This paper presents the design and implementation of an adaptive-repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the m...
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This paper presents the design and implementation of an adaptive-repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. applications of this control strategy include the use of high-flying unmanned aerial vehicles (UAVs) with computervision for monitoring, controlling, and coordinating the movements of lower altitude agents in areas, for example, where GPS signals may be unreliable or nonexistent. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame. Due to the circular motion of the HFV, the resulting motion trajectory of the LFV in the image frame can be periodic in time, thus an adaptive-repetitive control system is exploited for regulation and/or trajectory tracking. The adaptive control law is able to handle uncertainties in the camera's intrinsic and extrinsic parameters. The design and stability analysis of the closed-loop control system is presented, where Lyapunov stability is shown. Simulation and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low-flying quadcopter, demonstrating the capabilities of the visual-servo control system for localization (i.e.,, motion capturing) and trajectory tracking control. In fact, results show that the LFV can be commanded to hover in place as well as track a user-defined flower-shaped closed trajectory, while the HFV and camera system circulates above with constant angular velocity. On average, the proposed adaptive-repetitive visual-servo control system reduces the average RMS tracking error by over 77% in the image plane and over 71% in the world frame compared to using just the adaptive visual-servo control law.
Many industrialapplications require some sort of automated visual processing and classification of items placed on moving conveyor. This paper describes the design and implementation of a robot control system on a ha...
Many industrialapplications require some sort of automated visual processing and classification of items placed on moving conveyor. This paper describes the design and implementation of a robot control system on a hardware platform based on a programmable logic controllers (PLC). The controlled vision based robot is designed for high-performance pick and place applications in packaging work cell. The system includes a pick and place robot whereby a vision system is integrated in its workspace to identify work pieces with respect to their shape and color. A personal computer, operating under the windows platform, carries out all vision related processing and motion planning for the robot. Relevant motion information is communicated through the serial port of the computer to programmable logic controller (PLC), which interfaces with the sensing and actuation devices for robot control. The controlling center of this robot is PLC 7035. After sensing and recognizing the objects features, MATLAB sends results to PLC. PLC sends related orders to robot’s joints, which are made of DC and stepper motors. The robot picks the object, locates it in its respective destination, and turns back to its reference location. The validity of the developed robot is verified through experimental results.
Embedded systems control and monitor a great deal of our reality. While some "classic" features are intrinsically necessary, such as low power consumption, rugged operating ranges, fast response and low cost...
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Embedded systems control and monitor a great deal of our reality. While some "classic" features are intrinsically necessary, such as low power consumption, rugged operating ranges, fast response and low cost, these systems have evolved in the last few years to emphasize connectivity functions, thus contributing to the Internet of Things paradigm. A myriad of sensing/computing devices are being attached to everyday objects, each able to send and receive data and to act as a unique node in the Internet. Apart from the obvious necessity to process at least some data at the edge (to increase security and reduce power consumption and latency), a major breakthrough will arguably come when such devices are endowed with some level of autonomous "intelligence". intelligent computing aims to solve problems for which no efficient exact algorithm can exist or for which we cannot conceive an exact algorithm. Central to such intelligence is computervision (CV), i.e., extracting meaning from images and video. While not everything needs CV, visual information is the richest source of information about the real world: people, places and things. The possibilities of embedded CV are endless if we consider new applications and technologies, such as deep learning, drones, home robotics, intelligent surveillance, intelligent toys, wearable cameras, etc. This paper describes the Eyes of Things (EoT) platform, a versatile computervision platform tackling those challenges and opportunities.
A reliable, real-time simultaneous localization and mapping (SLAM) method is crucial for the navigation of actively controlled capsule endoscopy robots. These robots are an emerging, minimally invasive diagnostic and ...
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This paper presents the design, analysis, and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure...
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This paper presents the design, analysis, and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robustness through redundancy, many degrees-of-freedom in movement and flexible design. However, to take full advantage of these properties, a significant fraction of the tensile elements should be active, leading to a potential increase in complexity, messy cable, and power routing systems and increased design difficulty. Here, we describe an elegant solution to a fully actuated tensegrity robot: The TT-3 (version 3) tensegrity robot, developed at UC Berkeley, in collaboration with NASA Ames, is a lightweight, low cost, modular, and rapidly prototyped spherical tensegrity robot. This robot is based on a ball-shaped six-bar tensegrity structure and features a unique modular rod-centered distributed actuation and control architecture. This paper presents the novel mechanism design, architecture, and simulations of TT-3, an untethered, fully actuated cable-driven six-bar spherical tensegrity robot. Furthermore, this paper discusses the controls and preliminary testing performed to observe the system's behavior and performance and is evaluated against previous models of tensegrity robots developed at UC Berkeley and elsewhere.
The three volume set LNAI 10462, LNAI 10463, and LNAI 10464 constitutes the refereed proceedings of the 10th International Conference on intelligentrobotics and applications, ICIRA 2017, held in Wuhan, China, in Augu...
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ISBN:
(数字)9783319652924
ISBN:
(纸本)9783319652917
The three volume set LNAI 10462, LNAI 10463, and LNAI 10464 constitutes the refereed proceedings of the 10th International Conference on intelligentrobotics and applications, ICIRA 2017, held in Wuhan, China, in August 2017.
The three volume set LNAI 10462, LNAI 10463, and LNAI 10464 constitutes the refereed proceedings of the 10th International Conference on intelligentrobotics and applications, ICIRA 2017, held in Wuhan, China, in Augu...
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ISBN:
(数字)9783319652986
ISBN:
(纸本)9783319652979
The three volume set LNAI 10462, LNAI 10463, and LNAI 10464 constitutes the refereed proceedings of the 10th International Conference on intelligentrobotics and applications, ICIRA 2017, held in Wuhan, China, in August 2017.
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