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Sorting Objects Using the vision System of the Robot

Sorting Objects Using the Vision System of the Robot

引用

international conference on Computational Cybernetics (ICCC)

作者： Martin Pollák Adrián Vodilka Marek Kočiško Petr Baron Faculty of Manufacturing Technologies Technical University of Kosice Prešov Slovakia

ISBN: (数字)9798331502461

ISBN: (纸本)9798331502478

Currently, robots and robotics as a field of science have expanded to be used in almost all industrial areas as well as in everyday life. the current direction of the automation of industrial production is oriented towards the introduction of machines and devices enabling the automatic execution and management of work previously performed by a conventional machine and worker. these automatically controlled devices relieve workers not only from monotonous physical work, but also mental activity, and at the same time improve productivity, quality of processes and products. the article describes the design of a robotic application for automatic sorting of components using a vision camera system. It points to the creation of the control program and the definition of the necessary settings in the software interface necessary for the correct operation of the used robotic arm. the result of the design is a functional robotic workplace developed for the automated sorting of post tensioning wedges as a detected object according to their hole diameter, pointing out the possibility of using machine vision in robotics.

关键词： automation Service robots Robot vision systems Cameras Manipulators Software Hardware Robots Intelligent sensors Sorting

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STRUCTURE DESIGN OF ARM EXOSKELETON ROBOT 10

STRUCTURE DESIGN OF ARM EXOSKELETON ROBOT

引用

10th international Symposium on Test automation and Instrumentation, ISTAI 2024

作者： Zhi, Shan Ji, Changli Chen, Yujie Song, Shoubin Huang, Zhidong Liaoning Institute of Science and Technology Benxi China Chongqing University Chongqing China

ISBN: (纸本)9781837242672

ARM exoskeleton robot is widely used in rehabilitation medicine, industrial production, military, disability, aerospace and scientific research experiments, and plays an important role. In this paper, an arm exoskeleton robot with multiple joints moving independently is designed, which is aimed at the human upper limb movement, such as forward bending, backward extending, adduction and right bending limit of joints, the design provides the user with auxiliary strength and a degree of upper-body flexibility, which can be used for reference to other arm exoskeletons of the same type. the arm exoskeleton designed in this paper includes Motor I, Worm gear and worm box, Upper arm I, Reducer, Short connector, Motor II, Upper Arm II, Forearm, Motor III, Motor IV, Pinion, Motor screw, the design of the structure and size parameters of the large gear, and the working principle of the arm exoskeleton and the implementation steps are briefly described. On this basis, the paper carries out the structural design and strength check of the key parts such as Worm, Gear, Transmission shaft and so on. Finally, through the finite element analysis, build the key components of the model, stress and deformation analysis and verification, the results show that the method can meet the design requirements. © the Institution of Engineering & Technology 2024.

关键词： Exoskeleton (robotics)

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Glue Level Estimation through Automatic Visual Inspection in PCB Manufacturing 18

Glue Level Estimation through Automatic Visual Inspection in...

引用

18th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Iglesias, Bruno P. Otani, Mario Oliveira, Felipe G. Fed Univ Amazonas UFAM Inst Exact Sci & Technol ICET Itacoatiara Amazonas Brazil Inst Res & Technol Innovat ICCT Cal Comp Manaus Amazonas Brazil

ISBN: (纸本)9789897585227

Nowadays, the increasing use of automatic visual inspection approaches in the manufacturing process is remarkable. the automation of production lines implies profitability and product quality. Moreover, optimized human resources result in process optimization and production increase. this work addresses the problem of optimizing the glue tube replacement in Printed Circuit Boards (PCB) manufacturing, warning a human operator only just in time to replace the glue tube. We propose an approach to estimate the glue level, in the glue injection process, during PCB manufacturing. the proposed methodology is composed of three main steps: i) Pre-Processing;ii) Feature extraction;and iii) Glue level estimation through machine learning. the proposed predictive model learns the relation between visual features and the glue level in the tube. Real and simulated experiments were carried out to validate the proposed approach. Results show the obtained Root Mean Square Error (RMSE) measure of 0.88, using Random Forest regression model. Furthermore, the proposed approach presents high accuracy even regarding noisy images, resulting in RMSE measures of 3.64 and 4.15 for a Salt and Pepper and Gaussian noise, respectively. Experiments demonstrate reliability and robustness, optimizing the manufacturing.

