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Tele-Operative System for Bioproduction - Remote Local Image Processing for Object Identification

IFAC Proceedings Volumes 2000年第29期33卷 191-194页

作者： Si Chan Kim Heon Hwang Jung Eek Son Dong Yup Choi Robotics & Vision Lab. Dept. of Bio-Mechatronic Engineering Faculty of Life Science & Technology Sungkyunkwan University Kyungki-do Suwon-si Changan-gu 440-746 KOREA Dept. of Horticulture College of Agri culture & Life Science Seoul National University Kyungki-do Suwon-si Kwonsun-gu 441-744 KOREA Automation Dept. Daelim college Kyungki-do Anyang-si Dongan-gu 431-715 KOREA

This paper introduces a new concept of automation for bio-production with tele-operative system. The proposed system showed practical and feasible way of automation for the volatile bio-production process. Based on the proposition, recognition of the job environment with object identification was performed using computer vision system. A man-machine interactive hybrid decision-making, which utilized a concept of tele-operation was proposed to overcome limitations of the capability of computer in image processing and feature extraction from the complex environment image. Identifying watermelons from the outdoor scene of the cultivation field was selected to realize the proposed concept. Identifying watermelon from the camera image of the outdoor cultivation field is very difficult because of the ambiguity among stems, leaves, shades, and especially fruits covered partly by leaves or stems. The analog signal of the outdoor image was captured and transmitted wireless to the host computer by R. F module. The localized window was formed from the outdoor image by pointing to the touch screen. And then a sequence of algorithms to identify the location and size of the watermelon was performed with the local window image. The effect of the light reflectance of fruits, stems, ground, and leaves were also investigated.

关键词： Local Image Processing Tele-operation Feature Extraction Bio-production Real Time Control Watermelon

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Tool integrated electromagnetic pulse induction technology to locate buried utilities

Tool integrated electromagnetic pulse induction technology t...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： B. Handlon S.J. Lorenc L. Bernold G. Lee Dept. of Civil Eng. North Carolina State Univ. Raleigh NC USA Construction Automation and Robotics Laboratory Department of Civil Engineering North Carolina State University Raleigh NC USA North Carolina State University Raleigh NC US Department of Mechanical and Aerospace Engineering North Carolina State University Raleigh NC USA

Excavation of underground utility pipelines is a common task for residential and commercial development. One of the most important tasks in underground excavation is the location and orientation of buried utility lines. In this paper, several pulse induced electromagnetic sensor coils are discussed which have been designed, fabricated and tested for underground utility pipe recognition. The work has been performed through the Buried Utilities Detection System (BUDS) Consortium at North Carolina State University. Characteristics of the sensor coils, including resolution and range, are provided and field test results are discussed.

关键词： EMP radiation effects Acoustic sensors Pipelines Sensor phenomena and characterization Coils Costs Mechanical sensors Microwave sensors Soil robotics and automation

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of Computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Soft computing approach for modelling the supervisor of manufacturing systems

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Journal of Intelligent and Robotic Systems: Theory and Applications 1999年第3期26卷 389-403页

作者： Stylios, C.D. Groumpos, P.P. Lab. for Automation and Robotics Dept. of Elec. and Comp. Engineering University of Patras Rion 26500 Greece

The development of a novel soft computing approach to model the supervisor of manufacturing systems is described, it is named Fuzzy Cognitive Maps (FCMs) and it is used to model the behaviour of complex systems. Fuzzy cognitive maps combine characteristics of both fuzzy logic and neural networks. The description and the construction of fuzzy cognitive maps are examined, a new methodology for developing fuzzy cognitive maps is proposed here and as an example the fuzzy cognitive map for a simple plant is developed. A hierarchical two-level structure for supervision of manufacturing systems is presented, where the supervisor is modelled as a fuzzy cognitive map. The fuzzy cognitive map model for the failure diagnosis part of the supervisor for a simple chemical process is constructed.

关键词： Computer integrated manufacturing

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Challenging Issues of Academic Programs for Systems-Control and Manufacturing

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IFAC Proceedings Volumes 1999年第2期32卷 6428-6433页

作者： Peter P. Groumpos Laboratory for Automation and Robotics Dept. of Electrical and Computer Engineering University of Patras Rion GR-26500 Greece Tel.+30 61 997295 Fax +30 61997309

The present research examines the challenge that academic institutions face in developing appropriate skills within the engineering community. First the general issues of Control education and future Manufacturing challenges are briefly reviewed and analysed. This work attempts to qualify the areas, which have to be addressed as well as to position future Control and Manufacturing requirements so that opportunities can be identified, these are associated to the results of a survey undertaken by Laboratory for automation and robotics on current academic programs on Control and Manufacturing engineering available in Institutions throughout Europe. Finally the research reaches to some generic conclusions regarding the standards met by the existing Control and Manufacturing curricula and proposes some recommendations for academia.

关键词： Control Education Manufacturing Systems

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Towards variable-time-delays-robust telemanipulation through master state prediction

Towards variable-time-delays-robust telemanipulation through...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： P.A. Prekopiou S.G. Tzafestas W.S. Harwin Dept. of Electr. & Comput. Eng. Nat. Tech. Univ. of Athens Greece Intelligent Robotics & Automation Laboratory Department of Electrical & Computer Engineering National and Technical University of Athens Zografou Greece The Human-Robot Interface Laboratory Department of Cybernetics University of Reading Reading UK

This paper presents the conceptual framework and simulation results on a general technique for time delay compensation in teleoperation, based on the prediction of the human arm position and force, i.e. effectively the master state. This is shown to be significantly less complex and more intuitive than predicting the slave and environment dynamics. Simple polynomial or spline predictors, employing no knowledge of the human arm dynamics, are shown to produce good performance for small time delays when the master force and position are smooth. However, for real life force profiles, better performance is achieved by employing a human arm model and predicting the neural input to it.

