switching control strategy is developed based on several robust controllers, where the switch between controllers depends on the reference frequency. the performance of this strategy is assessed by means of a model in- the-loop (MIL) architecture introduced for the virtual shaker testing campaign up to 40 Hz, including Monte-Carlo simulations. Moreover, the campaign's security is assured through guaranteed stability margins of the closed-loop system, limiting the testing campaign to a single run vibration testing instead of the current four-stage one, reducing the testing cost.

关键词： Vibrations Space vehicles Monte Carlo methods Frequency-domain analysis Switches Stability analysis Vibration control

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Using a knowledge base in manipulator control by calibration-free stereo vision

Using a knowledge base in manipulator control by calibration...

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IEEE international conference on Intelligent Processing Systems, ICIPS

作者： Qiang Xie V. Graefe K. Vollmann Institute of Measurement Science Federal Armed Forces University Munich Neubiberg Germany

A 4 dimensional knowledge base that may be used as the long term memory for object manipulation by a completely uncalibrated vision guided robot is introduced. It is constructed automatically by the robot during its normal operation and adapts itself to changing conditions. thus, the system presents self learning characteristics. the knowledge base has been successfully tested in real world experiments involving the grasping of objects.

关键词： robotics and automation Manipulators Automatic control Robot vision systems Testing

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Multi-vehicle Speed Measurement Based on Monitoring Video Using Improved Multi-object Tracking Algorithm 8

Multi-vehicle Speed Measurement Based on Monitoring Video Us...

引用

8th international conference on Image, vision and Computing, ICIVC 2023

作者： Gao, Xinwen Gan, Zhiyuan Shen, Zhuo Teng, Li School of Mechanical Engineering and Automation SHU-SUCG Research Center of Building Industrialization Shanghai University Shanghai China SILC Business School SHU-SUCG Research Center of Building Industrialization Shanghai University Shanghai China Co. Ltd. Shanghai China

ISBN: (纸本)9798350335231

Due to the increasing demand for multi-vehicle speed measurement on urban roads, as well as the cost and environmental constraints of using laser and ultrasonic speed measurement methods, we propose an accurate multi-vehicle speed measurement method based on urban viaduct monitoring video without additional equipment and labels. this paper first adopts an improved multi-object tracking (MOT) algorithm to achieve high-precision tracking of multi-vehicles in urban viaduct monitoring videos. then, the mapping of the image space to the actual space is realized by using the novel space transformation method designed independently to complete the measurement of the actual vehicle speed. At the same time, the Kalman Filter and Polynomial Fitting are employed to eliminate the errors in the speed measurement process and further improve the measurement accuracy. Finally, the effectiveness of the method was demonstrated by its application to an urban viaduct in Shanghai, China. the velocity measurement error in straight and curved scenes can be controlled within 0.5km/h, and 1km/h, respectively. the final velocity curve can accurately reflect changes in vehicle speed. © 2023 IEEE.

关键词： Vehicles

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Progressive co-adaptation in human-machine interaction

Progressive co-adaptation in human-machine interaction

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

作者： Paolo Gallina Nicola Bellotto Massimiliano Di Luca Department of Architecture and Engineering University of Trieste Trieste Italy Lincoln Centre for Autonomous Systems University of Lincoln Lincoln U.K. Centre for Computational Neuroscience and Cognitive Robotics & School of Psychology University of Birmingham Birmingham U.K.

In this paper we discuss the concept of co-adaptation between a human operator and a machine interface and we summarize its application with emphasis on two different domains, teleoperation and assistive technology. the analysis of the literature reveals that only in a few cases the possibility of a temporal evolution of the co-adaptation parameters has been considered. In particular, it has been overlooked the role of time-related indexes that capture changes in motor and cognitive abilities of the human operator. We argue that for a more effective long-term co-adaptation process, the interface should be able to predict and adjust its parameters according to the evolution of human skills and performance. We thus propose a novel approach termed progressive co-adaptation, whereby human performance is continuously monitored and the system makes inferences about changes in the users' cognitive and motor skills. We illustrate the features of progressive co-adaptation in two possible applications, robotic telemanipulation and active vision for the visually impaired.

关键词： Training Robots Usability Monitoring Mice Man machine systems Uncertainty

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3D growing deformable B-surface model for object detection

3D growing deformable B-surface model for object detection

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

作者： Xujian Chen Eam Khwang Teoh School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (纸本)0780386531

A new method, called 3D growing deformable B-surface model, is proposed for object detection which works in 3D space directly. First, the coarse boundary of the subject is extracted. the 3D external force field of the subject is generated based on this coarse boundary using modified GVF (gradient vector flow). After the initialization of a surface patch, growing B-surface model starts to deform it to locate the boundary of the object. Next, this surface patch is anchored to the surface of the subject and a new surface patch grows up based it. this process is repeated until a closed surface of the subject is obtained. 3D growing deformable B-surface model overcomes the difficulty that comes from analyzing 3D volume image slice by slice. And the computation load of B-surface is reduced since the internal force is not necessary in every iteration deformation step. Next, the geometric information on every surface point can be calculated easily. And it has the ability Io achieve high compression ratio (the ratio of data to parameters) by presenting the whole surface with only a relatively small number of control points. Growing B-surface model simplifies the initialization step of the surface model.

关键词： Deformable models Object detection Surface reconstruction Space technology Image analysis Computer vision Image segmentation Image coding Application software Object recognition

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