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

共 5310 条记录，以下是4941-4950 订阅

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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...

引用

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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A grasp planning approach for visual servo controlled robot manipulators

A grasp planning approach for visual servo controlled robot ...

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international conference on Advanced robotics (ICAR)

作者： F. Janabi-Sharifi W.J. Wilson Department of Mechanical Engineering Ryerson Polytechnic University Toronto ONT Canada Department of Electrical Engineering University of Waterloo Toronto ONT Canada

Robotic visual servoing holds a great promise for providing flexible robotic systems. this paper introduces a grasp planning approach for visual servo controlled robots with a single camera mounted at the end-effector. Sensory-control, mechanical, and geometrical issues in the design of such an automatic grasp planner are discussed and the corresponding constraints are highlighted. Also some quality measures are introduced to rate the candidate grasps. the grasp planning strategy and its implementation are described. Simulation results are presented to verify the effectiveness of the approach in dealing with dynamic situations, e.g. grasping a moving object.

关键词： Servomechanisms Robot control Manipulators Robot sensing systems Robot kinematics robotics and automation Visual servoing Robustness Robot vision systems Uncertainty

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Robust Iterative Learning control for ladder circuits with mixed uncertainties

Robust Iterative Learning Control for ladder circuits with m...

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

作者： Bartłomiej Sulikowski Krzysztof Gałkowski Eric Rogers Anton Kummert Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland School of Electronics and Computer Science University of Southampton Southampton UK Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper develops iterative learning control laws for a subclass of uncertain spatially interconnected systems. Model uncertainties appear both in the state (represented by the norm bounded description) and the output equation (represented by a polytopic description) of the dynamics modeled in the 2D systems setting. A particular example of an RLC ladder circuit provides an example to motivate the analysis. the first stage is to write the dynamics in 2D model form and then to apply the stability theory for a distinct class of 2D systems known as repetitive processes is used to develop the ILC law in the case of differential dynamics. this results in a design algorithm that considers the mixed uncertainties in the model and can be applied using linear matrix inequalities.

关键词： Uncertainty Mathematical model Two dimensional displays RLC circuits Interconnected systems Integrated circuit modeling Iterative learning control

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PCB Defect Recognition and Elimination Based on Secondary Error and Statistical Histogram 16

PCB Defect Recognition and Elimination Based on Secondary Er...

引用

16th IEEE international Wireless Communications and Mobile Computing conference, IWCMC 2020

作者： Li, Rui Xue, Bin Zhao, Kun Chu, Huihui Jiao, Benshuang School of Mechanical and Electrical Engineering Qingdao Binhai University Shandong China Qingdao Zhongzhuang Vision Automation System Control Co. Ltd. Shandong China

ISBN: (纸本)9781728131290

Aiming at the difficulty of missing, wrong and reverse detection in PCB component detection, the paper proposes a new PCB defect detection and elimination based on visual recognition technology and computer-aided system, it can find out target more efficiently by visual inspection technology in the non-stop line. the target region was marked through secondary error matching algorithm, the threshold segmentation graph of original images were investigated in the marked region. the recognition capability for missing and wrong detection was enhanced. the component matching compatibility was analyzed by mask operation and statistical histogram algorithm. the recognition capability for polarity detection was enhanced. the results were judged by computer aided evaluation system that was carried out under the environment of vision Pro and Visual Studio. the dynamic position of defective component was calculated by PLC. the operation results showed that through the proposed method, the recognition rate was 100%, and the false alarm rate was about 3% in the detection of anti logic, color components, pins and capacitance, and meet the needs of real-time detection and elimination. © 2020 IEEE.

关键词： Polychlorinated biphenyls

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Connectivity Preservation and Collision Avoidance of Multi-Unmanned Surface Vehicles Via Adaptive Sliding control

Connectivity Preservation and Collision Avoidance of Multi-U...

引用

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

作者： Haobo Kang Hong-Jun Ma Shuai Shao Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning P. R. China College of Information Science and Engineering Northeastern University Shenyang Liaoning P. R. China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper investigates the connectivity preservation and collision avoidance problems of a multi-unmanned surface vehicle (USV) system. In order to achieve these two goals more effectively, an improved artificial potential function (APF) is designed. For the sake of solving the issue of nonlinear disturbance, a fuzzy sliding mode control method combined with fuzzy radial basis function neural network (Fuzzy-RBFNN) is introduced. then by Lyapunov method, it can be proved that the system which employs the control scheme proposed in this paper is stable. In addition, the theoretical deduction proves that the USV can track a given ideal signal, and the connectivity preservation and collision avoidance of the multi-USV system can be achieved during formation. Finally, a multi-USV system model including four USVs is established, and the control strategy designed in this paper is adopted to conduct simulation experiments with MATLAB. the results testify that this control project is valid.

关键词： Collision avoidance Multi-agent systems Force automation Artificial neural networks Vehicle dynamics Unmanned aerial vehicles

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Omnibot: A Scalable vision-Based Robot Swarm Platform

Omnibot: A Scalable Vision-Based Robot Swarm Platform

引用

international conference on control and automation (ICCA)

作者： Zhao Ma Jiachen Liang Hongyi Wang Shiliang Guo Peidong Huo Yin Zhang Shiyu Zhao Intelligent Unmanned Systems Laboratory School of Engineering at Westlake University Hangzhou China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

Introducing vision sensing into swarms presents three challenges for developing robot platforms. First, the vision system requires a wide field of view to perceive surrounding robots. Second, vision algorithms demand high computational power, which poses a challenge for real-time vision-in-the-loop simulation. third, as the swarm scale increases, managing the system becomes increasingly demanding. the main contribution of this paper is the development of a novel mobile robot swarm platform to overcome these challenges. 1) Each robot features a 360-degree omnidirectional vision system comprising four cameras, allowing each robot to detect and interact with the surrounding robots. 2) It has a novel ROS-based distributed swarm simulation system, which can effectively utilize the onboard computational resources of multiple robots to achieve parallel vision-in-the-loop simulation. 3) It features a novel swarm management system that allows real-time monitoring and debugging of multiple robots. these innovative designs provide a novel swarm platform that can facilitate the study of versatile vision-based swarm tasks.