关键词： Humans Predictive models Master-slave Delay effects Intelligent robots robotics and automation Communication channels Displays Computational modeling Computer simulation

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On Control of Flexible Mobile Manipulators: Positioning and Vibration Reduction Using an Eye-in-Hand Range Camera

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IFAC Proceedings Volumes 1998年第3期31卷 619-625页

作者： Bernt Nilsson Jonas Nygårds Ulf Larsson Åke Wernersson Robotics and Autonomous Mechanical Systems Dept. of Mechanical Engineering University of Linköping S-581 83 Linköping Sweden Robotics & Automation Luleå University of Technology S-971 87 Luleå Sweden

In this paper the positioning of a long flexible manipulator on a moving platform is investigated. The problem is to position the gripper at a requested relative distance in front of an object with an unknown location. For this purpose the gripper is equipped with a range camera giving the distance to surrounding objects within, ~ 1% and with a sampling rate above 1kHz. The range measurements are used in combination with internal angle measurements from joint encoders to estimate both the flexibility in the mechanical construction and the relative distance from gripper to object. For the motion control of the manipulator, a time scaled feedback controller is suggested. A fast inner loop is used to damp out oscillations and reject disturbances both from the platform and the manipulator. An outer control loop, with a lower closed loop bandwidth, then steers the gripper, based on the range measurements, to the requested final position in front of the object. This loop assumes a stationary rigid platform, and a rigid manipulator. At this moment only simulations of a flexible manipulator on a rigid platform have been studied. However, the results show that the flexibility can be estimated from indirect measurements of the range to the object and the joint angles. Also, good damping and disturbance rejection is achieved as long as the bandwidth of the actuators is sufficiently high, compared to the oscillation. The use of range measurements of the surrounding objects makes the positioning task very robust with respect to an uncertain platform position.

关键词： flexible arm mobile manipulator gripper-object feedback optronic sensing vibration estimation LQG feedback range camera

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Neural networks based sensorial signal fusion: an application to material identification

Neural networks based sensorial signal fusion: an applicatio...

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International Conference on Digital Signal Processing (DSP)

作者： S.G. Tzaiestas Y. Anthopoulos Dept. of Electr. & Comput. Eng. Nat. Tech. Univ. of Athens Greece Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

Data acquisition and learning capabilities are necessary for an intelligent system operating in unstructured, dynamically changing environments. For this purpose, a method for the effective use of multiple sensors must be developed. This paper shows how multisensor fusion can be accomplished by neural networks. It first summarizes the conventional fusion techniques and consequently describes the use of neural networks for sensor fusion as well as their advantages. Finally, an application is presented where a neural network is used to fuse the signals of several sensors, of different type, for material identification purposes.

关键词： Neural networks Signal processing Sensor fusion Intelligent sensors Sensor phenomena and characterization Sensor systems Intelligent systems Intelligent robots Costs Recursive estimation

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Fault Detection and Diagnosis Based on Fuzzy Qualitative Reasoning

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IFAC Proceedings Volumes 1997年第18期30卷 513-518页

作者： J.M.F. Calado P.D. Roberts Control Automation and Robotics Group IDMEC - Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais 1096 Lisboa Codex Portugal Control Engineering Research Centre Dept. of Elect. Electronic & Inf. Engineering City University Northampton Square London EC1 0HB United Kingdom

An on-line fault detection and diagnosis system, based on a fuzzy qualitative simulation algorithm, is presented. In order to test the performance and reliability of the system a computational TURBO C++ program with a hierarchical structure, has been developed. The fuzzy representation of qualitative values is more general than ordinary interval representation, since it can represent not only the information stated by a well defined real interval but also the knowledge embedded in the soft boundaries of the interval. Single and double simultaneous abrupt faults have been considered, and successful results have been obtained in simulation studies conducted with a mixing process.

关键词： Fault detection fault diagnosis qualitative simulation fuzzy sets membership functions

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Teaching Discrete Event Control of Manufacturing Systems

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IFAC Proceedings Volumes 1997年第12期30卷 261-266页

作者： O.C. Pastravanu A. Gürel F.L. Lewis Dept. of Automatic Control and Industrial Informatics Technical University of Iasi Str. Horia 7-9 6600 Iasi Romania Dept. of Electrical and Electronic Engineering Eastern Mediterranean University P.O. Box 95 Gazi Magosa Mersin 10 Turkish Republic of Northern Cyprus Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Fort Worth Texas 76118-7115 USA

Controller design for Flexible Manufacturing Systems (FMS) is addressed within a systems theory-basea framework, which allows the separation of the workcell (comprised of machines and resources to be controlled), and the controller (consisting of the decision-making scheduler). This point of view is particularly profitable for teaching FMS design to Control engineering students, who are familiar with the feedback control principles. The design algorithm uses standard manufacturing engineering tools to produce a rule-based controller that is described mathematically in terms of matrix equations, yielding the Petri net and max/plus representations of the closed-loop FMS. This matrix approach is exploited to develop a MATLAB software which implements new functions for idempotent calculus in the semiring (R∪{-∞},max,+), and offers a large flexibility in changing the operating conditions and design specifications.

关键词： flexible manufacturing systems discrete-event systems Petri-net models max/plus models MATLAB simulation control education

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