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International Conference on Applied Electronics (AE)

作者： Kuo, Chao-Lin Chang, Long-Yi Kuo, Ying-Che Lin, Chia-Hung Lin, Kuei-Mei Natl Kaohsiung Marine Univ Dept Maritime Informat & Technol Kaohsiung Taiwan Natl Chin Yi Univ Technol Dept Elect Engn Taichung Taiwan

ISBN: (纸本)9788026106425

This paper presents a visual servo and fuzzy-PID controller to enable underwater robot station-keeping. Movements of underwater robots are easily disturbed by water flow or external factors in a deep-water environment. In this study, control systems are used to adjust the underwater robot's propeller, which reduces chattering of the robot's postures, and visual target feedback and an accelerometer are employed to control its station-keeping. Results of a station-keeping test confirm the applicability and effectiveness of the proposed controller.

关键词： Station-keeping fuzzy-PID controller visual servo control

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visual servo control Based Method for Hooking up Drain Wire Clip 3

Visual Servo Control Based Method for Hooking up Drain Wire ...

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3rd International Conference on Electronic Information Engineering and Computer Science, EIECS 2023

作者： Xiao, Shuzhou Zhang, Qiuyan Huang, Ruyun Zhang, Ruifeng Zeng, Peng Electric Power Research Institute Guizhou Power Grid Co. Ltd. Guiyang City China

ISBN: (纸本)9798350316674

During the operation and maintenance of power distribution grid, it is necessary to use the drain wire to ensure the stability and continuity of the power supply. The accurate identification, positioning and wire-hanging clip operation are directly crucial to the drain wire connection. In this paper, a method of hooking up drain wire clip based on visual servo control is proposed, which is applied to the live working robot to fulfil the operation of connecting drain wire. Firstly, a cable is identified by the improved YOLOX-S object detection algorithm. Then, a binocular camera is used to obtain the accurate three-dimensional coordinate information of the cable, and the coordinate system is converted to obtain the cable position in the coordinate system where the clip is viewed as the origin. Finally, based on the clip size model, the optimal initial hanging height and appropriate hanging path are analyzed, and a fuzzy controller is used to precisely control the robot's operation of hooking up drain wire clip. Experiments show that the method proposed in this paper can quickly and accurately identify and locate power distribution grid cable, and precisely control the robot's operation of connecting the drain wire clip. © 2023 IEEE.

关键词： hooking up drain wire improved YOLOX-S visual servo control wire identification wire positioning

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MONOCULAR CAMERA visual servo control OF WHEELED MOBILE ROBOTS

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INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 2011年第1期26卷 26-34页

作者： Chen, Jian Dawson, Darren M. IdaTech LLC Bend OR 97701 USA Clemson Univ Dept Elect & Comp Engn Clemson SC 29634 USA

In this paper, a visual servo tracking controller for a wheeled mobile robot (WMR) is developed that utilizes feedback from a monocular camera system that is mounted with a fixed position and orientation (i.e., the eye-to-hand problem). A prerecorded image sequence (e.g., a video) of four target points is used to define a desired trajectory for the WMR. By comparing the target points from the prerecorded sequence with the corresponding target points in the live image, projective geometric relationships are exploited to construct a Euclidean homography. The information obtained by decomposing the Euclidean homography is used to develop a kinematic controller. A Lyapunov-based analysis is used to develop an adaptive update law to actively compensate for the lack of depth information required for the translation error system. In contrast to previous WMR visual servo controllers using a fixed monocular camera configuration, the controller in this paper does not require the camera to be mounted so that the optical axis is perpendicular to the WMR plane of motion. An extension is provided to illustrate the development of a visual servo regulation controller. Simulation results are provided to demonstrate the performance of the tracking control design.

关键词： visual servo control mobile robots Lyapunov technique homography-based technique

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Global performance evaluation of image features for visual servo control

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JOURNAL OF ROBOTIC SYSTEMS 1996年第4期13卷 243-258页

作者： Sutanto, H Sharma, R UNIV ILLINOIS BECKMAN INST ADV SCI & TECHNOL URBANA IL 61801 USA

The performance of a visual servo control system depends on the set of image features used in the control loop. Although some local performance measures have been used for evaluating the image features, their-usage in the process of feature selection requires on-line computation that is difficult to realize in real-time, especially with a large number of candidate features. In this article, we introduce a global measure for evaluating the performance of image features for visual servo tasks. This measure can be computed off-line and it takes into account several desirable properties of the image features, including minimization of singularities in the image Jacobian, linearity of feature variation, and maximization of feature resolution. For a given kinematic and imaging model of a robot/camera setup, the measure can be used for a variety of visual servo tasks. A numerical approximation scheme is presented along with several computed examples to illustrate the utility of this measure. (C) 1996 John Wiley & Sons, Inc.