关键词： Machine vision Robot vision systems Feature extraction Real-time systems Software Hardware Sensors

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Design of Autonomous Fire Hose Docking System for Intelligent Fire-Fighting Robots

Design of Autonomous Fire Hose Docking System for Intelligen...

引用

robotics, Intelligent control and Artificial Intelligence (RICAI), international conference on

作者： Zhiwei Yang Fei Zhang Weiwei Shang Chenyu Chaoxia Department of Automation University of Science and Technology of China Hefei China

Although existing fire-fighting robots have been able to extinguish fires, the docking task of fire hoses has always been the key obstacle to achieving autonomous fire extinguishing functions for fire-fighting robots. therefore, it is crucial to enable robots to autonomously dock fire hoses to fire hydrants. To solve this problem, we design a new multi-DOF docking mechanism and develop a vision-guided autonomous fire hose docking system based on a robot operating system. When the robot detects the fire, the camera mounted on it can guide the docking system to complete the docking of the fire hose, laying the foundation for the robot to achieve autonomous fire extinguishing.

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Research and Application of Tablet Backplane Detection Algorithm Based on Machine vision

Research and Application of Tablet Backplane Detection Algor...

引用

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

作者： Xin Huang Yuqiang Wang Yuezhong Li Xianen Zhou School of Mechanical and Electronic Engineering East China University of Technology Nanchang China Jiangxi Communication Terminal Industry Technology Research Institute Co. Ltd. Nanchang China

ISBN: (数字)9798350344721

ISBN: (纸本)9798350344738

the detection of tablet backplane accessories is one of the important links in whether the tablet computer can be qualified to enter the market. the traditional inspection link usually uses artificial visual inspection, which has problems such as low efficiency and error rate increasing with workers' working time. therefore, this paper proposes a system based on machine vision and industrial control computer, which studies and applies the vision algorithms. the system acquires pictures by a specific camera, perform two extraction of template area center points on the tablet backplane on the pipeline and the affine transformation to get the accurate location. the film detection algorithm is used for the film in the system. the nut adopts the nut detection algorithm. Foam uses statistical methods based on describing textures. After verification in 300 samples provided by the factory, the results show that the average detection time is 49.37 milliseconds, and the accuracy rate is 97%.

关键词： Visualization Accuracy Statistical analysis Backplanes Machine vision Software algorithms Tablet computers

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Research on Moving Arm Grasping Based on Computer vision

Research on Moving Arm Grasping Based on Computer Vision

引用

robotics, control and automation Engineering (RCAE), international conference on

作者： Xinran Zhang Jun Xu Haoyu Fu Shenqi Hu School of Aeronautics Northwestern Polytechnical University Xi'an China School of Electronics And Information Northwestern Polytechnical University Xi'an China Engineering Training Center Northwestern Polytechnical University Xi'an China

ISBN: (数字)9781665459419

ISBN: (纸本)9781665459426

mechanical arms are being used more and more frequently to grab objects in real life like smart-garbage-removal robots. Aiming at the problem that the traditional mechanical arm grasping method lacks intelligence and the eye in hand manipulator is less researched, this paper proposes a mechanical arm grasping system based on computer vision, which uses Yolo object detection to narrow the detection range, reduce noise, use Canny edge detection and image expansion to corrode the center point of the extract body, use Hough to transform the slope of the main direction of the extract body, calculate the position of the object according to the center point and the main direction slope of the object, then use the ROS framework to control the robot arm for grasping. After experimental testing, this method can effectively grasp objects within a certain range, which is more concise than traditional methods, and has good real-time performance and intelligence.

关键词： Computer vision Image edge detection Robot vision systems Grasping Transforms Object detection Kinematics

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An Open-Source Reconfigurable Robotic Gripper with Detachable Fingers

An Open-Source Reconfigurable Robotic Gripper with Detachabl...

引用

IEEE/ASME international conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Ayaulym Nurpeissova Asset Malik Sanzhar Kabitkanov Alikhan Zhilisbayev Almas Shintemirov School of Engineering and Digital Sciences Nazarbayev University Astana Kazakhstan Department of Electrical Engineering and Automation Aalto University Espoo Finland

ISBN: (纸本)9781665455718

this paper presents a new open-source 3-fingered robotic gripper with a reconfigurable modular structure for extending the choice of reconfigurable robotic gripper designs freely available to robotics research community. Combination of unique design solutions, such as independent and modular (detachable) finger modules, which provide finger position and orientation reconfigurability and adaptivity to different shape objects, is experimentally demonstrated in a functional 3D-printed robotic gripper prototype. the proposed gripper prototype was built using off-the-shelf inexpensive components and 3D printing technology, ensuring low manufacturing cost and replicability. the paper also outlines the gripper control and demonstrates its performance in grasping different shape objects. the open-source design of the presented robotic gripper will be freely available for downloading from the authors' research lab web-site https://*** and https://***/alarisnu/alaris_LCRDF_Gripper upon further modernization, outlined in the future work discussion.

关键词： Mechatronics Shape Fingers Prototypes Grasping three-dimensional printing Manufacturing

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