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19th International Conference on Computer Analysis of Images and Patterns, CAIP 2021

作者： Jaenal, Alberto Moreno, Francisco-Angel Gonzalez-Jimenez, Javier Department of System Engineering and Automation University of Malaga Malaga Spain

ISBN: (纸本)9783030891305

Images of a given environment, coded by a holistic image descriptor, produce a manifold that is articulated by the camera pose in such environment. The correct articulation of such Descriptor Manifold (DM) by the camera poses is the cornerstone for precise Appearance-based Localization (AbL), which implies knowing the correspondent descriptor for any given pose of the camera in the environment. Since such correspondences are only given at sample pairs of the DM (the appearance map), some kind of regression must be applied to predict descriptor values at unmapped locations. This is relevant for AbL because this regression process can be exploited as an observation model for the localization task. This paper analyses the influence of a number of parameters involved in the approximation of the DM from the appearance map, including the sampling density, the method employed to regress values at unvisited poses, and the impact of the image content on the DM structure. We present experimental evaluations of diverse setups and propose an image metric based on the image derivatives, which allows us to build appearance maps in the form of grids of variable density. A preliminary use case is presented as an initial step for future research. © 2021, Springer Nature Switzerland AG.

关键词： Cameras

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An expert knowledge based sensor planning system for car headlight lens inspection

An expert knowledge based sensor planning system for car hea...

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Computational Intelligence in Decision and Control - 8th International FLINS Conference

作者： Martínez, S. Satorres Ortega, J. Gómez García, J. Gámez García, A. Sánchez System Engineering and Automation Department Jaén University Spain

ISBN: (纸本)981279946X

This paper addresses the problem of car headlight lens inspection. First, the currently quality control of lenses with the defect characterization is presented. Second, a vision-sensor-planning system is developed. This system utilizes the CAD information of the headlight lens and the camera model to plan camera viewpoints. The desirable sensor poses are achieved by a genetic algorithm. To improve the performance of the system the customer requirements and the skill of the human inspector are included through a fuzzy system.

关键词： Genetic algorithms

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D-LSD: A Distorted Line Segment Detector for Calibrated Images 19th

D-LSD: A Distorted Line Segment Detector for Calibrated Imag...

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19th International Conference on Computer Analysis of Images and Patterns, CAIP 2021

作者： Zuñiga-Noël, David Moreno, Francisco-Angel Gonzalez-Jimenez, Javier Department of System Engineering and Automation University of Malaga Malaga Spain

ISBN: (纸本)9783030891305

In this paper, we present an algorithm for the detection of line segments directly on the original, distorted images captured by calibrated wide-angle, fisheye and omnidirectional cameras. Distorted line segments are detected as convex polygonal chains of connected straight lines and then validated as the projection of 3D lines. This last validation step is our main contribution, which is formulated in a generic way in order to allow the detection of line segments from calibrated central projection vision systems and without requiring the rectification of the whole image. We evaluate our method with real images from a publicly available dataset and compare it with state-of-the-art alternatives, achieving comparable line detection performance without requiring image rectification. Additionally, we provide an open source reference implementation. © 2021, Springer Nature Switzerland AG.

关键词： Image segmentation

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PID Controller Stabilization for First-order Integral Processes with Time Delay

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Journal of Donghua University(English Edition) 2006年第1期23卷 111-116页

作者：欧林林张卫东顾诞英 Department of Automation Shanghai Jiaotong University Shanghai 200030 Department of Automation Shanghai Jiaotong University Shanghai 200030Institute of System Theory in EngineeringUniversity StuttgartStuttgart 70550Germany

Due to the widespread application of the PID controller in industrial control systems, it is desirable to know the complete set of all the stabilizing PID controllers for a given plant before the controller design and tuning. In this paper, the stabilization problems of the classical proportionalintegral-derivative （PID） controller and the singleparameter PID controller （containing only one adjustable parameter） for integral processes with time delay are investigated, respectively. The complete set of stabilizing parameters of the classical PID controller is determined using a version of the Hermite-Biehler Theorem applicable to quasipolynomials. Since the stabilization problem of the singie-parameter PID controller cannot be treated by the Hermite-Biehler Theorem, a simple method called duallocus diagram is employed to derive the stabilizing range of the single-parameter PID controller. These results provide insight into the tuning of the PID controllers.

