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作者： Jun, Jongwoo Lee, Jinyi Shin, Kisu Hong, Jungho Department of Information and Communication Engineering Graduate School of Chosun University 375 Seosuk-dong Dong-gu Gwangju 501-759 Korea Republic of Department of Control Instrumentation and Robot Engineering Chosun University 375 Seosuk-dong Dong-gu Gwangju 501-759 Korea Republic of Department of Weapon Systems Korea National Defense University 205 Susaek-dong Eunpyeong-gu Seoul 412-706 Korea Republic of

Single sensor scanning (hereafter SSS) used to inspect cracks on paramagnetic materials can measure the distribution of the root mean squared value (RMS) of the magnetic field around crack tips quantitatively when sheet type current is induced on the specimen. The vertical direction magnetic field alternates to the surface of the crack tips because the sheet type induced current on the specimen is distorted by the existence of the crack in an SSS system. The RMS distribution of the magnetic field, which can be measured by using SSS, depends on the crack size and shape, so it can be used to evaluate a crack size quantitatively. An algorithm of quantitative nondestructive testing and evaluation of cracks of various shapes and sizes on the aluminum alloy, Al7075 is proposed in this paper. © (2010) Trans Tech Publications, Switzerland.

关键词： Nondestructive examination

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Feedback Stabilization and motion synchronization of systems with time-delay in the communication network

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IFAC Proceedings Volumes 2010年第2期43卷 283-288页

作者： Warody Lombardi Anamaria Luca Sorin Olaru Silviu-Iulian Niculescu Joono Cheong SUPELEC Systems Sciences (E3S) - Automatic Control Department 3 rue Joliot Curie 91192 Gif-sur-Yvette France Laboratory of Signals and Systems SUPELEC-CNRS 3 rue Joliot Curie 91192 Gif-sur-Yvette France Department of Control and Instrumentation Engineering Korea University Jochiwon 339-700 Korea

This paper is dedicated to the stabilization problem of dynamical systems in the presence of variable time-delay in the communication channel which is handled at the discretization stage by means of a guaranteed uncertainty approximation technique. In this context, the proposed stabilization methodology will be based on a Lyapunov-Krasovskii candidate leading finally to Linear Matrix Inequalities formulations for the controller synthesis. The motion synchronization control of two interconnected subsystems linked by a network is considered a possible application of these techniques.

关键词： Time-delay systems Motion Synchronization

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Decentralised output feedback control for nonlinear interconnected systems with time delay interconnections and disturbances

Decentralised output feedback control for nonlinear intercon...

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2010 49th IEEE Conference on Decision and control

作者： Xing-Gang Yan Sarah K. Spurgeon Christopher Edwards Instrumentation Control and Embedded Systems Research Group School of Engineering & Digital Arts University of Kent Canterbury Kent CT2 7NT United Kingdom Control and Instrumentation Research Group Department of Engineering University of Leicester University Road Leicester LE1 7RH United Kingdom

ISBN: (纸本)9781424477456

Nonlinear time varying delay interconnected systems with nonlinear isolated nominal subsystems and nonlinear time delay interconnections, are considered in this paper. Both matched and mismatched disturbances are nonlinear and time-delayed. A discontinuous decentralised static output feedback control strategy is proposed to stabilise the interconnected systems uniformly asymptotically. A novel approach is proposed to deal with the interconnections by introducing artificial interconnections, such that the accessible information is fully exploited in the control design to reduce the conservatism. Simulation results show the effectiveness of the approach.

关键词： large-scale systems Output Feedback control nonlinearity

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Sensor data fusion using fuzzy control for VOR-based vision tracking system

Sensor data fusion using fuzzy control for VOR-based vision ...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Hyun-il Kwon Jaehong Park Wonsang Hwang Jong-hyeon Kim Chang-hun Lee M. Latif Anjum Kwang-soo Kim Dong-il Cho Automation and Systems Research Institute and School of Electrical Engineering and Computer Science Inter-University Semiconductor Research Center Seoul South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea

This paper presents a vision tracking system to achieve high recognition performance under dynamic circumstances, using a fuzzy logic controller. The main concept of the proposed system is based on the vestibulo-ocular reflex (VOR) and the opto-kinetic reflex (OKR) of the human eye. To realize the VOR concept, MEMS inertial sensors and encoders are used for robot motion detection. This concept turns the camera towards a selected target, counteracting the robot motion. Based on the OKR concept, the targeting errors are periodically compensated, using vision information. The fuzzy logic controller uses sensor data fusion to detect slip or collision occurrences. To calculate a heading angle of the camera accurately, the output of the fuzzy logic controller and the vision information from the camera are combined, using an extended Kalman filter. The proposed vision tracking system is implemented in a mobile robot and evaluated experimentally. The experimental results are obtained as the tracking and the recognition success rate using a mobile robot. The developed system achieved the excellent tracking and recognition performance during slip or collision occurrences under dynamic circumstances.

