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Applying Grey-Fuzzy-Fuzzy Rule to Machine Vision Based Unmanned Automatic Vehicles

Applying Grey-Fuzzy-Fuzzy Rule to Machine Vision Based Unman...

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3rd international conference on Intelligent robotics and Applications (ICIRA)

作者： Chuang, Chin-Wen Li, Jau-Rong I Shou Univ Dept Elect Engn 1Sect 1Hsueh Cheng Rd Ta Hsu Hsiang Kaohsiung Count Taiwan

ISBN: (纸本)9783642165832

The unmanned automatic vehicles (UAV) are important elements in industrial application, such as unmanned carriers in warehouse. With the great progress in the intelligent transportation systems, the UAVs are often applied to drive automatically. The mechanical vision replaces the human's eyes to be the feedback component. By the image processing, the necessary information can be figured out. However, due to the complicate calculation of image process, it will take a long calculation time from fetching image to making image information. Hence, a novel control rule that is the Grey-Fuzzy-Fuzzy controller is proposed in this paper for vision guided control of UAVs. The novel rule consists of the base-layer and upper-layer fuzzy controllers. The base-layer fuzzy controller is the classical fuzzy controller using the position error and the error difference to be the input variables. The Grey prediction is used to estimate the position error at the time of making image information. Then, the upper-layer fuzzy controller uses the two input variables, which are the estimated position error and the estimated error difference, to correct the base-layer fuzzy controller's output signal. Finally, an experimental UAV is developed to examine the potential of the proposed control scheme. The vision-based experiment of automatically driving of lane-following is carried out in this paper. The experimental results show the proposed controller will eliminate the swinging phenomenon and increase the accuracy while tracking. The experimental results also show the practical capability of the Grey-Fuzzy-Fuzzy controller.

关键词： Unmanned Automatic Vehicle Grey Theory Fuzzy control Grey-Fuzzy-Fuzzy control

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The control simulation of BRHL based on diagonal recurrent neural network

The control simulation of BRHL based on diagonal recurrent n...

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international conference on BioMedical Engineering and informatics (BMEI)

作者： Hua-Long Xie Li-Xin Guo Ming Zhang School of Mechanical Engineering & Automation Northeastern University Shenyang China Department of Health Technology and Informatics Hong Kong Polytechnic University Hong Kong China

In order to provide an ideal test-bed for the research of intelligent bionic leg (IBL) controlled by magneto-rheological (MR) damper, a novel humanoid robot-biped robot with heterogeneous legs (BRHL) is proposed. First the conception and research purpose of BRHL are introduced. Then bionic design of BRHL is analyzed in detail. Coordinated dynamics model and MR damper model are given. In the end, diagonal recurrent neural network is discussed and control simulation is done. The result indicates that BRHL can simulate human's gait well and is an ideal test-bed of intelligent bionic leg.

关键词： Leg Knee Legged locomotion Joints Biological system modeling Humans

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EJS+EJSRL: A free java tool for advanced robotics simulation and computer vision processing

EJS+EJSRL: A free java tool for advanced robotics simulation...

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作者： Jara, Carlos A. Candelas, Francisco A. Pomares, Jorge Gil, Pablo Torres, Fernando Physics Systems Engineering and Signal Theory Department University of Alicante Spain

ISBN: (纸本)9789898425010

This paper presents a free Java software platform which enables users to easily create advanced robotic applications together with image processing. This novel tool is composed of two layers: 1) Easy Java Simulations (EJS), an open-source tool which provides support for creating applications with a full 2D/3D interactive graphical interface, and 2) EjsRL, a high-level Java library specifically designed for EJS which provides a complete functional framework for modeling of arbitrary serial-link manipulators and computer vision algorithms. The combination of both components sets up a software architecture which contains a high number of functionalities in the same platform to develop complex simulations in robotics and computer vision fields.

关键词： Virtual reality

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A vision based system for strip tracking measurement in the finishing train of a hot strip mill

A vision based system for strip tracking measurement in the ...

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international conference on Mechatronics and automation

作者： Carruthers-Watt, Ben N. Xue, Yiqin Morris, Alan J. Cardiff University School of Engineering The Parade Cardiff CF24 3AA United Kingdom Corus RD+T ECM2 Margam Port Talbot SA13 2EZ United Kingdom

ISBN: (纸本)9781424451418

Strip steering in a hot strip rolling operation is important to maintain smooth operation of the steel mill. Automated steering control can improve the capability and productivity of a rolling mill and has previously been performed using roll force measurements. Due to the nonlinear relationship of roll force measurements with strip position this method requires a complex computational model of the plant. A direct measurement method, such as a vision system is therefore preferred. Environmental factors, predominantly cooling water, make a vision system difficult to implement due to strip edges being obscured. A method has been developed, using Bezier curves and edge position prediction, to enable the use of vision as a robust measurement technique for this application. © 2010 IEEE.

关键词： Cooling water

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Intelligent robotics and Applications - Third international conference, ICIRA 2010, Proceedings

Intelligent Robotics and Applications - Third International ...