关键词： stability PID controller integral processes with time delay closed-loop systems.

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A geometric method based on space arc for pose-configuration simultaneous planning of segmented hyper-redundant manipulators

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Science China(Technological Sciences) 2021年第11期64卷 2389-2407页

作者： HU ZhongHua YUAN Han XU WenFu YANG TaiWei LIU TianLiang LIANG Bin School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory^of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100084China

A segmented hyper-redundant manipulator can perform complicated operation tasks in a confined space due to its high flexibility and dexterity. However, the trajectory planning in a narrow space and obstacles environment is very challenging for the manipulator. In this paper, we propose a geometry method to simultaneously plan the end-effector pose and manipulator’s configuration. Firstly, the geometries of each segment are described by an inscribed arc(IA) and a circumscribed arc(CA). Then,the whole kinematics chain is considered as an inscribed curve(IC) or a circumscribed curve(CC) which are composed of multiple IAs or CAs. Furthermore, the IC and CC of the manipulator are divided into multiple spatial single-arc and double-arc groups according to requirements. The pose-configuration simultaneous planning is realized by the spatial single-arc/double-arc modeling and joints angles solving. By numerical iteration, the spatial arcs’ parameters are determined according to desired pose and boundary condition of obstacle avoidance. The angles of joints are analytically solved when the above parameters are known. Finally, a narrow space detection task is simulated and experimented respectively. The results verify the proposed method.

关键词： segmented hyper-redundant manipulator pose-configuration simultaneous planning spatial arc modeling obstacle avoidance geometric planning

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Development of a cable-driven redundant space manipulator with large bending angle by combining quaternion joints and segmented coupled linkages mechanism

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Chinese Journal of Aeronautics 2023年第11期36卷 483-499页

作者： Taiwei YANG Jian HUANG Wenfu XU Ke SHAO Bin LIANG School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100854China

A cable-driven redundant manipulator has significant potential in confined space applications, such as environmental exploration, equipment monitoring, or maintenance. A traditional design requires 3N driving motors/cables to supply 2N degrees of freedom(DOF) movement *** number of motors is 1.5 times that of the joints’ DOF, increasing the hardware cost and the complexity of the kinematics, dynamics, and control. This study develops a novel redundant space manipulator with decoupled cable-driven joints and segmented linkages. It is a 1680 mm continuum manipulator with eight DOF, consisting of four segmented linkages driven by eight motors/pairs of cables. Each segment has two equivalent DOF, which are realized by four quaternion joints synchronously driven by two linkage cables. The linkage cables of adjacent joints are symmetrically decoupled and offset at 180°. This design allows equal-angle movement of all the joints of each segment. Moreover, each decoupling driving mechanism is designed based on a pulley block composed of two fixed and movable pulleys. The two movable pulleys realize the opposite but equidistant motions of the two driving cables, i.e., pulling and loosening, assuring symmetrical movements of the two driving cables of each segment. Consequently, the equivalent 2N-DOF joints are driven only by 2N motors, significantly reducing the hardware cost and simplifying the mapping relationship between the motor angle/cable length and the joint angle. Furthermore, the bending range of each segment could reach 360°, which is three times that of a traditional design. Finally, a prototype has been developed and experimented with to verify the performance of the proposed mechanism and the corresponding algorithms.