关键词： Glue Level control Automatic Visual Inspection Machine Learning

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Intelligent Waste Sorting Platform Based on Taurus & Pegasus 5

Intelligent Waste Sorting Platform Based on Taurus & Pegasus

引用

5th international conference on Mechatronics, robotics and automation, ICMRA 2022

作者： Chen, Xiang Tian, Liguo Li, Meng Liu, Jinqi Wang, Yuesong Fang, Donghui Tianjin University of Technology and Education Tianjin Key Laboratory of Information Sensing & Intelligent Control Tianjin China

ISBN: (纸本)9781665472654

Garbage sorting is an action for everyone to participate, but the existing garbage sorting mainly relies on manual discrimination. In this paper, an intelligent garbage sorting platform is designed using Taurus & Pegasus kit, which records the video stream of garbage using the sensor side of Taurus vision development board. the generated video files are then copied to an SD card for dataset creation, data cleaning, and data annotation. ResNetl8 network model is built using Pytorch framework for training (get pytorch), model transformation (model-caffe), quantization and simulation. Do end-to-end modeling and visualization. Network models are combined with HiSilicon NNIE deep learning acceleration engine to implement fast target classification algorithms. Finally, the model is deployed to the Taurus side for image recognition using an SD card. Residents place garbage in front of the camera, and the Taurus side recognizes and displays the garbage classification inference results and probabilities on the screen. At the same time, the result is sent to Pegasus via serial communication. Pegasus receives the classification result and drives the corresponding steering engine to open the garbage can lid and give voice prompt. When no object or background picture is captured in the camera screen, the trash can lid will be closed. © 2022 IEEE.

关键词： Sorting

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STRUCTURE DESIGN OF INDUSTRIAL ROBOT FEEDING AND DETECTING WORKSTATION BASED ON vision MEASUREMENT PRINCIPLE 10

STRUCTURE DESIGN OF INDUSTRIAL ROBOT FEEDING AND DETECTING W...

引用

10th international Symposium on Test automation and Instrumentation, ISTAI 2024

作者： Zhi, Shan Pi, Jiahang Yu, Kunpeng Zhang, Feng Huang, Zhidong Tang, Jia Liaoning Institute of Science and Technology Benxi China Chongqing University Chongqing China

ISBN: (纸本)9781837242672

In order to reasonable plan the spatial layout of an industrial robot feeding and loading inspection production line based on visual measurement principles and improve the efficiency of industrial robot feeding and inspection, this paper proposes a structural design of an industrial robot feeding and loading inspection workstation based on visual measurement principles. the design content includes: designing the structure of the feeding robot arm, designing the wrist, lower arm, upper arm, lumbar seat, and base of the robotic arm, and selecting the end effector of the robotic arm. Analyze and design the overall plan of the feeding workstation, design the visual workstation, select the conveying mechanism, and select the three jaw chuck. On this basis, briefly describe the working principles of the feeding robot arm and the industrial robot loading inspection workstation. Finally, finite element analysis of stress and deformation of key components such as the upper arm, lower arm, and wrist was conducted using the 3D modeling software Solid Work. the experimental results showed that the industrial robot loading inspection workstation and robotic arm structure designed in this paper meet the design requirements. © the Institution of Engineering & Technology 2024.

关键词： End effectors

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Autonomous Docking for Underwater Drones Using ArUco Marker Based Localization

Autonomous Docking for Underwater Drones Using ArUco Marker ...

引用

robotics, automation and Artificial Intelligence (RAAI), IEEE international conference on

作者： Benaiah Saju Joseph Shasank Gunturu Sumukh Shrote S Sandosh School of Computer Science and Engineering Vellore Institute of Technology Chennai Chennai India

ISBN: (数字)9798331520038

ISBN: (纸本)9798331520045

Autonomous docking for underwater drones is crucial for various marine applications. this paper introduces an approach to autonomous underwater vehicle (AUV) docking using ArUco marker-based localization, as demonstrated by Project MIRA, at the Tau Autonomy Center, Norway. the method combines a control system with dual-feed computer vision based perception to achieve autonomy. the control system is based on a cascaded PID controller fine-tuned using various external sensors and optimization techniques. the vision system utilizes ArUco markers for 3D positioning. Our method uses visual markers to help the drone navigate to a custom docking pad. We achieved stable and reliable docking by combining advanced control systems using visual-inertial sensors. this work highlights the potential of using visual markers and smart control systems for underwater drone operations.

关键词： Location awareness YOLO Visualization Computer vision Autonomous underwater vehicles Navigation 6-DOF Sensor systems Reliability Drones

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Impact of Unmanned Aircraft Regulations on Autonomous Navigation Approaches for Indoor Multi-Rotor Applications - Survey 7

Impact of Unmanned Aircraft Regulations on Autonomous Naviga...

引用

7th international conference on control, automation and robotics (ICCAR)

作者： Tay, Yong Kiat Hesse, Henrik Univ Glasgow Singapore Aerosp Syst Singapore Singapore Univ Glasgow Singapore Aerosp Sci Div Singapore Singapore

ISBN: (纸本)9781665449861

Demand in unmanned aircraft (UA) technologies for real-world applications have increased over the recent years, driving national aviation authorities to implement weight dependent regulations across all UA operations. Introduction of registration for UA weighing 250g and above as well as other regulatory requirements for heavier UA systems have motivated manufacturers to consider weight as a part of design requirement. Although UA weight is not a major concern for most outdoor applications, weight requirements imposed by aviation authorities further emphasizes the importance to develop smaller and lighter UA for safer indoor or urban operations in GPS denied environments. Comparison across various sensors used for autonomous UA navigation methods suggested that benefits of using vision sensors outweighs other methods since most UA are equipped with onboard cameras and thus does not require retrofitting of additional hardware. In addition, vision sensor data can potentially be used for both navigation and non-navigation tasks resulting in a productive and lightweight UA system that is able to avoid or reduce regulatory burdens for GPS denied UA operations.