关键词： Cameras Mobile robots Robot vision systems Machine vision Fuzzy logic

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Inferring motion uncertainty from shape-Matching

Inferring motion uncertainty from shape-Matching

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zuolei Sun Joop van de Ven Fabio Ramos Xuchu Mao Hugh Durrant-Whyte Department of Instrumentation Engineering School of Electronic Information and Electrical Engineering Navigation & Control Laboratory Shanghai Jiaotong University Shanghai China Australian Centre for Field Robotics ARC Centre of Excellence for Autonomous Systems University of Sydney NSW Australia

ISBN: (纸本)9781424450381;9781424450404

This paper proposes a novel method for computing robot motion uncertainty from ranging sensor data. The method utilises the recently proposed CRF-Matching procedure which matches laser scans based on shape descriptors. Motion estimates are computed in a probabilistic framework by performing inference on a probabilistic graphical model. We propose an efficient sampling procedure for obtaining probable association hypothesis of the probabilistic graphical model. The hypothesis are used to generate estimates on the uncertainty of translational and rotational movements of the robot. Experiments demonstrate the benefits of the approach on simulated data sets and on laser scans from an urban environment. The approach is also combined with the well-established delayed-state information filter for a large-scale outdoor simultaneous localisation and mapping task.

关键词： Uncertainty Laser modes Graphical models Robot motion Shape Motion estimation Sampling methods Delay Information filters Large-scale systems

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High performance vision tracking system for mobile robot using sensor data fusion with Kalman filter

High performance vision tracking system for mobile robot usi...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Jaehong Park Wonsang Hwang Hyun-il Kwon Jong-hyeon Kim Chang-hun Lee M. Latif Anjum Kwang-soo Kim Dong-il Cho Automation and Systems Research Institute (ASRI) and School of Electrical Engineering and Computer Science Inter-University Semiconductor Research Center Seoul South Korea South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea

This paper introduces a high performance vision tracking system for mobile robot using sensor data fusion. For mobile robots, it is difficult to collect continuous vision information due to robot's motion. To solve this problem, the proposed vision tracking system estimates the robot's position relative to a target and rotates the camera towards the target. This concept is derived from the human eye reflex mechanism, known as the Vestibulo-Ocular Reflex (VOR), for compensating the head motion. This concept for tracking the target results in much higher performance levels, when compared with the conventional method that rotates the camera using only vision information. The proposed system do not require heavy computing loads to process image data and can track the target continuously even during vision occlusion. The robot motion information is estimated using data from accelerometer, gyroscope, and encoders. This multi-sensor data fusion is achieved using Kalman filter. The proposed vision tracking system is implemented on a two-wheeled robot. The experimental results show that the proposed system achieves excellent tracking and recognition performance in various motion scenarios, including scenarios where camera is temporarily blocked from the target.

关键词： Robot sensing systems Target tracking Machine vision Kalman filters Cameras

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Fall detection and activity monitoring system using dynamic time warping for elderly and disabled people 09

Fall detection and activity monitoring system using dynamic ...

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3rd International Convention on Rehabilitation engineering and Assistive Technology, i-CREATe 2009

作者： Paiyarom, Sasiwan Tangamchit, Poj Keinprasit, Rachaporn Kayasith, Prakasith Control Systems and Instrumentation Engineering Department King Mongkut's University of Technology Thonburi Bangkok Thailand Thailand

ISBN: (纸本)9781605587929

We present a system that both tracks human movements and detects falling in elderly and disable people. We applied Dynamic Time Warping (DTW) to recognize human activities in daily living. Seven different movements, stand, sit, walk, run, stand-to-sit, sit-to-stand and lyings were considered and recorded as reference database signals. Our system consists of two parts: transmitter and receiver. A transmitter part is a device mounted at the user's waist with a size of a pager case measuring 90x40x20 mm. A sensor used in this device is a 3-axial accelerometer (Hitachi H48C). The signals from the accelerometer are transmitted wirelessly to a personal computer in receiver part using Zigbee Pro 2.4GHz. DTW is used to match the signals from different behaviors online with the databases and classify the data to a known activity. Falls are detected with a rule-based approach, in which the signal values are over thresholds following by the lying activity. Thresholds are computed from the minimum and maximum value in each axis of acceleration in the reference databases. The experiment shows 98.6 percent accuracy in recognizing these behaviors and in detecting fall. © ACM 2009.

