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ICIA 2005: 2005 International Conference on Information Acquisition

作者： Tai, Chen Liu, Yun-Hui Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)0780393031

This paper proposes a robust method for recovery of motion and structure from two image sequences taken by stereo cameras undergoing a planar motion. The feature correspondence between images are extracted and refined automatically by the relation of the stereo cameras and the property of the motion. To improve the robustness, the random sample consensus (RANSAC) algorithm is adopted in the motion and structure estimation. Unlike other researchers to recover of epipolar geometry, here we use it to recover the 2D motion and to exclude the outliers not only out of the epipolar lines but also in them. Also the spirit of RANSAC is used in structure estimation to exclude the outlier from the sequence view. The most important contribution of this work is a way to make this estimation scheme more robust and efficient so as to be used in real applications. The experiments indoor and outdoor have been done to verify the feasibility of the algorithm. The results show the algorithm is robust and efficient for applications in planar motion. © 2005 IEEE.

关键词： Motion compensation

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Finding cutter engagement for ball end milling of tessellated free-form surfaces

Finding cutter engagement for ball end milling of tessellate...

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DETC2005: ASME International Design engineering Technical Conferences and computers and Information in engineering Conference

作者： Yao, Zhiyang Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)0791847403

In fabricating free-form surfaces, ball end mills are mainly used to reach the final surface finish requirements. In the milling processes, cutter engagement value measures what portion of the cutter is involved in machining at a given instant of time. This paper presents geometric algorithms for estimating cutter engagement values for ball end milling processes of tessellated free-form surfaces. The cutter engagement value calculated here can be used later on in generating efficient cutter paths, as well as performing adaptive feed rate controls. Copyright © 2005 by ASME.

关键词： Ball milling

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Nonlinear discrete-time robust output regulation problem

Nonlinear discrete-time robust output regulation problem

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作者： Lan, Weiyao Huang, Jie Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)008045108X

in this paper, we will establish a framework that can convert a robust output regulation problem for discrete-time nonlinear systems into a robust stabilization problem for an appropriately augmented system consisting of the given plant and a specific dynamic system called internal model. We then apply this framework to solve the local robust output regulation problem for a general class of discrete-time nonlinear systems. The results of this paper gives a discrete-time counterpart of the recent results on the continuous-time robust output regulation problem. Copyright © 2005 IFAC.

关键词： Stabilization

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Dynamic balance control of multi-arm free-floating space robots

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International Journal of Advanced Robotic Systems 2005年第2期2卷 117-124页

作者： Huang, Panfeng Xu, Yangsheng Liang, Bin Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong Shenzhen Space Technology Center Harbin Institute of Technology Shenzhen China

This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation of space manipulator because of the dynamics coupling between the manipulator and space base. This dynamics coupling is unique characteristics of space robot system. Such a disturbance will produce a serious impact between the manipulator hand and the object. To ensure reliable and precise operation, we propose to develop a space robot system consisting of two arms, with one arm (mission arm) for accomplishing the capture mission, and the other one (balance arm) compensating for the disturbance of the base. We present the coordinated control concept for balance of the attitude of the base using the balance arm. The mission arm can move along the given trajectory to approach and capture the target with no considering the disturbance from the coupling of the base. We establish a relationship between the motion of two arm that can realize the zeros reaction to the base. The simulation studies verified the validity and efficiency of the proposed control method.

关键词： Robots

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Dynamic visual servoing of robots in uncalibrated environments

Dynamic visual servoing of robots in uncalibrated environmen...

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作者： Liu, Yun-Hui Wang, Hesheng Lam, Kinkwan Dept. of Automation and Computer Aided Engineering Chinese University of Hong Kong Shatin NT Hong Kong

ISBN: (纸本)0780389123

This paper presents a new adaptive controller for dynamic image-based visual servoing of a robot manipulator when the intrinsic and extrinsic parameters of the camera are not calibrated. To cope with nonlinear dependence of the image Jacobian on the unknown parameters, this controller employs a matrix called nonscaled image Jacobian which does not depend on the scale factors determined by the depths of feature points. By removing the scale factors, the camera parameters appear linearly in the close-loop dynamics so that a new algorithm, different from Slotine and Li's, is developed to estimate their values on-line. In the parameter adaptation, in addition to the regressor term, our algorithm also uses the errors between the real and estimated projections of the feature points on the image plane so as to guarantee the convergence of the estimated parameters to the real values up to a scale. A new Lyapunov function is introduced to prove asymptotic convergence of the image errors based on the robot dynamics. Experiments have been conducted to demonstrate the performance of the proposed controller. © 2005 IEEE.

关键词： Controllers

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The generalized Cahn-hilliard equations of multiphase transition for structural topology optimization

The generalized Cahn-hilliard equations of multiphase transi...

