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Robotic Vision Based PCB Inspection with IOT Interface

Robotic Vision Based PCB Inspection with IOT Interface

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international conference on Cybernetics, robotics and control (CRC)

作者： S. Gobee V. Durairajah K. Xin L.L. Jie Asia Pacific University of Technology & Innovation Kuala Lumpur Malaysia

The purpose of the project is to design a fully automated vision inspection system as well as a pick and place system. This system aims is to be able to perform vision inspection on PCB board to identify the quality of such product before pushing the product to the pick and place system for product segregation. The next aim of this project is also to ensure there are information continuity from machine to another machine to minimize human labor while ensuring high job traceability using IOT monitoring. Furthermore, information gathered from the station which are captured the sensor and vision from the machine can then be viewed either on the station or through the web page. This allows high flexibility in terms of accessing to information from machine as well as monitoring of the condition process of the machine without being physically present. In addition, this project also requires less labor due to fully automation where PCB are push to the next station using the conveyor system which means less time wasted on human transporting product from one machine to another and thus optimizing the entire process flow. Lastly, information gathered from machine on the production short floor are all stored on the database which can be integrate through the company database or through cloud base providing huge flexibility for easy integration of such system into any production line.

关键词： Inspection Databases Machine vision Robots Monitoring Web pages Companies

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Efficient and Accurate Template-based Reconstruction of Deformable Surfaces

Efficient and Accurate Template-based Reconstruction of Defo...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Dominik Slomma Shoudong Huang Liang Zhao Faculty of Engineering and Information Technology Robotics Institute University of Technology Sydney Australia School of Informatics The University of Edinburgh Scotland

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

3D surface reconstruction in deformable environments presents significant challenges. Template-based methods have proven robust for achieving accurate reconstructions by utilising images and textured triangulated meshes as reference data. These methods rely on feature detection in both the reference and current images to establish corresponding points, leveraging reprojection and deformation constraints for precise reconstruction. However, challenges arise when features are not uniformly distributed across mesh triangles, potentially resulting in sparse or coarse reconstructions. Moreover, the combined computational cost of reprojection and deformable constraints often leads to prolonged optimisation times. This study aims to enhance efficiency in reconstructing deformations within the field of view. Our approach involves back-projecting vertices from a reference mesh onto the reference image plane and subsequently tracking them directly in the subsequent image. This method assumes the resulting observations are sufficiently accurate, encoding the deformation within this information. By eliminating the re-projection constraint and focusing solely on a deformation constraint based on Euclidean distances between vertices, we significantly reduce computational and memory costs. The results of our proposed algorithm demonstrate a notable reduction in computational cost and memory cost, while maintaining reconstruction accuracy comparable to related methods. The code of our algorithm is publicly available at https://***/DominikSlomma/Efficient-and-Accurate-Template-based-Reconstruction-of-Deformable-Surfaces

关键词： Surface reconstruction Accuracy Three-dimensional displays Costs Deformation Linear programming Computational efficiency Image reconstruction Optimization Robots

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Methodology for finger gesture control of mechatronic systems

Methodology for finger gesture control of mechatronic system...

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MECHATRONIKA international Symposium

作者： Apostolos Tsagaris Sotiris Manitsaris Evaggelos Hatzikos Athanasios Manitsaris Department of Applied Informatics MTCG Lab University of Macedonia Thessaloniki Greece Department of Automation Thessaloniki Technological Educational Institute of Thessaloniki Thessaloniki Greece

This paper proposes a methodology for the real-time finger gesture following and control of mechatronic systems based on computer vision and machine learning techniques. The goal of this research is to develop a human-machine interface that could be able to control a mechatronic system by performing finger gestures in space or on a surface without the use of any kind of keyboard neither a joystick. The finger gestures will be continuously followed and directly mapped with commands of mechatronic systems such as start moving, stop moving, forward moving, backward moving etc. The proposed methodology relies on the finger gesture data acquisition, hand segmentation, fingertips localization/ identification, high-level feature extraction, early recognition and prediction using machine learning techniques and its integration into a mechatronic system. The LEGO MINDSTORMS NXT robotics platform controlled by matlab software could be used in the proposed methodology.

