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A novel tree trunk recognition approach for forestry harvesting robot

A novel tree trunk recognition approach for forestry harvest...

引用

IEEE Conference on Industrial Electronics and applications (ICIEA)

作者： Lei Shao Xiaoqi Chen Bart Milne Peng Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin China Department of Mechanical Engineering University of Canterbury Christchurch New Zealand

ISBN: (纸本)9781479943142

Robotisation of forestry harvesting in New Zealand has the potential to achieve great productivity benefits and support the timber industry in the face of global market competition. Recognition and localization of tree trunks is the first critical operation for an autonomous forestry harvesting robot and is a challenging task due to variations of illumination under normal forestry harvesting conditions. This paper presents a novel method of recognizing tree trunks based on Hough Transforms of the L*a*b* colour space representation of the harvesting scene. The test results show that the proposed algorithm is able to correctly determine the location and shape information of tree trunks in various lighting conditions. This method lays a strong foundation for further research on autonomous operation of forestry harvesting robots in steep terrain.

关键词： Decision support systems Conferences Industrial electronics Robots Transforms Image color analysis Vegetation

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Grid sequence algorithm generating contour based on delaunay triangulation

Grid sequence algorithm generating contour based on delaunay...

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IEEE International Conference on Mechatronics and Automation

作者： Lei Shao Guoling Dong Jun Liu Yi Mu Peng Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin China Department of Mechanical Engieering University of Canterbury Christchurch New Zealand

ISBN: (纸本)9781479939800

In order to improve the contour generation rate in drawing contour maps of rainfall of Tianjin, we propose a contour generation algorithm based on grid sequence, which according to the characteristics of historical data in meteorological field and the contours drawing requirements. Using this algorithm can make the drawing method efficient and intuitive. This algorithm based on Delaunay irregular triangulation using a new method to compare the grid endpoints with itself before with contour values. So it avoids the problem of selecting a starting point, simplifies the determination of grid export, and effectively reduces the frequency of comparing the contours value and endpoint. This clear, concise algorithm is suitable for contour expressing in meteorological field and other scientific data generation in similar circumstances.

关键词： Conferences Mechatronics Automation Design automation

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The multi-frequency EEG rhythms modeling based on two-parameter bifurcation of neural mass model

The multi-frequency EEG rhythms modeling based on two-parame...

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IEEE International Conference on Mechatronics and Automation

作者： Enzeng Dong Zhihan Liang Tianjin Key Laboratory For Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin China School of Electrical Engineering Tianjin University of Technology Tianjin China

ISBN: (纸本)9781479939800

In this work, a coupled Jansen and Rit neural mass model with two neuron populations were proposed, which was studied further by using the two-parameter bifurcation analysis. The numerical analysis shows that the coupled Jansen and Rit neural mass model can generate a type of multi-frequency rhythms, which are closer proximity to real EEG rhythms. Furthermore, due to the combined effect of two parameters bifurcations, more codimension two bifurcations behaviours on equilibriums and cycles were discovered, which can generate more complex dynamics behaviours. Finally, the validity of the proposed modelling method was verified by the comparative analysis between the simulation EEG rhythms and real EEG rhythms, verified the validity of this system.

关键词： Brain modeling Electroencephalography Mathematical model Analytical models Numerical models Bifurcation Neurons

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Numerical simulation of minimally invasive correction surgery of pectus excavatum with scoliosis

Numerical simulation of minimally invasive correction surger...

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IEEE International Conference on Mechatronics and Automation

作者： Meijiao Zhao Peibei Dong Jinduo Ye Jifu Liu Weihong Zhong Chunqiu Zhang Tianjin Key Laboratory for Control Theory & Applications in Complicated Industry Systems Tianjin University of Technology Tianjin China The Military General Hospital of Beijing PLA Beijing China

ISBN: (纸本)9781479939800

Objective: Establish three dimensional solid model of thorax of pectus excavatum with scoliosis, carry out numerical simulation of minimally invasive correction surgery of pectus excavatum with scoliosis, study the influence how pectus excavatum correction affect scoliosis, and conduct clinical correction surgery. Methods: Reconstructed the model of thorax of pectus excavatum with scoliosis by CT images with software Mimics, simulate minimally invasive correction process by considering geometrical non-linear finit element method, design correction surgery plan, and carry out correction surgery according to the result of numerical calculation. Result: The result of calculation indicates that if the spine twisted toward the direction of the location of pectus excavatum, the scoliosis will be improved, the symptom of which will be ease. The surgery plan designed by the result of numerical calculation has been adapted to clinical surgery, and a good result has been obtained.

关键词： Solid modeling Surgery Numerical models Sternum Software Finite element analysis

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The establishment and data mining of meteorological data warehouse

The establishment and data mining of meteorological data war...

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IEEE International Conference on Mechatronics and Automation

作者： Lei Shao Jun Liu Guoling Dong Yi Mu Peng Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin China Department of Mechanical Engieering University of Canterbury Christchurch New Zealand

ISBN: (纸本)9781479939800

Along with the continuous development of the modernization level of meteorological service, meteorological data has been steadily on the increase, which results in a higher and higher demand of meteorological department for meteorological data storage, management, and read. Through analyzing the framework of Distributed File System, Data Warehouse Tool Hive of the open source cloud platform - Hadoop, the Build Process of the Hadoop meteorological cloud platform is studied. Based on Naïve Bayes algorithm research, a kind of method which can transplant it to the Hadoop platform is found.

关键词： Conferences Mechatronics Automation

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The trunk of the image recognition based on BP neural network

The trunk of the image recognition based on BP neural networ...

