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IEEE International Conference on robotics and Automation (ICRA)

作者： Junwen Wang Jingshan Li Jorge Arinez Stephan Biller Department of Electrical and Computer Engineering Institute for Sustainable Manufacturing University of Kentucky Lexington KY USA Manufacturing Systems Research Laboratory General Motors Research and Development Center Warren MI USA

In this paper, we introduce a Markov chain model to evaluate the quality performance in flexible manufacturing systems with batch productions. In such a model, the product quality is a function of the transition probabilities characterizing the changes among good and defective states (where good quality or defective parts are produced during a cycle, respectively). A transition that has the largest impact on quality, i.e., whose improvement will lead to the largest improvement in quality, is defined as the quality bottleneck transition (BN-t). Analytical expressions of sensitivity of quality with respect to transition probabilities are derived. Indicators to identify bottleneck transitions based on the data collected on the factory floor are developed. Numerical experiments show that such indicators have high accuracy in identifying the correct bottlenecks and can be used as an effective tool for quality improvement effort. Finally, a case study at an automotive paint shop to improve quality through quality bottleneck transition identification is introduced.

关键词： Flexible manufacturing systems Paints Batch production systems Production facilities Automotive engineering Fixtures robotics and automation USA Councils Degradation Machining

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A Passivity based Stability Analysis of Disturbance Observer based Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robot

A Passivity based Stability Analysis of Disturbance Observer...

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2010 IEEE/ASME international conference on advanced intelligent mechatronics (AIM 2010)

作者： Mohammad Noorbad Alireza Mohammad Shahri Khoshnam Shojaei Behzad Tabibian Electrical Engineering Department Mechatronics and Robotics Research Laboratory Electronic Research Center Iran University of Science and Technology Tehran Iran Computer Engineering Department Iran University of Science and Technology Tehran Iran

This paper proposes a disturbance observer (DOB) algorithm to solve the trajectory tracking problem of a nonholonomic WMR in presence of external disturbances. To obtain a high performance trajectory tracking controller, a computed torque controller (CTC) is integrated into a kinematic controller by back-stepping technique. The disturbance observer as a part of the proposed controller estimates the external disturbances and cancel-out them. By decoupling the estimation errors from disturbances and its passivity property, it is demonstrated that the overall closed-loop system is asymptotically stable. Simulation results show that the performance of the CTC is significantly improved and the DOB achieves good ability of disturbance attenuation.

关键词： Computed Torque Control Disturbance Observer Nonholonomic WMR Weakly Strictly Passive

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A real-time multi-cue hand tracking algorithm based on computer vision

A real-time multi-cue hand tracking algorithm based on compu...

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IEEE Annual International Symposium Virtual Reality

作者： Zhigeng Pan Yang Li Mingmin Zhang Chao Sun Kangde Guo Xing Tang Steven Zhiying Zhou State Key Laboratory of CAD&CG University of Zhejiang China State Key Laboratory of Virtual Reality Beijing Aeronautics and Astronautics University China Intel Asia-Pacific Research and Development Limited Taiwan Department of Electrical Computer Engineering National University of Singapore Singapore

ISBN: (纸本)9781424462377;9781424462582

Although hand tracking algorithm has been widely used in virtual reality and HCI system, it is still a challenging problem in vision-based research area. Due to the robustness and real-time requirements in VR applications, most hand tracking algorithms require special device to achieve satisfactory results. In this paper, we propose an easy-to-use and inexpensive approach to track the hands accurately with a single normal webcam. Outstretched hand is detected by contour & curvature based detection techniques to initialize the tracking region. Robust multi-cue hand tracking is then achieved by velocity-weighted features and color cue. Experiments show that the proposed multi-cue hand tracking approach achieves continuous real-time results even for the situation of cluttered background. The approach fulfills the speed and accuracy requirements of frontal-view vision-based human computer interactions.

关键词： computer vision Cameras Robustness Virtual reality Human computer interaction Skin Object detection Application software Real time systems Chaos

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Robust appearance based visual route following for navigation in large-scale outdoor environments

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International Journal of robotics research 2009年第3期28卷 331-356页

作者： Zhang, Alan M. Kleeman, Lindsay Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VA 3800 Australia

In this paper we present a navigation algorithm that enables mobile robots to retrace routes previously taught under the control of human operators in outdoor environments. Possible applications include robot couriers, autonomous vehicles, tour guides and robotic patrols. The appearance-based approach presented in the paper is provably convergent, computationally inexpensive compared with map-based approaches and requires only odometry and a monocular omnidirectional vision sensor. A sequence of reference images is recorded during the human-guided route-teaching phase. Before starting the autonomous phase, the robot needs to be positioned at the beginning of the route. During the autonomous phase, the measurement image is compared with reference images using image cross-correlation performed in the Fourier domain to recover the difference in relative orientation. Route following is achieved by compensating for this orientation difference. Over 18 km of experiments performed under varying conditions demonstrate the algorithm's robustness to lighting variations and partial occlusion. Obstacle avoidance is not included in the current system.

关键词： Navigation

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AFM based anodic oxidation and its application to oxidative cutting and welding of CNT

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Science China(Technological Sciences) 2009年第11期52卷 3149-3157页

作者： JIAO NianDong WANG YueChao XI Ning DONG ZaiLi State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Department of Electrical and Computer Engineering Michigan State UniversityEast Lansing 48824USA

Probe anodic oxidation by atomic force microscope (AFM) is one of the most important techniques in fabricating nano structures and devices. The technique was further studied in this paper. By analyzing the distribution of the electric field on substrate surface the dependence of oxide characters on field was discussed. The impacts of various parameters on oxide fabrication were experimentally studied. Based on these studies, we realized the oxidative cutting and welding of carbon nanotube (CNT) by the AFM based oxidation technique and provided a novel technique for the assembly and fabrication of CNT based nano devices.