关键词： Feature extraction control ring line computation servo control Performance Evaluation visual servo control visual servoing Image image feature

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VCA Protocol-Based Multilevel Flexible Architecture on Embedded PLCs for visual servo control

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2020年第3期67卷 2450-2459页

作者： Wu, Huifeng Yan, Yi Sun, Danfeng Simon, Rene Hangzhou Dianzi Univ Inst Intelligent & Software Technol Hangzhou 310018 Zhejiang Peoples R China Inst Automat & Kommunikat D-39106 Magdeburg Germany Harz Univ Appl Sci Dept Automat & Comp Sci D-38855 Wernigerode Germany

visual, motion control, and programmable logic controller (PLC) systems are becoming increasingly inseparable and important in manufacturing. However, the types of programs and hardware used in these systems are numerous, and there are many communication protocols and mixed development methods among the systems;meanwhile, the requirements and complexities of these systems are ever growing. All these factors hinder application implementation for users, and very few reported studies have researched the integration of these three systems to ease complexity. Most of these studies have focused on individual applications. In this paper, we propose a multilevel flexible architecture based on a vision control algorithm (VCA) protocol. This multilevel architecture includes a flexible layer, a control layer, and an algorithm layer. The flexible layer is used to seamlessly integrate the visual system and the embedded PLC (ePLC). The VCA protocol is designed for data interactions between the layers. Correspondingly, customized hardware, memory allocation, and Petri-net-based multithreading structure of the proposed architecture are described in detail. Then, two cases are implemented: a winding machine with a visual system that obtains a regular winding effect by correcting $\theta$ , and a binocular catching robot uses cameras to track the trajectory and successfully catch a ball by adjusting speed and position. The results indicate that the proposed VCA-based architecture could easily be applied to two very different scenarios.

关键词： visual systems Motion control visualization Protocols Computer architecture Random access memory Complexity theory Embedded PLC motion control multilevel architecture Petri net visual servo control

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Dynamic image-based visual servo control using centroid and optic flow features

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 2008年第1期130卷 011005-1-011005-1页

作者： Mahony, R. Corke, P. Hamel, T. Australian Natl Univ Dept Engn Canberra ACT 0200 Australia CSIRO ICT Ctr Pullenvale 4069 Australia I3S UNSA CNRS F-06903 Sophia Antipolis France

This paper considers the question of designing a fully image-based visual servo control for a class of dynamic systems. The work is motivated by the ongoing development of image-based visual servo control of small aerial robotic vehicles. The kinematics and dynamics of a rigid-body dynamical system (such as a vehicle airframe) maneuvering over a flat target plane with observable features are expressed in terms of an unnormalized spherical centroid and an optic flow measurement. The image-plane dynamics with respect to force input are dependent on the height of the camera above the target plane. This dependence is compensated by introducing virtual height dynamics and adaptive estimation in the proposed control. A fully nonlinear adaptive control design is provided that ensures asymptotic stability of the closed-loop system for all feasible initial conditions. The choice of control gains is based on an analysis of the asymptotic dynamics of the system. Results from a realistic simulation are presented that demonstrate the performance of the closed-loop system. To the author's knowledge, this paper documents the first time that an image-based visual servo control has been proposed for a dynamic system using vision measurement for both position and velocity.

关键词： servo control realistic simulation dynamics Optic Flow Dynamic systems visual inspection visual servo control Centroid adaptive estimation asymptotic stability region Closed loop systems

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An Accelerated Recurrent Neural Network for visual servo control of a Robotic Flexible Endoscope With Joint Limit Constraint

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2020年第12期67卷 10787-10797页

作者： Li, Weibing Song, Chengzhi Li, Zheng Chinese Univ Hong Kong Chow Yuk Ho Technol Ctr Innovat Med Hong Kong Peoples R China Chinese Univ Hong Kong Dept Surg Hong Kong Peoples R China

In this article, a recurrent neural network (RNN) is accelerated and applied to visual servo control of a physically constrained robotic flexible endoscope. The robotic endoscope consists of a patient side manipulator of the da Vinci Research Kit platform and a flexible endoscope working as an end-effector. To automate the robotic endoscope, kinematic modeling for visual servoing is conducted, leading to a quadratic programming (QP) control framework incorporating kinematic and physical constraints of the robotic endoscope. To solve the QP problem and realize the vision-based control, an RNN accelerated to finite-time convergence by a sign-bipower activation function (SBPAF) is proposed. The finite-time convergence of the RNN is theoretically proved in the sense of Lyapunov, showing that the SBPAF activated RNN exhibits a faster convergence speed as compared with its predecessor. To validate the efficacy of the RNN model and the control framework, simulations are performed using a simulated flexible endoscope in the robot operating system. Physical experiment is then further performed to verify the feasibility of the RNN model and the control framework. Both simulation and experimental results demonstrate that the proposed RNN solution is effective to achieve visual servoing and handle physical limits of the robotic endoscope simultaneously.