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IEEE International Conference on Mechatronics and Automation

作者： Lei Shao Yi Mu Jun Liu Guoling Dong Hongli Liu Peng Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin China School of Electrical Engnieering Tianjin University of Technology Tianjin China

ISBN: (纸本)9781479939800

Robotisation of forestry harvesting in China has the potential to achieve great productivity benefits. The paper presents a method which is to recognize tree trunks based on BP neural network. Firstly, the color marks and the training sample data of neutral network have been extracted. Then, the neutral network model is set up. The collecting sample data is used to train the neutral network and get feasible network weighted value. At last, the outline of the trunk is identified by Hough Transforms. We evaluate the method can satisfy the need to recognize the trunk properly by the simulating image based on the BP neutral network. This method lays a strong foundation for further research on autonomous operation of forestry harvesting robots in steep terrain.

关键词： Conferences Mechatronics Automation

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Forecasting model based on multidimensional moving pattern for a class of complex production process

Forecasting model based on multidimensional moving pattern f...

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11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014

作者： Changping, Sun Zhengguang, Xu Qiang, Gao Hang, Yu Tianjin Key Laboratory for Control Theory and Application in Complicated Systems Tianjin University of Technology Tianjin 300384 China School of Electrical Engineering Tianjin University of Technology Tianjin China School of Automation University of Science and Technology Beijing Beijing 100083 China

ISBN: (纸本)9781479939787

For a class of complex production processes, in our previous work, the idea of moving pattern based modeling is proposed. But, in our previous work, the moving pattern is confined to one dimension and the one dimensional moving pattern-based modeling is studied. In this paper, moving pattern is extended to multidimensional case, and a multidimensional moving pattern based forecasting model is proposed. First, the algorithm for constructing multidimensional pattern moving space is proposed. Second, for characterizing pattern class variable quantitatively, the multidimensional interval autoregression model (MIAR) is defined. Third, the proposed MIAR is applied to modeling the movement of pattern class variable in pattern moving space. At last, experimental results are then presented that indicate the validity and applicability of the proposed model. © 2014 IEEE.

关键词： Regression analysis

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A largely model independent solution for the position control of a typical inverted pendulum system

A largely model independent solution for the position contro...

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Chinese control Conference (CCC)

作者： Qiang Gao Shasha Chen Yi Li Junfang Li Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electrical Engineering Tianjin University of Technology Tianjin CN Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin Tianjin CN

An Active Disturbance Rejection based solution is proposed for the position control of a standard inverted pendulum system, demonstrating a largely model independent design that is distinctly different from existing model-based designs from classical as well as modern control theory. The quality of the control loop is further improved with a unique double disturbance observer design, which rejects independently the disturbance and uncertainty in both the pendulum itself and the cart that carries it. This proposed approach offers a promising and practical solution because it's intuitive to understand and easy to tune, in addition to its strong performance and effectiveness shown in both simulation study and real time experimentation.

关键词： Real-time systems Mathematical model Equations control systems Estimation Educational institutions Simulation

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Numerical simulation of influence parameters during droplet generation in a microfluidic T-junction

Numerical simulation of influence parameters during droplet ...

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IEEE International Conference on Mechatronics and Automation

作者： Wei Wei Fang Wu Shuxiang Guo Jian Guo Yuehui Ji Xu Ma Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Control Theory and Applications in Complicated System Tianjin University of Technology Tianjin China

Droplets had a significant advantage that each droplet could be regarded as an individual chemical reactor. However, the microchip for droplets generation was very difficult to design. Numerical simulation was done in order to provide a theoretical basis for microchip design. This paper described a three-dimensional numerical simulation on droplets behavior in a microfluidic T-shaped based on volume-of-fluid (VOF) model. The wetting property, the velocity and viscosity of continuous phase, the surface tension between two phases and the size of microchannel had been analyzed, which impacted the droplets' behavior. Droplets can be generated when the contact angle was set from 0 degree to 90 degrees. With the velocity and viscosity of continuous phase increasing, droplets diameter would decrease gradually. The diameter of droplets increased according to the improvement of the surface tension between two phases. The droplets diameter was found to exhibit a linear dependence on the microchannel size. This work would contribute to the design of droplet microchips for better biochemical analysis, pharmaceuticals and so on.

关键词： Microchannels Surface tension Viscosity Force Mathematical model Numerical simulation

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Study on multiple image processing hardware system based on DSP

Study on multiple image processing hardware system based on ...

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IEEE International Conference on Mechatronics and Automation

作者： Junchao Zhu Yongchen Li Zhijun Ma Yingkui Jiao Baofeng Zhang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Xiqing District Tianjin China School of Electrical Engineering Tianjin University of Technology Xiqing District Tianjin China

ISBN: (纸本)9781479939800

This paper presents the hardware system scheme of multi-channel image processing based on DSP, with DSP as the core control of FPGA and CMOS, responsible for the overall scheduling system, using FPGA as coprocessor responsible for the collection of the original image information from CMOS. This paper combines the fisheye lens to obtain the complete original image for panoramic vision and stereo vision requirement. FPGA is used to design the SRAM cache controller based on Ping-pong mechanism. The data exchanging between DSP and FPGA are completed in EDMA model of DSP. Asynchronous FIFO is applied to solve the problem of cross clock domain. Experiments show that the system can be realized in the image data acquisition speed of 45 frames per second and the output of PAL style distortion fisheye image.

关键词： Field programmable gate arrays Digital signal processing CMOS integrated circuits Lenses Hardware Image processing Random access memory

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