There has long been a concern to improve the techniques of image processing for PCB's inspection. However, it is noticed the focus is mainly on the inspection of PCB in mass production. Even with a low volume of p...
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There has long been a concern to improve the techniques of image processing for PCB's inspection. However, it is noticed the focus is mainly on the inspection of PCB in mass production. Even with a low volume of production, the small series production has become increasingly relevant. This work presents an image processing pipeline for mounted PCB inspection in small series production, strongly based on SIFT (Scale Invariant Feature Transform) algorithm. The defect types covered are: absent, rotated/inverted, misplaced and wrong. Experiments were performed using a software developed with the proposed approach. That software runs in an automatic optical inspection machine with an industrial camera and controlled illumination. The overall accuracy of the inspections is around 80%.
In recent years, robots have started to become more commonplace in our lives, from factory floors to museums, festivals and shows. They have started to change how we work and play. With an increase in the population o...
In recent years, robots have started to become more commonplace in our lives, from factory floors to museums, festivals and shows. They have started to change how we work and play. With an increase in the population of the elderly, they have also been started to be used for caregiving services, and hence many countries have been investing in the robot development. The advancements in robotics and wireless communications has led to the emergence of autonomous caregiving robot teams which cooperate to accomplish a set of tasks assigned by human operators. Although wireless communications and devices are flexible and convenient, they are vulnerable to many risks compared to traditional wired networks. Since robots with wireless communication capability transmit all data types, including sensory, coordination, and control, through radio frequencies, they are open to intruders and attackers unless protected and their openness may lead to many security issues such as data theft, passive listening, and service interruption. In this paper, a secure web-based communication framework is proposed to address potential security threats due to wireless communication in robot-robot and human-robot interaction. The proposed framework is simple and practical, and can be used by caregiving robot teams in the exchange of sensory data as well as coordination and control data.
In this study, the Vehicle Routing Problem Pickup and Delivery with Time Windows (VRPPDTW) is considered. The VRPPDTW problem is seen in many practical applications such as logistics, distribution and transportation. ...
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In this study, the Vehicle Routing Problem Pickup and Delivery with Time Windows (VRPPDTW) is considered. The VRPPDTW problem is seen in many practical applications such as logistics, distribution and transportation. Firstly, a new model of the very close to real-life problem is defined. Secondly, a novel heuristic algorithm with a new objective function is proposed to solve the daily macro routing problem with time windows. The method proposed to solve VRPPDTW problem is an extended version of a nature-inspired algorithm called Heuristic Bubble Algorithm (HBA). In order to express the benefit of using extended HBA, five case studies are discussed using RouteArt. The obtained results provide promising solutions in terms of average vehicle load efficiency, average service time, and total waiting time of the vehicle.
This paper proposes a real-time coplanar Non-Uniform Rational B-Spline (NURBS) curves fitting and interpolation for 6-DOF robot arm to improve the fitting and interpolation quality, and reduce the calculation effort. ...
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ISBN:
(纸本)9781479918522
This paper proposes a real-time coplanar Non-Uniform Rational B-Spline (NURBS) curves fitting and interpolation for 6-DOF robot arm to improve the fitting and interpolation quality, and reduce the calculation effort. The process consists of (1) reading discrete points, (2) discrete points extraction, (3) curve fitting, (4) interpolation, and (5) inverse kinematics transformation. According to the simulation and experimental results, the proposed approach certainly raises the fitting and interpolation quality, and the efficiency of calculation.
Due to the sharp increase of the non-linear loads, the power quality lagged behind the need for an adequate power system. With a fast response, low loss, low output harmonic current, SVG has become the mainstream of d...
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In this study, a new framework for the vehicle routing problem with pickup and delivery (VRPPD) called RouteArt is presented. Furthermore, the enhanced Heuristic Bubble Algorithm (HBA), which is a nature-inspired algo...
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In this study, a new framework for the vehicle routing problem with pickup and delivery (VRPPD) called RouteArt is presented. Furthermore, the enhanced Heuristic Bubble Algorithm (HBA), which is a nature-inspired algorithm, is presented as a new solution approach to the VRPPD problem. This flexible web-based framework gives the user opportunity to solve the routing problems using HBA and report the solution. In order to show the benefit of using RouteArt with HBA, five case studies are discussed, and the profit of using the proposed enhanced HBA is shown with comparisons.
In this paper, we propose a new learning algorithm, named as the Cooperative and Geometric Learning Algorithm (CGLA), to solve problems of maneuverability, collision avoidance and information sharing in path planning ...
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In this study, brain, and gait dynamic information were combined and used for diagnosis and monitoring of Parkinson's disease (the most important Neurodegenerative Disorder). Analysis of the information correspond...
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In this study, brain, and gait dynamic information were combined and used for diagnosis and monitoring of Parkinson's disease (the most important Neurodegenerative Disorder). Analysis of the information corresponding to a prescribed movement involving tremor, and the related changes in brain connectivity is novel and original. Analytically, developing a space-time nonlinear adaptive system which fuses brain and gait information algorithmically is proposed here for the first time. The overall dynamic system will be constrained by the clinical impressions of the patient symptoms embedded in a knowledge-based system. The entire complex constrained problem were solved to enable a powerful model for recognition and monitoring of Parkinson's disease and establishing appropriate rules for its clinical following up.
The distributed networked control systems are considered in this paper. Several sub-systems which are connected with each other through a communication network make up the whole system. Each sub-system has its own qua...
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The distributed networked control systems are considered in this paper. Several sub-systems which are connected with each other through a communication network make up the whole system. Each sub-system has its own quantizer so that any information which needs be transmitted to other sub-systems will be quantized due to limited bandwidth. Meanwhile, the actuator faults, including outage, loss of effectiveness and stuck are also considered in our research. A mode-based state feedback controller is given in this paper to stable such NCSs and to meet the robust H-inf performance. A simulation example is proposed to illustrate the effectiveness of our method finally.
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