关键词： Thumb Hidden Markov models Mechatronics Gesture recognition control systems Keyboards

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Soft Manipulator for Minimally Invasive Surgery

Soft Manipulator for Minimally Invasive Surgery

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international conference on control, automation and Systems ( ICCAS)

作者： Muhammad Asim Huzefa Turab Usman Ghafoor Yumna Qureshi Ruqia Ikram Muhammad Raheel Bhutta Department of Mechanical Engineering Institute of Space Technology Islamabad Pakistan Department of Operations and Supply Chain NUST Business School National University of Sciences and Technology Islamabad Pakistan Department of Electrical and Computer Engineering University of UTAH Asia Campus Incheon Republic of Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

Minimally invasive surgery (MIS) is the type of surgery in which a small incision is created in the abdominal area to insert the laparoscopic tools. Previously, the tools used for MIS were less dexterous due to their rigid links and less degrees of freedom. The new technology which provides more dexterity and ease of operation is known as soft manipulator which uses the concept of soft robotics to perform surgical procedures. In this work, a prototype design and fabrication of soft manipulator for minimally invasive surgery’ introduces a novel, bioinspired manipulator for MIS. The manipulator is entirely composed of soft materials, and it has been designed to test the surgical environment. The manipulator is composed of four similar modules; provided with bending, elongation and stiffening capabilities, like an octopus tentacle. The manipulator was actuated using fluid actuation control system. The combination of stiffening capabilities and manipulation tasks was addressed to confirm the manipulator’s potential employment in a real surgical scenario. Such design is considered promising in the biomedical industry as they are safer compared to rigid-link robots when meeting tissues and organs and will be proved more bio compatible.

关键词： Laparoscopes Minimally invasive surgery Service robots Instruments Prototypes Soft robotics Bending Manipulators control systems Testing

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Utilization of IMU-Based Gesture Recognition in the Treatment of Diabetes

Utilization of IMU-Based Gesture Recognition in the Treatmen...

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IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： Marcell Szá ntó Gergő Strasser Lá szló Szá sz Lehel Dé nes-Fazakas Gyö rgy Eigner Gá bor Kerté sz Levente Ková cs Physiological Controls Research Center &#x00D3 buda University Budap&#x00E9 st Software Engineering Institute John von Neumann Faculty of Informatics &#x00D3 buda University Budapest Biomatics and Applied Artificial Intelligence Institute John von Neumann Faculty of Informatics &#x00D3 Applied Informatics and Applied Mathematics Doctoral School &#x00D3 E&#x00F6 tv&#x00F6 s L&#x00F3 r&#x00E1 nd Research Network Institute for Computer Science and Control Budapest Hungary

ISBN: (数字)9781665479332

ISBN: (纸本)9781665479349

Changes in blood sugar levels are significantly affected by dietary carbohydrate intake, which clearly affects insulin therapy. However, currently available insulin pumps do not perform continuous blood glucose monitoring, and the patient should do so. The quality of the treatment can be further improved if the phenomenon of eating can be recognized based on the characteristic movements, and then by sending an automatic signal of the event to the insulin pump, it can be taken into account that an increase in blood sugar levels is expected. In our work, we focused on this task and, using 4 different tools, collected data from more than 8 people on their hand movements during their meals, on which we performed various data manipulations. Finally, using the aggregation of the obtained data set, we tested different machine learning techniques, from which we will select the optimal algorithm that can recognize the motion characteristic of carbohydrate intake independently of the person with the smallest error. The article presents the tools used for the measurement, the operations performed on the data, as well as the tried and tested machine learning methods and their comparative analysis. Our goal is to improve the quality of life of people with diabetes by increasing the effectiveness of base bolus therapy.

关键词： Medical treatment Insulin pumps Gesture recognition Data collection Diabetes Character recognition Biosensors

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Predictive Risk Maps

Predictive Risk Maps

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Florian Damerow Julian Eggert the Control Methods and Robotics Lab Technical University of Darmstadt64283 DarmstadtGermany

This paper addresses the problem of risk assessment in dynamic traffic environments for future behavior evaluation and *** assessment has to be driven from behavioral needs of the acting scene entity to evaluate the best possible future *** present a general approach for a temporally continuous future risk *** this risk estimation,we introduce predictive risk maps based on the variation of the acting entities’ possible *** predictive risk maps indicate how critical a certain behavior will be in the future and we use them for future behavior evaluation and *** introducing risk indicators for the collision case of moving entities we show the generality of our approach by applying it to several different traffic scene types.

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Using collision avoidance algorithms for designing multi-robot emergent behaviors

Using collision avoidance algorithms for designing multi-rob...

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： R. Polesel R. Rosati A. Speranzon C. Ferrari E. Pagello Intelligent Autonomous Systems Laboratory Department of Electronics and Informatics University of Padua Padova Italy LADSEB Institute of CNR Padua Italy

We discuss how to induce a set of collective emergent behaviors into a team of real robots used for soccer robotics. The activation of robot behaviors is organized according to a multi-level control architecture. The emergent cooperative abilities, like exchanging a ball, are achieved through the use of efficient collision avoidance algorithms implemented by a small set of robots able to frequently swap their roles. Our algorithms have been tested on a couple of real robots, Bart and Homer, which played the final game with the middle size league, at RoboCup'99, in Stockholm. This approach can be generalized to allow multi-robot systems to perform various kind of collective tasks in the entertainment field.