关键词： Accelerometers

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Machine vision for excess gluing inspection in spindle motor assembly

Machine vision for excess gluing inspection in spindle motor...

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11th IAPR Conference on Machine Vision Applications, MVA 2009

作者： Buddhachan, Varunyou Kaewtrakulpong, Pakorn Department of Control Systems and Instrumentation Engineering Faculty of Engineering King Mongkut's University of Technology Thonburi 126 Prachautid Bangmod Toongkru Bangkok 10140 Thailand

ISBN: (纸本)9784901122092

Quality inspection of gluing quality in inner threads of bearing sleeve of harddisk-drive is an important step in spindle motor assembly. This paper presents an automated inspection system based on machine vision for quality control of gluing quality. At present, the inspection process is performed by human inspectors. However, they have low throughput and cannot identify all defects. To increase the quality and productivity, an automated visual inspection system is needed. The approach is based on detecting reflected light from the defects under oblique lighting. The defects generate highlights along the threads in the image of the inner sleeve. To reduce spurious reflections from thread roofs, input image of threads is enhanced by a Gabor filtering and the threads are located by a geometric primitive fitting. By properly detecting those highlight spots within regions between adjacent thread roofs, the defect is accurately identified. Experimental result showed a good performance of our proposed algorithm.

关键词： Gluing

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3-D picturing and measurement of Atherosclerotic Plaque

3-D picturing and measurement of Atherosclerotic Plaque

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13th WSEAS International Conference on Computers - Held as part of the 13th WSEAS CSCC Multiconference

作者： Farana, Radim Ličev, Lačezar Škuta, Jaromír Sojka, Štěpán Bar, Michal Školoudík, David Hradílek, Pavel Department of Control Systems and Instrumentation Faculty of Mechanical Engineering VSB-Technical University of Ostrava 17. listopadu 15/2172 Ostrava-Poruba Czech Republic

ISBN: (纸本)9789604740994

This contribution presents the achieved results of a complex grant project focused on the development of equipment for the 3-D picturing of a carotid artery. This problem was solved during years 2006 - 2008 by specialists from the Faculty of Mechanical engineering VŠB-TUO, Faculty of Electrical engineering and Computer Science VŠB-TUO and Neurological Clinic FN Ostrava during the solving of research project GA 101/06/0491 supported by the Czech Science Foundation. The main goal is mechanical system for the exact measurement of Atherosclerotic Plaque (AC plaque) in a carotid artery, including the control system and synchronizations with the heart activity. The obtained pictures enable the necessary analysis and acquisition of data for Atherosclerotic Plaque with appropriate accuracy and recurring measurements. These results open the way for medical use.

关键词： engineering education

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Smart sensors with PC connection in wireless networks

Smart sensors with PC connection in wireless networks

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13th WSEAS International Conference on Computers - Held as part of the 13th WSEAS CSCC Multiconference

作者： Smutný, Lubomír Mahdal, Miroslav Škuta, Jaromír Department of Control Systems and Instrumentation Faculty of Mechanical Engineering VSB-Technical University of Ostrava 17. listopadu 15/2172 Ostrava-Poruba Czech Republic

ISBN: (纸本)9789604740994

Paper deals with present state in the development of wireless smart sensor networks - (nodes), trends and new challenges from this interesting area. The high priority of this smart instrumentation there is the best operating ability sensor nodes with suitable protocol communication (for instance Zig Bee). New type of smart sensors nodes with wireless connection bring some advantages and also disadvantages. There are problems with communication protocols, interaction between different nodes, and main problems there are the power supply of the sensor instrumentation nodes. To the main advantages of smart instrumentation belong local signal processing with duplex communication, compact devices form, function auto testing and data validation, possibility to connecting to ILAN and wireless ILAN. Some experience with wireless sensors (ZigBee nodes and USB sensors) on communication with PIC microcomputer will be presented and will be shown the interesting possibilities for another development.

关键词： Sensor nodes

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