In this paper, a path generation through use of a sensor platform is proposed. The sensor platform is composed of two electric motors which make panning and tilting motions. An algorithm for computing a real path and ...
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ISBN:
(纸本)0780365763
In this paper, a path generation through use of a sensor platform is proposed. The sensor platform is composed of two electric motors which make panning and tilting motions. An algorithm for computing a real path and an obstacle length is developed by using a scanning method that controls rotation of the sensors on the platform. An Autonomous Robot Vehicle (ARV) can recognize the given path by adapting this algorithm. A scanning algorithm for recognizing environments around the ARV is applied to the sensor platform. The path generation algorithm is composed of two parts. One is recognizing a path pattern;the other is used to avoid an obstacle. An optimal controller is designed for tracking the reference path which is generated by recognizing the path pattern. Using the optimal controller and the path generation algorithm, the ARV is constructed. Based on the results of actual experiments, this algorithm for an ARV proved sufficient for path generation by small number of sensors and for a low cost controller by using the sensor platform with a scanning method.
The subjective assessment of finished leather hide has resulted in much argument, wasted costs and disruption of production schedules in both the tannery and leather footwear industry. Leather has attracted much resea...
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The subjective assessment of finished leather hide has resulted in much argument, wasted costs and disruption of production schedules in both the tannery and leather footwear industry. Leather has attracted much research work worldwide;however, to date no objective quality assessment methodology is available, let alone an automatic assessment system. In this project, a machine-vision-based approach to grading leather hide has been developed. The image of a given castle hide was acquired using the developed machine vision system. A map of the different types of defect contours contained in the hide was extracted. algorithms were then formulated enabling the computerization of the quarter rule, a standard method for grading leather hide in the footwear industry. Typical results from the developed grading process include the leather cuttable areas within a given hide, taking into account various types of defects, and the contour map of defects, which in fact is a vital input to any computerized shoe-part nesting system. The success of automatically grading leather hide in this project will not only provide the tanner with a means of accurately defining the price of a leather hide but also greatly assist the footwear manufacturer in the optimal nesting of irregular shoe parts within a given hide.
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