关键词： Collision avoidance Algorithm design and analysis robotics and automation Multirobot systems Intelligent robots Intelligent systems Robot kinematics Testing Cognitive robotics Laboratories

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Identification of the spectral images in the problem of estimating the quality of aqueous solutions using the adaptive spectroellipsometer

Identification of the spectral images in the problem of esti...

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2014 international conference on Advanced control, automation and robotics (ACAR2014)

作者： F.A.Mkrtchyan V.F.Krapivin Department of Informatics Institute of Radio engineering and Electronics

ISBN: (纸本)9781784660468

Current problems of environmental monitoring require the development of compact precision polarization optical devices for rapid analysis of liquid media. The effectiveness of the solutions multiparameter problems to a large extent determines the sensitivity and accuracy of the devices, their versatility, and the ability to use a wide spectral range. Spectral measurements in aqueous medium give informative base to apply modern methods and algorithms for recognition and identification of environmental contaminants. A compact measuring information multi-channel spectroellipsometric system for monitoring the quality of aquatic environment, that is based on the combined use of spectroellipsometry and training, classification, and identification algorithms is described. This system is differed from modern analogues by the use of a new and very promising method of ellipsometric measurements, an original element base of polarization optics and a complex mathematical approach to estimating the quality of a water object subjected to anthropogenic influence. The spectroellipsometric system can be used in different fields where the water quality should be estimated or the presence of a particular set of chemical elements should be revealed.

关键词： water solution spectral images monitoring water pollution adaptive spectroellipsometer expert system classification identification

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Transfer-Deep Learning Application for Ultrasonic Computed Tomographic Image Classification

Transfer-Deep Learning Application for Ultrasonic Computed T...

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international conference on control, automation and Diagnosis (ICCAD)

作者： Marwa Fradi Mouna Afif El-Hadi Zahzeh Kais Bouallegue Mohsen Machhout Monastir University Tunisia Laboratory of Informatics image and interaction L3i La Rochelle University France ISSAT Sousse Sousse University

ISBN: (数字)9781728169996

ISBN: (纸本)9781728170008

Deep-learning techniques have led to a technological progress in several fields such as robotics, mechanics, and medicine specifically in the area of medical imaging. On the light of these recent developments in deep learning it will be recorded that medical imaging evolution needs a transfer deep learning application for the classification process. In this paper, our approach consists on a deep learning transfer models such us Inception V3, MobileNet, NasNet and Ameobanet on Ultrasonic Computed tomography images (USCT) to classify them automatically into three classes. In the beginning, USCT dataset augmentation has been done with pre-processing algorithms. Then, a Transfer Convolutional Neural Network Architecture has been applied with different models on our dataset. Finally, we have implemented our neural network application on GPU. As results we have overcoming previously works by a value of 100% for train accuracy and a value of 96% for test accuracy with a short time process.

关键词： Deep learning Computer architecture Biomedical imaging Training Graphics processing units Computational modeling Classification algorithms

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A Simple Fixed Point Iteration-Based Digital Noise Filter for control Applications

A Simple Fixed Point Iteration-Based Digital Noise Filter fo...

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international Symposium on Computational Intelligence and informatics

作者： Árpád Varga György Eigner József K. Tar Doct. School of Appl. Inf. and Appl. Math. Óbuda University Budapest Hungary Physiological Controls Research Center Óbuda University Budapest Hungary ABC Center of Intelligent Robotics Óbuda University Budapest Hungary

ISBN: (数字)9781728156255

ISBN: (纸本)9781728156262

In various control applications as robotics, chemistry, life sciences, etc., the controllers need feedback terms that contain various integer or fractional order time-derivatives of the variables that describe the physical state of the controlled system as well as certain properties of the “nominal trajectory” that has to be precisely tracked. Normally these derivatives cannot be directly measured by dedicated sensors, so they numerically must be estimated by other, normally noise-burdened sensor signals. The higher the relative order of the control task is the higher the control method's sensitivity to the sensor noises is. To improve the situation the sensor signals and especially the time-derivatives calculated by the use of the sensor signals have to be “filtered” to reduce the undesirable consequence of the measurement noises. Filtering normally happens by somehow “averaging” a few past signals therefore it inevitably introduces “delay” -like effect that can degrade the controller's operation. Physically the act of filtering can be interpreted as the insertion of a dynamically coupled physical subsystem into the controlled engine + controller system. Electronic and electrical engineers developed various filters made of constant and passive elements as resistors, inductors, capacitors that can be described by differential equations. For these linear, time-invariant systems the use of the frequency domain became prevailing. In the case of digital controllers more primitive, fictitious models can be applied without physical realization. These subsystems can be even strongly nonlinear. In this paper a primitive noise-filtering technique for digital controllers is suggested. It has two simple, tunable parameters. Its operation is illustrated in the Fixed Point Iteration-based adaptive control of a propeller-driven pendulum.

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