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IEE colloquium on Computer Image Processing and Plant control

作者： J.D. Todd Systems Centre of the National Engineering Laboratory

The National Engineering Laboratory has supported a programme of research and development in computer vision for over a decade. Activities undertaken within that time include the design of component recognition and location systems for robotic guidance and the establishment of an automated visual inspection cell for investigating industrial quality assurance problems. More recently the work has been extended to include projects on the application of transputer-based parallel processing techniques within computer vision. Significant work is also carried out in the development of active stereo techniques for the derivation of 3D coordinate information. The article discusses three particular projects: a nuclear fuel subassembly dismantling vision system; a system for 3D imaging of faces, especially mouths and jaws, for planning corrective surgery; and the development of training courses at the vision Technology Transfer Centre.< >

关键词： Biomedical engineering Machine vision Parallel processing Training Microprocessors

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Wall-Climbing Robot for Visual and GPR Inspection 13

Wall-Climbing Robot for Visual and GPR Inspection

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13th IEEE Conference on industrial Electronics and Applications (ICIEA)

作者： Yang, Liang Yang, Guoyong Liu, Zhaoming Chang, Yong Jiang, Biao Awad, Youssef Xiao, Jizhong CUNY City Coll CCNY Robot Lab New York NY 10031 USA Univ Chinese Acad Sci Shenyang Inst Automat Shenyang Liaoning Peoples R China Hostos Community Coll Dept Nat Sci New York NY USA

ISBN: (纸本)9781538637586

This paper presents the design and validates of a wall-climbing robot with the ability to do nondestructive inspection and remote motion control.ability. The designed robot is able to have a 31.62 Kg payload with only 50% power on the flat surface, and the robot is able to be control.ed through an Android device wirelessly with visual feedback. In order to perform nondestructive inspection, the wall-climbing robot mounts an RGB-D camera and a ground penetration radar, thus it can perform both external visual crack and spall inspection as well as internal defects inspection. Also, a 3D metric inspection is performed via using the RGB-D camera to do visual positioning onboard to couple the measurement from camera and ground penetration radar. Experiments verified the climbing capabilities as well as our novel remote approach to do visual monitoring and control. We also detail the training and the comparative inspection of our DefectNet and FCN-8s, and the results show that our network can perform crack detection.

关键词： Inspection Visualization Climbing robots Cameras Robot vision systems

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A relative navigation sensor for CubeSats based on LED fiducial markers

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ACTA ASTRONAUTICA 2018年 146卷 206-215页

作者： Sansone, Francesco Branz, Francesco Francesconi, Alessandro Stellar Project Srl Via Niccolo Tommaseo 69 I-35131 Padua Italy Univ Padua Dept Ind Engn Via Venezia 1 I-35131 Padua Italy

Small satellite platforms are becoming very appealing both for scientific and commercial applications, thanks to their low cost, short development times and availability of standard components and subsystems. The main disadvantage with such vehicles is the limitation of available resources to perform mission tasks. To overcome this drawback, mission concepts are under study that foresee cooperation between autonomous small satellites to accomplish complex tasks;among these, on-orbit servicing and on-orbit assembly of large structures are of particular interest and the global scientific community is putting a significant effort in the miniaturization of critical technologies that are required for such innovative mission scenarios. In this work, the development and the laboratory testing of an accurate relative navigation package for nanosatellites compliant to the CubeSat standard is presented. The system features a small camera and two sets of LED fiducial markers, and is conceived as a standard package that allows small spacecraft to perform mutual tracking during rendezvous and docking maneuvers. The hardware is based on off-the-shelf components assembled in a compact configuration that is compatible with the CubeSat standard. The image processing and pose estimation software was custom developed. The experimental evaluation of the system allowed to determine both the static and dynamic performances. The system is capable to determine the close range relative position and attitude faster than 10 S/s, with errors always below 10 mm and 2 deg.

关键词： Relative navigation Rendezvous & docking Nanosatellite CubeSat vision

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A multiagent framework for industrial robotic applications

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Procedia Computer Science 2011年 6卷 291-296页

作者： Marko Švaco Bojan Šekoranja Bojan Jerbic Faculty of Mechanical Engineering and Naval Architecture Ivana Lucica 5 10000 Zagreb Croatia

The paper presents a novel approach toward modeling and governing complex system behavior in flexible and adaptive robotic assembly systems. A fully distributed multiagent approach is implemented for autonomous control. The system is defined at multiple levels of granularity where agents provide services in respect to the current global goal. A decentralized multiagent approach is adopted for reasons of flexibility and fault tolerance embedded in the design phase. To prove the concept a robotic application for intelligent assembly is presented and discussed. It consists of multiple industrial robots equipped with force/torque sensors, 2D and 3D vision systems, automatic tool changers and other sensors and actuators. Through fusion of sensory input and mutual communication agents construct and negotiate an assembly plan and reconfigure respectively.