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DETC2005: ASME International Design engineering Technical Conferences and computers and Information in engineering Conference

作者： Zhou, Shiwei Wang, Michael Yu Department of Automation and Computer-Aided Engineering Chinese Univ. of Hong Kong Shatin NT Hong Kong

ISBN: (纸本)079184739X

This paper describes a generalized Cahn-Hilliard model for the topology optimization of multi-material structure. Unlike the traditional Cahn-Hilliard model applied to spinodal separation which only has bulk energy and interface energy, the generalized model couples the elastic energy into the total free energy. As a result, the morphology of the small phase domain during phase separation and grain coarsening process is not random islands and zigzag web-like objects but regular truss structure. Although disturbed by elastic energy, the Cahn-Hilliard system still keeps its two most important properties: energy dissipation and mass conservation. Therefore, it is unnecessary to compute the Lagrange multipliers for the volume constraints and make great effort to minimize the elastic energy for the optimization of structural topology. Furthermore, this model also makes the simple interpolation of stiffness tensors reasonable for multi-material structure in real simulation. To resolve these fourth-order nonlinear parabolic Cahn-Hilliard equations coupled with elastic energy, we developed a powerful mutigrid algorithm. Finally, we demonstrate that this new method is effective in optimizing the topology of multi-material structure through several 2-D examples. Copyright © 2005 by ASME.

关键词： Topology

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Modeling interactions of pulpal tissue with deformable tools in endodontic simulation

Modeling interactions of pulpal tissue with deformable tools...

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2005 IEEE International Conference on Robotics and automation

作者： Li, Min Liu, Yun-Hui Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong

ISBN: (纸本)078038914X

Effective and efficient simulation of tissue-tool interactions is the key to a virtual endodontic training system. This paper presents a new force model for effectively simulating the interactions of the pulpal tissue with the endodontic tools. Based on the smoothed particle hydrodynamics (SPH) method, a particle-based pulpal tissue model is proposed, which takes into account characteristics of the tissue and constraints associated with both the tissue and current haptic devices. The stability, accuracy and speed of the proposed model are guaranteed by applying suitable smoothing kernels to calculate different forces applied to the pulpal tissue. Furthermore, a finite element model is used to model the deformation and dynamics of the endodontic tools. We also derive several boundary constraints associated with interactions of the pulpal tissue with the endodontic tools. With this force model, the virtual system can provide the convincing sense of touch of endodontic procedures in real time using current high fidelity haptic devices. © 2005 IEEE.

关键词： Tissue

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Acquisition of 3D surface temperature distribution of a car body

Acquisition of 3D surface temperature distribution of a car ...

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ICIA 2005: 2005 International Conference on Information Acquisition

作者： Ng, Yiu-Ming Harry Du, R. Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong

ISBN: (纸本)0780393031

Thermal analysis using Finite Element Modeling (FEM) is widely used in automotive industry nowadays. FEM can give simulation results at design stage. However, as FEM is a kind of simulations, it normally suffers from deviations with experimental results. Therefore, experimental measurement is necessary. To measure the 3D temperature distribution on a car body, we normally use a number of temperature sensors and then record the temperature values according to the positions of the sensors. It can provide the temperature values at different positions. Using this information, we can obtain the 3D temperature distribution on a car body. However, this method is time consuming and inconvenient, as we have to place a number of sensors on a car body, measure its corresponding positions as well as process the measured temperature values. In contrast, we firstly take a sequence of 2D thermal infrared images of the car body to have 2D temperature distribution and then reconstruct the 3D temperature distribution from the 2D images using computer vision method. It provides a more convenient method to acquire 3D temperature distribution compared to using a number of temperature sensors. The experimental results show the feasibility of our method. © 2005 IEEE.

关键词： Temperature distribution

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A real time race classification system

A real time race classification system

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ICIA 2005: 2005 International Conference on Information Acquisition

作者： Yongsheng, Ou Xinyu, Wu Huihuan, Qian Yangsheng, Xu Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shartin N.T. Hong Kong

ISBN: (纸本)0780393031

This paper presents the progress toward a face detection and race classification system that is robust and works in real-time. We address the race classification problem as classifying a frontal face into Asian or non-Asian. Firstly, we propose principal component analysis (PCA) for feature generation and independent component analysis (ICA) for feature extraction. Then, we use SVM for training process and combine different SVM classifiers to some new classifiers, which improve the classification rate to a new level. Experiments show that our system achieves a classification rate of 82.5 % based on a database containing 750 face images from FERET. © 2005 IEEE.

关键词： Real time systems

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A DNA algorithm for feature selection in condition monitoring of manufacturing processes

A DNA algorithm for feature selection in condition monitorin...

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2005 International Symposium on Intelligent Signal Processing and Communication Systems, ISPACS 2005

作者： Wang, Quan-Fang Du, Ruxu Department of Automation and Computer Aided Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong

ISBN: (纸本)0780392663

This paper proposes a DNA based algorithm for signal processing in condition monitoring of manufacturing processes. Its goal is to find the 'DNA' (feature) of monitoring signal through DNA encoding and analysis. Furthermore, features selection will be implemented for vibration signal collecting from the injection molding machine to verify the DNA algorithm. © 2005 IEEE.

关键词： Algorithms

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