关键词： Unmanned aircraft Indoor navigation UA regulations Monocular vision

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On the Design and Fabrication of a Voice-controlled Mobile Robot Platform 18

On the Design and Fabrication of a Voice-controlled Mobile R...

引用

18th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Ahmad, Saleh Alhammadi, Mohammed Khalid Alamoodi, Abdulla Adel Alnuaimi, Ahmed Nasser Alawadhi, Saif Aref Alsumaiti, Abdulla Ahmed Higher Coll Technol Mechatron Engn Technol D54 Acad City Dubai U Arab Emirates

ISBN: (纸本)9789897585227

the ` voice' is the most popular form of communication for human beings is. In the field of service robots, the application of speech recognition is a natural choice. Service robots minimize the physical work that people render with their day-to-day tasks. the development of a mobile robot platform that can be controlled using speech commands is presented in this paper. the human voice commands are recognized by the AI JARVIS voice recognition software and translated into motion commands sent to the mobile robot platform using RF communication. Not only does the mobile robot recognize the voice commands and execute them, but it also provides acknowledgment by voice output. the designed mobile robot can carry out various movements, turns, and shifting objects from one location to another. the voice commands are processed using the modified AI JARVIS voice recognition software. Using an RF module's wireless end-point networking, voice signal commands are directly transmitted to the Robot. the mobile robot is developed on a Microcontroller based platform. Performance evaluation showed promising results from the initial experiments. Possible improvements in the future deployment of such a robot in households, hospitals, and other sectors are also explored.

关键词： Voice control Service Robots AI JARVIS

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A Framework for an Intelligent Robotic Manipulator Coupled with a Wheelchair 7

A Framework for an Intelligent Robotic Manipulator Coupled w...

引用

7th international conference on control, automation and robotics (ICCAR)

作者： Srikrishna, B. R. Billawa, Prajwal Venkatarangan, M. J. Patil, Vinay Venkanagoud Gosakan, Haripriya Sumana PES Univ Elect & Elect Engn Bengaluru India PES Univ Elect & Commun Engn Bengaluru India Rock Stance Bengaluru India

ISBN: (纸本)9781665449861

this paper proposes a framework for a robotic arm coupled with a wheelchair, to aid amputees in accessing physical objects. the framework comprises primarily the software modules with a hardware prototype that provides an environment to test the functionality. the hardware makes use of a stereo vision camera to provide a video feed of the physical objects present in front of the wheelchair, in addition to obtaining a series of three-dimensional point clouds corresponding to the video feed. the hardware includes a provision for two revolute joints offering pitch and yaw motion, located on a moving chair. the system actuates the motors to control the rotation angles towards picking up the objects. A Convolution Neural Network (CNN) model is used in the vision system for locating and segmenting the physical objects on each frame of the video feed, leading to the drawing of rectangles bounding the detected objects on the frames and displaying them on a touchscreen interface. When the user chooses an object via touch, the coordinates of the object are obtained via the three-dimensional point cloud, which is converted to its corresponding azimuth and elevation angles for actuation. the result formulates the mathematical equations for calculating azimuth and elevation with which the software is realized to establish control of locations for picking up the desired objects. the software running on the hardware prototype acts as a demonstrator to provide an alignment of the actuators with the chosen physical objects.

关键词： Stereo vision Convolution Neural Net-work(CNN) Wheelchair Robotic Arm

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A Review of Machine vision Applications in Aerospace Manufacturing Quality Inspection

A Review of Machine Vision Applications in Aerospace Manufac...

引用

Computer, control and robotics (ICCCR), international conference on

作者： Li Deng Gang Liu Yilian Zhang School of Mechanical and Automotive Engineering Shanghai University Of Engineering Science Shanghai China School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (数字)9798350373141

ISBN: (纸本)9798350373158

Machine vision is a technology that uses image processing and analysis techniques to acquire and understand image information, enabling the recognition, measurement, and detection of objects. Machine vision is widely used in aerospace manufacturing for automated production, quality inspection, and robot guidance. It can improve the efficiency and quality of aerospace manufacturing, reduce labor costs and risks, promote innovation and optimization, adapt to various inspection needs, and realize intelligent, automated, and digital manufacturing processes. this paper introduces the types of vision technologies, overviews the typical applications of machine vision for quality inspection in aerospace manufacturing, (including component surface inspection, drilling quality inspection, assembly quality inspection, and gluing quality inspection), analyzes the advantages, challenges, and development trends of machine vision for quality inspection in aerospace manufacturing, and looks forward to future research directions to support further research and application.

关键词： Drilling Technological innovation Reviews Machine vision Inspection Market research Sensor systems

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