关键词： Endoscopes Robots Convergence Kinematics Cameras Surgery visualization Finite-time convergence flexible endoscope recurrent neural network (RNN) visual servo control

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Ellipse detection-based visual servo control for capturing upper-stage rocket body

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ACTA ASTRONAUTICA 2021年 182卷 295-309页

作者： Kojima, Hirohisa Okawara, Taku Trivailo, Pavel M. Tokyo Metropolitan Univ Dept Aeronaut & Astronaut 6-6 Asahigaoka Hino Tokyo 1910065 Japan Tohoku Univ Dept Aerosp Engn Aoba Ku Aoba 6-6-01 Sendai Miyagi 9808579 Japan RMIT Univ Sch Engn Melbourne Vic 3000 Australia

The quantity of space debris in orbit around the Earth including separated rockets, malfunctioning satellites, and small particles is continuously increasing. One such type of space debris is the upper stage of the H-series rockets, which has a joint, called the Payload Adapter Fitting (PAF), where the satellite to be deployed is connected. Because the PAF is circular, it offers a natural and desirable target marker for detecting the rocket stage attitude and capture the stage using image processing. Traditional visual servo control based on a single elliptical image of a circular feature cannot determine the normal direction of the PAF and is unable to maintain the imaged ellipse inside the camera field of view as the motion in the optical axis direction may exceed the desired speed. To overcome these problems, a method of control gain switching in visual servo control based on two elliptical images of two circular features of the PAF is proposed, in which the convergence of the projected ellipse to a circle is prioritized, followed by forward motion to adjust the relative distance. A 1/10 scale PAF model and a six degrees-of-freedom robotic manipulator equipped with a camera on its end-effector were used to validate the proposed control method. The experimental results show that the convergence time for the proposed method is shorter than that without control gain switching.

关键词： visual servo control Payload adapter fitting Robotic manipulator control gain switching

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A performance criterion for the depth estimation with application to robot visual servo control

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JOURNAL OF ROBOTIC SYSTEMS 2001年第10期18卷 609-622页

作者： Fang, CJ Lin, SK Natl Chiao Tung Univ Inst Elect & Control Engn Hsinchu 30010 Taiwan

This article deals with the depth observability problem of a robot visual system with a moving camera. In the visual system, the unknown depth of a feature point is estimated from the input of the camera velocity and the output of the image of the feature point. Although it is well known that the linear velocity of the camera must satisfy some constraints for successful depth estimation, this proposes a criterion to measure the performance of the depth estimation, which is a heuristic extension from an estimation result of a linear system. This performance criterion depends on both the image position and the linear velocity of the camera. Some simulation and experiment examples demonstrate and verify the proposed performance criterion. Furthermore, this criterion is used to develop a new visual servo control scheme that has good performance in both the depth estimation and the visual control. This control scheme is also verified by a simulation example. (C) 2001 John Wiley & Sons, Inc.

关键词： Cameras servo control Feature Points Performance metrics visual servo control visual System

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Adaptive Neuro-Filtering Based visual servo control of a Robotic Manipulator

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IEEE ACCESS 2019年 7卷 76891-76901页

作者： Zhong, Xungao Zhong, Xunyu Hu, Huosheng Peng, Xiafu Xiamen Univ Technol Sch Elect Engn & Automat Xiamen 361024 Fujian Peoples R China Xiamen Univ Sch Aerosp Engn Xiamen 361005 Fujian Peoples R China Univ Essex Sch Comp Sci & Elect Engn Colchester CO4 3SQ Essex England

This paper focuses on the solutions to flexibly regulate robotic by vision. A new visual servoing technique based on the Kalman filtering (KF) combined neural network (NN) is developed, which need not have any calibration parameters of robotic system. The statistic knowledge of the system noise and observation noise are first given by Gaussian white noise sequences, the nonlinear mapping between robotic vision and motor spaces are then on-line identified using standard Kalman recursive equations. In real robotic workshops, the perfect statistic knowledge of the noise is not easy to be derived, thus an adaptive neuro-filtering approach based on KF is also studied for mapping on-line estimation in this paper. The Kalman recursive equations are improved by a feedforward NN, in which the neural estimator dynamic adjusts its weights to minimize estimation error of robotic vision-motor mapping, without the knowledge of noise variances. Finally, the proposed visual servoing based on adaptive neuro-filtering has been successfully implemented in robotic pose regulation, and the experimental results demonstrate its validity and practicality for a six-degree-of-freedom (DOF) robotic system which the hand-eye without calibrated.

关键词： Robotics regulation visual servo control mapping estimation adaptive filtering neural network

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