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Increased automation in stereo camera calibration techniques

Increased automation in stereo camera calibration techniques

引用

3rd international conference on Computing, Communications and control Technologies, CCCT 2005

作者： House, Brandi Nickels, Dr Kevin Department of Engineering Science Trinity University San Antonio TX 78212 United States

ISBN: (纸本)9806560477

Robotic vision has become a very popular field in recent years due to the numerous promising applications it may enhance. However, errors within the cameras and in their perception of their environment can cause applications in robotics to fail. To help correct these internal and external imperfections, stereo camera calibrations are performed. There are currently many accurate methods of camera calibration available;however, most or all of them are time consuming and labor intensive. This research seeks to automate the most labor intensive aspects of a popular calibration technique developed by Jean-Yves Bouguet. His process requires manual selection of the extreme comers of a checkerboard pattern. The modified process uses embedded LEDs in the checkerboard pattern to act as active fiducials. Images are captured of the checkerboard with the LEDs on and off in rapid succession. The difference of the two images automatically highlights the location of the four extreme comers, and these comer locations take tire place of the manual selections. With this modification to the calibration routine, upwards of eighty mouse clicks are eliminated per stereo calibration. Preliminary test results indicate that accuracy is not substantially affected by the modified procedure. Improved automation to camera calibration procedures may finally penetrate the barriers to the use of calibration in practice.

关键词： Calibration

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A real-time Linux execution environment for function-block based distributed control applications

A real-time Linux execution environment for function-block b...

引用

IEEE international conference on Industrial Informatics (INDIN)

作者： G.S. Doukas K.C. Thramboulidis Electrical & Computer Engineering University of Patras Patras Greece

The function block (FB) construct has been adopted by recent IEC standards for the design of reusable, interoperable, distributed control applications. Complete applications can be defined in the design level as networks of interconnected FB instances. In this paper an execution environment for FB-based distributed control applications is presented. The proposed environment favors the deployment and re-deployment of complex distributed control applications and provides the infrastructure that is required to satisfy real-time constraints for this application domain. Specific tools have been developed in the context of the model integrated mechatronics paradigm, to support the automatic code generation of implementation models from FB design models as well as their subsequent deployment on the proposed execution environment. Performance metrics prove the real-timeliness of the implemented environment.

关键词： Linux Distributed control Application software Context modeling Automatic control Electronic switching systems robotics and automation Design engineering Measurement IEC

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Fractional order derivatives

Fractional order derivatives

引用

international conference on Computational Cybernetics (ICCC)

作者： J.K. Tar I.J. Rudas J.F. Bito J.A.T. Machado Institute of Mathematics and computational Sciences Budapest Polytechnic Budapest Hungary Centre of Robotics and Automation Budapest Polytechnic Budapest Hungary Department of Electrotechnical Engineering Institute of Engineering of Porto Porto Portugal

Detailed investigation of a simple nonlinear, active, adaptive approach of controlling the oscillation of a car proceeding on a bumpy road is presented. Its key idea is a frequency dependent control of the strictness of a traditional PID controller by applying fractional order derivatives in a simple kinematic design without any respect to the dynamic model of the system. The adaptive part of the controller relieves the designer of dealing with the system's dynamics within the frames of some linear control, and guarantees the implementation of this design. The operation of the approach is illustrated by the use of INRIA's scientific co-simulator Scicos for a rough model of a car. Well interpretable trends were revealed regarding the effect of the variation of the order of derivation, and that of the sampling time of the adaptive loop. These results seem to be promising for actively damping the vibration of systems having unmodeled, uncontrolled internal degrees of freedom.

关键词： Programmable control Adaptive control control systems Roads Frequency dependence Three-term control Kinematics Nonlinear dynamical systems Adaptive systems Sampling methods

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Realization of a modified fuzzy logic controller

Realization of a modified fuzzy logic controller

引用

IEEE international conference on Fuzzy Systems (FUZZ-IEEE)

作者： S. Tandio N.N. Bengiamin J. Hootman N. Swain Electrical Engineering Department University of North Dakota Grand Forks ND USA

A novel method for realizing fuzzy logic controllers is presented. The basic concept of fuzzy logic is modified to accommodate desirable feedback control implementation features. Moreover, TUTSIM (a dynamic systems computer simulation program) is used to introduce a flexible, economical, and effective tool for studying fuzzy logic based control algorithms. Fuzzification, fuzzy inference, and defuzzification are addressed. The developed methodology is applied to a typical control and its effectiveness is demonstrated when compared to PID control. The developed fuzzy control module has value as a readily available tool for analysis and design.< >

关键词： Fuzzy logic Fuzzy control Zirconium control systems Computational modeling Computer simulation Three-term control Automatic control Motion control robotics and automation

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Fuzzy controller synthesis in robotic assembly: procedure and experiments

Fuzzy controller synthesis in robotic assembly: procedure an...