关键词： Cable-driven Mechanism design Redundant manipulators Segmented linkages Kinematics

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Area-oriented coordinated trajectory planning of dual-arm space robot for capturing a tumbling target

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Chinese Journal of Aeronautics 2019年第9期32卷 2151-2163页

作者： Wenfu XU Lei YAN Zhonghua HU Bin LIANG School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100084China

The growing amount of space debris poses a threat to operational spacecraft and the long-term sustainability of activities in outer space. According to the orbital mechanics, an uncontrolled space object will be tumbling, bringing great challenge to capture and remove it. In this paper, a dual-arm coordinated ‘‘Area-Oriented Capture'(AOC) method is proposed to capture a non-cooperative tumbling target. Firstly, the motion equation of the tumbling target is established, based on which, the dynamic properties are analyzed. Then, the ‘‘Area-Oriented Capture'concept is presented to deal with the problem of large pose(position and attitude) deviation and tumbling motion. An area rather than fixed points/devices is taken as the object to be tracked and captured. As long as the manipulators’ end-effectors move to a specified range of the objective areas(not fixed points on the target, but areas), the target satellite will be hugged by the two *** last, the proposed method and the traditional method(i.e. fixed-point oriented capture method)are compared and analyzed through simulation. The results show that the proposed method has larger pose tolerance and takes shorter time for capturing a tumbling target.

关键词： Area-oriented capture Dual-arm coordination Space debris removal Space robot Tumbling target capturing

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AN IMPROVED RAZUMIKHIN-TYPE THEOREM AND ITS APPLICATIONS

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 1994年第4期39卷 839-841页

作者： XU, BG LIU, YQ Power System Group Department of Electronic and Electrical Engineering University of Strathclyde Glasgow UK Department of Automation South China University of Technology Guangzhou China

An improved Razumikhin-type theorem is established, and the advantage of the established theorem for reducing conservatism is discussed. For a class of time-delay systems, a simple asymptotic stability condition is deduced as an application of the established theorem. Two illustrative examples are given to show the superiority of our results to those in the literature.

关键词： Asymptotic stability Delay effects Time varying systems automation Lyapunov method Stability analysis Nonlinear systems Linear systems Delay systems Vectors

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Application Of Customized Models On Laguerre Filters To Search For Parametric Defects In Continuous Automatic Control systems

Application Of Customized Models On Laguerre Filters To Sear...

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2022 International Conference on Industrial engineering, Applications and Manufacturing, ICIEAM 2022

作者： Bloshchinskiy, Vladislav. D. Shalobanov, Sergey V. Shalobanov, Sergey S. Pacific National University Automation and System Engineering Department Khabarovsk Russia

ISBN: (纸本)9781665483698

The paper considers an algorithm that uses customizable diagnostic models based on Laguerre filters with only a recursive part to search for parametric defects in continuous automatic control systems. A comparison is made of two approaches to setting up models: joint and individual, in relation to the choice of model parameters for each control point in the object of diagnosis. Numerical experiments were carried out to tune diagnostic models, select vector sets of reference defective technical conditions of the object being diagnosed, and diagnose the introduced defects by calculating the distinguishability by diagnostic features. The accuracy of the algorithm as a whole and the effectiveness of tuning approaches for various diagnostic objects are estimated. All numerical experiments and simulations were carried out in a software package developed in the Scilab/Xcos environment. © 2022 IEEE.

关键词： Process control

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Wear State Recognition of Drills Based on K-means Cluster and Radial Basis Function Neural Network

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International Journal of automation and computing 2010年第3期7卷 271-276页

作者： Xu Yang Department of Mechanical System Engineering Faculty of Engineering Gunma University Kiryu 376-8515 Japan Department of Mechanical Engineering School of Mechanical Engineering and Automation Dalian Polytechnic University Dalian 116034 PRO

Drill wear not only affects the surface smoothness of the hole, but also influences the life of the drill. Drill wear state recognition is important in the manufacturing process, which consists of two steps： first, decomposing cutting torque components from the original signals by wavelet packet decomposition （WPD）; second, extracting wavelet coefficients of different wear states （i.e., slight, normal, or severe wear） with signal features adapting to Welch spectrum. Finally, monitoring and recognition of the feature vectors of cutting torque signal are performed by using the K-means cluster and radial basis function neural network （RBFNN）. The experiments on different tool wears of the multivariable features reveal that the results of monitoring and recognition are significant and effective.

关键词： Drill wear state recognition cutting torque signals wavelet packet decomposition (WPD) Welch spectrum energy K-means cluster radial basis function neural network

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