关键词： Distributed robotic systems Multiagent systems Assembly technology

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industrial robotic System with Adaptive control

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Procedia Computer Science 2012年 12卷 164-169页

作者： Marko Švaco Bojan Šekoranja Bojan Jerbić Faculty of Mechanical Engineering and Naval Architecture Ivana Lučića 5 10000 Zagreb Croatia

In this paper an adaptive multiagent robotic assembly system is presented. State of the art industrial equipment is utilized to perform various assembly tasks in a highly unstructured environment without the need for central control. The emphasis is given to the developed methods that address particular issues in such robotic assembly systems. Close collaboration and intertwined work with human operators is one application under development, possible due to complex sensorial inputs on the robots. Active voice commands and prompts additionally contribute to human-robot interaction. Encounter with unknown objects is another issue that has been addressed and can be solved autonomously for simple case scenarios. Actual assembly applications as well as applications under development are presented. The operation in unstructured environments has been facilitated with vision systems, F/T sensors and other sensorial devices.

关键词： Multiagent systems robotic assembly human-robot interaction

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vision Based Collision Avoidance of industrial Robots

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IFAC Proceedings Volumes 2011年第1期44卷 9452-9457页

作者： Alexander Winkler Jozef Suchý Department of Robotic Systems Chemnitz University of Technology 09107 Chemnitz Germany

Abstract This article presents an approach to collision avoidance of industrial robots. It is based on the method of artificial potential or force fields. The field is generated by virtual charges which are placed on obstacles. The virtual force acts on the robot which results in the modification of the manipulator path to avoid collisions. Robot path modification is performed by means of impedance control. The positions of the obstacles are determined continuously by image processing using a simple USB camera, therefore collision avoidance is also able to deal with moving obstacles, e.g. other manipulators. All algorithms are implemented with a real robot system and experimental results are presented.

关键词： Robot control robots vision impedance control collision avoidance visual serviong potential field

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DYNAMIC OMNIDIRECTIONAL vision FOR MOBILE ROBOTS

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JOURNAL OF robotic systems 1986年第1期3卷 5-17页

作者： CAO, ZL OH, SJ HALL, EL Center for Robotics Research Department of Mechanical and Industrial Engineering The University of Cincinnati Cincinnati Ohio 45221 Visiting Scholar from Tianjin Institute of Science and Technology Tianjin China.

Mobile robotic devices hold great promise for a variety of applications in industry. A key step in the design of a mobile robot is to determine the navigation method for mobility control. The purpose of this paper is to describe a new algorithm for omnidirectional vision navigation. A prototype omnidirectional vision system and the implementation of the navigation techniques using this modern sensor and an advanced automatic image processor is described. The significance of this work is in the development of a new and novel approach—dynamic omnidirectional vision for mobile robots and autonomous guided vehicles.

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Low cost machine vision systems extend manufacturing applications

Low cost machine vision systems extend manufacturing applica...

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WESCon

作者： R.E. Amtower CR Technology Inc. Laguna Hills CA USA

Machine vision systems have been in industrial use for many years, to control.processes and measure product quality. Until recently, the cost and complexity of vision systems has restricted its use to a few applications where the speed and accuracy of machine vision were essential, such as robot guidance, or automated assembly of complex electronics. New vision systems featuring low cost and ease of use have made the repeatability, speed and accuracy of machine vision available to a new, broad range of applications, promising significant improvements in product quality and process control.

关键词： Costs Machine vision Process control robotic assembly Electrical equipment industry industrial control Machinery production industries Manufacturing industries Automatic control control.systems

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3D vision-Guided Bore Inspection System

3D Vision-Guided Bore Inspection System

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IEEE International Conference on Computer vision systems (ICVS)

作者： G. Biegelbauer M. Vincze Automation and Control Institute E376 University of Technology Vienna Vienna Austria

vision systems are more and more used in the fields of industrial automation and quality control. This paper describes a 3D vision system that guides a robot arm to reliably insert an endoscope into a bore hole for a subsequent bore surface inspection. The already industrial deployed system, developed in the project FibreScope [3], performs a quality control.of bores with a diameter ranging from 4 to 50mm and a depth of up to 100mm. This requires a bore detection accuracy of the vision system of "}0.3mm and less than 0.5 in 3D space to modify the robot path for safely inserting the endoscope. The challenge in the design of the vision system was that it must work in process real time achieving the required accuracy. This paper introduces the prototype of the robotic system and the 3D vision system. A performance evaluation of the 3D vision system and its bore localization and detection proofs the need of a vision system to compensate positioning uncertainties for a flexible robotic inspection system.

关键词： Boring Inspection Machine vision Robot vision systems Electrical equipment industry industrial control robotics and automation Quality control Endoscopes Orbital robotics

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Sensing and control.for automated robotic edge deburring

Sensing and control for automated robotic edge deburring

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International Conference on industrial Electronics, control.and Instrumentation

作者： G.M. Bone M.A. Elbestawi Mechanical Engineering Department McMaster University Hamilton ONT Canada

The authors describe the sensing and control.elements of a system for automated robotic edge deburring. The deburring path, automatically generated by a task planner, is corrected online by an active end effector with the objective of control.ing the chamfer depth. The sensing system combines the information from force and vision sensors during deburring to provide an improved depth measurement. The vision sensor is then used to verify the deburring performance in an inspection pass. The control.system incorporates adaptive predictive control.combined with learning control. The system was tested through computer simulations, and deburring experiments performed on one and two-dimensional edges.< >

关键词： Automatic control Robot control Robot sensing systems robotics and automation Deburring control.systems Force measurement End effectors Automatic generation control Force sensors

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