引用

IEEE international conference on Fuzzy Systems (FUZZ-IEEE)

作者： M. Nuttin H. van Brussel C. Baroglio R. Piola Department of Mechanical Engineering Division PMA Katholieke Universiteit Leuven Heverlee Belgium Dipartimento di Informatica Università di Torino Torino Italy

In controller synthesis for basic robotic assembly tasks, the optimal performance is characterized by high level criteria. Performance of a peg-into-hole task is, for example, measured in insertion time and average/maximum force level. Moreover, the unknown optimal control of a peg-into-hole task was shown to be nonlinear. Fuzzy rules are used in our approach to approximate this nonlinear control. The fuzzy controller synthesis can be automated with the use of a machine learning tool SMART+, provided that examples are available. Besides examples, SMART+ can also handle domain knowledge as input. Its output can also be a learning fuzzy controller, in order to achieve online performance improvement. The paper presents this approach and initial experiments.< >

关键词： Fuzzy control Robot control Robotic assembly Automatic control Machine learning robotics and automation Uncertainty Optimal control Robot sensing systems Force measurement

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Recent Trends in engineering Design 1

引用

丛书名： Lecture Notes in Mechanical engineering

1000年

作者： Bangarubabu Popuri Amit Tyagi N. R. Chauhan Ashish Gupta

ISBN: (数字)9789811629006

ISBN: (纸本)9789811628993;9789811629020

This book presents the select proceedings of the 3rd international conference on Computational and Experimental Methods in Mechanical engineering (ICCEMME 2020). The book discusses the recent researches and concrete findings in the field of mechanical design and automation with its allied branches. Various topics covered in this book include modeling and simulation, application of modelling to complex real-world systems, application of machine or deep learning in mechanical problems, artificial intelligence, vehicle design, robotics, vehicle dynamics and control, biomechanics, and vibration-related problems. Given its content, the book will be useful for beginners, researchers, and professionals interested in the field of mechanical engineering.

关键词： engineering Design Computer-Aided engineering (CAD, CAE) and Design Simulation and Modeling

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Proceedings of 3rd 2023 international conference on Autonomous Unmanned Systems (3rd ICAUS 2023) 1

引用

丛书名： Lecture Notes in Electrical engineering

1000年

作者： Yi Qu Mancang Gu Yifeng Niu Wenxing Fu

ISBN: (数字)9789819710836

ISBN: (纸本)9789819710829;9789819710850

This book includes original, peer-reviewed research papers from the 3rd ICAUS 2023, which provides a unique and engaging platform for scientists, engineers and practitioners from all over the world to present and share their most recent research results and innovative ideas. The 3rd ICAUS 2023 aims to stimulate researchers working in areas relevant to intelligent unmanned systems.;Topics covered include but are not limited to: Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and their Application in Unmanned Systems.;The papers presented here share the latest findings in unmanned systems, robotics, automation, intelligent systems, control systems, integrated networks, modelling and simulation. This makes the book a valuable resource for researchers, engineers and students alike.

关键词： control, robotics, Mechatronics Computational Intelligence Communications engineering, Networks Artificial Intelligence

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Proceedings of the 3rd international conference on Signal and Data Processing 1

Proceedings of the 3rd International Conference on Signal an...

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丛书名： Lecture Notes in Electrical engineering

1000年

作者： Raghunath K. Shevgaonkar Debashis Adhikari Soumitra Keshari Nayak Febe de Wet

ISBN: (数字)9789819795789

ISBN: (纸本)9789819795772;9789819795802

This volume comprises the select proceedings of the 3rd international conference on Signal & Data Processing - ICSDP 2023. The contents focus on the latest research and developments in the field of artificial intelligence & machine learning, Internet of Things (IoT), cybernetics, advanced communication systems, VLSI embedded systems, power electronics and automation, MEMS/ nanotechnology, renewable energy, bioinformatics, data acquisition and mining, antenna & RF systems, power systems, biomedical engineering, aerospace & navigation. This volume will prove to be a valuable resource for those in academia and industry.

关键词： control, robotics, Mechatronics Signal, Image and Speech Processing Microwaves, RF and Optical engineering Communications engineering, Networks

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Proceedings of 3rd 2023 international conference on Autonomous Unmanned Systems (3rd ICAUS 2023) 1

引用

丛书名： Lecture Notes in Electrical engineering

1000年

作者： Yi Qu Mancang Gu Yifeng Niu Wenxing Fu

ISBN: (数字)9789819711031

ISBN: (纸本)9789819711024;9789819711055

关键词： control, robotics, Mechatronics Computational Intelligence Communications engineering, Networks Artificial Intelligence

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Recent Advances in Mechanical engineering 1

引用

丛书名： Lecture Notes in Mechanical engineering

1000年

作者： Anoop Kumar Shukla Bhupendra Prakash Sharma Ahmad Arabkoohsar Pradeep Kumar

ISBN: (数字)9789819918942

ISBN: (纸本)9789819918935

This volume comprises the select proceedings of the 3rd Biennial international conference on Future Learning Aspects of Mechanical engineering (FLAME) 2022. It aims to provide a comprehensive and broad-spectrum picture of the state-of-the-art research and development in thermal, fluids, energy and process engineering, mechatronics, control and robotics, material science and engineering, solid mechanics and structural engineering, dynamics and control, engineering design, manufacturing and industrial engineering, automobile engineering. This volume will prove a valuable resource for researchers and professionals in mechanical engineering and allied fields.

关键词： Industrial Chemistry/Chemical engineering Materials engineering Nanotechnology robotics and automation

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