关键词： anodic oxidation atomic force microscope nanofabrication cutting and welding carbon nanotube

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Non-Fragile Control for Trajectory Tracking of Nonholonomic Mobile Robots

Non-Fragile Control for Trajectory Tracking of Nonholonomic ...

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American Control Conference

作者： Na Ni Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424474264

This paper is devoted to the non-fragile controller design for the trajectory tracking of nonholonomic mobile robots. Using non-linear state feedback and proper coordinate transformation, the model of nonholonomic mobile robots is exactly linearized. Based on which, the non-fragile controller is designed by employing the linear matrix inequality (LMI) approach. Simulation examples are included to illustrate the effectiveness of the proposed controller.

关键词： Trajectory Mobile robots Control systems Tracking Robot kinematics Orbital robotics State feedback Error correction Sliding mode control Laboratories

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A comparative study of hierarchical matching algorithms for face recognition

A comparative study of hierarchical matching algorithms for ...

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11th IAPR Conference on Machine vision Applications, MVA 2009

作者： Momeni, Hajar Sadeghi, Mohammad T. Abutalebi, Hamid R. Signal Processing Research Laboratory Department of Electrical and Computer Engineering Yazd University Yazd Iran

ISBN: (纸本)9784901122092

The similarity measure based nearest neighbour classifier is commonly used in object recognition or retrieval systems. The result of a query in such a system is in general the images from the database whose descriptors are closest to the descriptor of the query image. An important issue in large scale recognition systems is the computational burden caused by measuring the similarity of the features derived from the query image with the templates of the database objects. Hierarchical Agglomerative Clustering (HAC) algorithms are considered as a solution to this problem. In these algorithms, a dendrogram is formed down to top in the training stage. In the recognition phase, the query image moves on the dendrogram from the highest level to lower levels in order to find the best matched object. One of the most affecting issues in these algorithms is the strategy used for building the dendrogram. In this paper, different techniques adopted for this purpose are studied and compared within the framework of a face recognition system. Our experimental results demonstrate that using an appropriate merging technique, the average recognition time reduces while the performance of the system is not highly degraded.

关键词： Face recognition

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Single stripe projection based range scanning of shiny objects under ambient light

Single stripe projection based range scanning of shiny objec...

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International International Symposium on computer and Information Sciences (ISCIS)

作者： Rifat Benveniste Cem Unsalan Computer Vision Research Laboratory Department of Electrical and Electronics Engineering Yeditepe University Istanbul Turkey Computer Vision Research Laboratory Department of Electrical and Electronics Engineering Yeditepe University Istanbul Turkey

Range scanners are used in various applications in industry. Therefore, various range scanners, based on different working principles are developed. Among these, scanners using stripe based triangulation are the most promising ones. Unfortunately, these scanners have problems in obtaining the range data of shiny objects (having highlights) under ambient light. In this study, we develop a stripe projection based range scanner to solve this problem. Our main contribution is on detecting the stripe using a color invariant in a robust manner. We developed a projector based scanner using this color invariant. Our scanner has also the advantage of flexibly changing stripe color for different colored objects. We test the performance of our novel stripe detection method under various controlled experiments. We also test the overall performance of our scanner in extracting the range data of several objects having highlights. Extensive testings indicate the success of our range scanner, especially for scanning objects having highlights under ambient light.

关键词： Robustness Testing Cameras Lighting computer vision Application software Inspection Cultural differences Surface contamination Powders

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Three-dimensional reconstruction of fruit trees by a shape from silhouette method

Three-dimensional reconstruction of fruit trees by a shape f...

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American Society of Agricultural and Biological Engineers Annual International Meeting 2009

作者： Tabb, Amy Appalachian Fruit Research Station Agricultural Research Service USDA United States Robot Vision Lab. Electrical and Computer Engineering Department Purdue University United States

ISBN: (纸本)9781615673629

In order to robotically prune a dormant fruit tree, the branches must be identified in three-dimensional space. Furthermore, the branches need to be measured in order to determine which branches should be pruned. Both the identification and measurement of branches can be accomplished by generating a three-dimensional reconstruction of the tree, and by making measurements on the reconstruction. In this work, we use a computer vision-based method to generate the three-dimensional reconstruction. Images of the tree are acquired in a laboratory setting, and then a shape from silhouette (SFS) method of our own design is used to reconstruct the shape of the object. Although we use the SFS method for leafless apple trees, this method is appropriate for many complex objects. We present an overview of our method of SFS and experimental results in a laboratory setting.

关键词： computer vision

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Damaged building detection in aerial images using shadow Information

Damaged building detection in aerial images using shadow Inf...

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International Conference on Recent Advances in Space Technologies (RAST)

作者： Beril Sirmacek Cem Unsalan Computer Vision Research Laboratory Department of Electrical and Electronics Engineering Yeditepe University Istanbul Turkey

Automatic detection of damaged buildings from aerial and satellite images is an important problem for rescue planners and military personnel. In this study, we present a novel approach for automatic detection of damaged buildings in color aerial images. Our method is based on color invariants for building rooftop segmentation. Then, we benefit from grayscale histogram to extract shadow segments. After building verification using shadow information, we define a new damage measure for each building. Experimentally, we show that using our damage measure it is possible to discriminate nearby damaged and undamaged buildings. We present our experimental results on aerial images.

关键词： Data mining Buildings Image segmentation Personnel Earthquakes Gray-scale Hurricanes Military satellites computer vision Laboratories

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