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3rd international conference on Intelligent robotics and Applications, ICIRA 2010

ISBN: (纸本)3642165834

The proceedings contain 140 papers. The topics discussed include: Cartesian impedance control on five-finger dexterous robot hand DLR-HIT II with flexible joint;changeable grasping force unit for under-actuated gripper with self-adaptive grasping;efficient grasp planning with reachability analysis;development of an anthropomorphic prosthetic hand for man-machine interaction;a novel coupled and self-adaptive under-actuated grasping mode and the COSA-DTS hand;empirical copula driven hand motion recognition via surface electromyography based templates;a continuous control scheme for multifunctional robotic arm with surface EMG signal;a behavior-based path planning for autonomous vehicle;an uncertainty approach for fixture layout optimization using Monte Carlo method;the small-world network model of mixed production line;improved inertial pose estimation algorithms for on-site hydraulic turbine blade repairing robot;and pursuit evasion in dynamic environments with visibility constraints.

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Intelligent robotics and Applications - Third international conference, ICIRA 2010, Proceedings

Intelligent Robotics and Applications - Third International ...

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3rd international conference on Intelligent robotics and Applications, ICIRA 2010

ISBN: (纸本)3642165869

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FPGA-based artificial vision system for robot and obstacles detection under strong luminosity variability

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12th international conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

作者： Pérez-D'arpino, Claudia Medina-Meléndez, Wilfredis Ralev, Dimitar Guzmán, José Fermín, Leonardo Grieco, Juan Carlos Fernández-López, Gerardo Armada, Manuel Mechatronics Research Group Universidad Simón Bolívar ELE Bldg 3rd floor Lab 328 Caracas Venezuela Visitant Researcher Industrial Automation Institute CSIC Madrid Spain Department of Automatic Control Institute of Industrial Automation CSIC Km. 0 200. 28500 Arganda del Rey Madrid Spain

ISBN: (纸本)9814291269

This paper presents a complete artificial vision system development and implementation for a mobile robot recognition and obstacles detection, which integrates a statistical segmentation method with frequency filtering in order to achieve luminosity independence, exploiting the advantages of known image processing techniques by mixing them into a robotic application. The system proposed determines the mobile robot's position and orientation, using a color segmentation approach based on the Mahalanobis Distance, and the position and size of obstacles in the robot's environment using a parallel scheme based on both Sobel edge detector and Otsu's threshold. The Mahalanobis distance calculus was implemented using a real-time FPGA architecture, in order to detect t he robot's position. Tests in the real robot's environment are presented obtaining results that are independent from the background characteristics and strongly robust on the luminosity variability.

关键词： Luminance

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Flame front detection by Line Enhance Active Contour from OH-PLIF images

Flame front detection by Line Enhance Active Contour from OH...

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international conference on Intelligent Network and Intelligent Systems

作者： Fan, Huijie Dong, Wei Tang, Yandong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang 110016 China Graduate University of the Chinese Academy of Science Beijing 100049 China

ISBN: (纸本)9780769542492

This paper presents a new Line Enhance Active Contour model (LEAC model) to detect the flame front boundaries from high speed Planar Laser Induced Fluorescence (PLIF) images. The model first enhances the crack region and the gradient of flame front by the Line Enhance Filtering algorithm, and then extracts flame front boundaries and crake edges from the enhanced PLIF images using the CV model. We compared the LEAC model with the classical CV model on different PLIF images. Experimental results show that our model can detect the flame front accurately, and it has good performance on detecting the exact edges of long and narrow crack regions, where the classical CV model can not detect completely. Moreover, it is insensitive to image noise and curve initialization. © 2010 IEEE.

关键词： Edge detection

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Bone cutting trajectory generation using a medical user interface of an orthopedical surgical robotic system

Bone cutting trajectory generation using a medical user inte...

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conference on Human System Interactions, HSI

作者： Yasin Guven Duygun Erol Barkana Yeditepe University Istanbul Turkey

ISBN: (纸本)9781424475605

Recent research in orthopedic surgeries indicates that computer-assisted robotic systems have shown that robots can improve the precision and accuracy of the surgery which in turn leads to better long-term outcomes. An orthopedic robotic system called OrthoRoby and an intelligent control architecture that will be used in bone cutting operations are developed. A medical user interface (MUI) is developed and integrated into the OrthoRoby system. MUI is used by the surgeons to import images of the patients' bone as inputs and outputs a bone cutting trajectory. A series of experimental tests were conducted to evaluate the performance of the MUI.

关键词： Bones User interfaces Orthopedic surgery Medical robotics Parallel robots Biomedical imaging Manipulators Intelligent robots Intelligent control robotics and automation

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Scalable video coding based on three-dimensional discrete pseudo cosine transform

Scalable video coding based on three-dimensional discrete ps...

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10th international conference on Next Generation Teletraffic and Wired/Wireless Advanced Networking, NEW2AN 2010 and 3rd conference on Smart Spaces (Are You Smart), ruSMART 2010

作者： Belyaev, Eugeniy Sukhov, Timofey Kai, Liu Saint-Petersburg Institute for Informatics and Automation Russian Academy of Sciences 14 line 39 199178 St. Petersburg Russia Baltic State Technical University Voenmeh D.F.Ustinov 1 Krasnoarmeiskaya street 1 190005 St. Petersburg Russia School of Computer Science and Technology Xidian University MailBox 161 NO.2 Taibai South Road 710071 Xi'an China

ISBN: (纸本)3642148905

This paper proposes a new spatial scalable and low-complexity video compression algorithm based on multiplication free three-dimensional discrete pseudo-cosine transform (3-D DPCT). Practical results which show the compression efficiency of the proposed algorithm in comparison with H.264/SVC standard are presented. © 2010 Springer-Verlag.

关键词： Scalable video coding

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