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Congress on Image and Signal Processing, CISP

作者： Z. L. Wang B. G. Cai X. L. Du S. Ou J. Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic Information and Engineering Beijing Jiaotong University Beijing China

In this paper, we assume the platform with visual observer is moved on flat ground and a constrained camera-platform configuration. The constrained camera-platform is used to simplify the camera motion model. Based on the assumption and simplified camera-platform configuration, the 3D camera motion can be separately estimated by planar region alignment between two frames. Firstly, a detected 2D motion between two frames is used to align corresponding planar regions, such an alignment or registration can removes the effects of camera rotation, and the resulting residual parallax displacement field between the two region-aligned images is an epipolar field centered at the FOE (Focus-of-Expansion). Then the camera translation can be recovered from the epipolar field. The camera rotation is recovered from the computed 3D translation and the detected 2D motion. The camera motion model is derived and represented by two parts, and a multistage ego-motion estimation process is introduced. Some experiments with real images demonstrate the robustness of the proposed motion estimation method.

关键词： Cameras Motion estimation Robustness Transmission line matrix methods Computer vision Robot vision systems Estimation

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Image sub-pixel recognition method for optical precise adjustment

Image sub-pixel recognition method for optical precise adjus...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Ma, Li Zhou, Shasha Ouyang, Hangkong He, Zhengfeng Rong, Weibin Sun, Lining School of Mechatronic Engineering and Automation University of Shanghai Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Cavity adjustment is a critical step for manufacturing laser gyro. Location relation of the laser facula and the aperture images should be detected to provide control information for the movement of the cavity adjustment mechanism. According to the image features, a sequence image variance method is proposed to segment the laser facula image, and maximum variance between clusters method (Ostu algorithm) is adopted to acquire automatic threshold value to segment the aperture image. Use the edge detection of binary image to obtain pixel edge of the laser facula and the aperture images. And sub-pixel edge point information of the images is given by a parameter fitting method. Centre points coordinates of the laser facula and the aperture are achieved by fitting sub-pixel edge utilizing the least square ellipse fitting method. The experimental results of cavity adjustment verify the validity of image recognition method of the laser facula and the aperture. © 2012 IEEE.

关键词： Binary images

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Target Tracking Algorithm Using Finite-time Convergence Smooth Second-order Sliding Mode Controller for Mobile Robots

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Chinese Journal of Mechanical Engineering 2011年第3期24卷 414-419页

作者： GE Lianzheng ZHAO Lijun GAO Tong State Key Laboratory of Robotics Technique and System Harbin Institute of Technology Harbin 150001 China

Target tracking control for wheeled mobile robot （WMR） need resolve the problems of kinematics model and tracking ***-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode *** there lacks the research of robustness and uncertain factors for high-order sliding mode *** address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the target is *** on the finite-time convergence theory and second order sliding mode method,a nonlinear tracking algorithm is designed which guarantees that WMR can catch the target in finite *** the same time an observer is applied to substitute the uncertain acceleration of the target,then a smooth nonlinear tracking algorithm is *** on Lyapunov stability theory and finite-time convergence,a finite time convergent smooth second order sliding mode controller and a target tracking algorithm are designed by using second order sliding mode *** simulation results verified that WMR can catch up the target quickly and reduce the control discontinuity of the velocity of WMR.

关键词： mobile robots second order sliding mode finite-time convergence observer

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Extraction of coastline in high-resolution remote sensing images based on the active contour model

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Journal of Harbin institute of Technology(New Series) 2011年第4期18卷 13-18页

作者：邢坤付宜利王树国韩现伟 State Key Laboratory of Robotics and System Harbin Institute of Technology

While executing tasks such as ocean pollution monitoring,maritime rescue,geographic mapping,and automatic navigation utilizing remote sensing images,the coastline feature should be *** methods are not satisfactory to extract coastline in high-resolution panchromatic remote sensing *** contour model,also called snakes,have proven useful for interactive specification of image contours,so it is used as an effective coastlines extraction ***,coastlines are detected by water segmentation and boundary tracking,which are considered initial contours to be optimized through active contour *** better energy functions are developed,the power assist of snakes becomes *** internal energy has been done to reduce problems caused by convergence to local minima,and new external energy can greatly enlarge the capture region around features of *** normalization processing,energies are iterated using greedy algorithm to accelerate convergence *** experimental results encompassed examples in images and demonstrated the capabilities and efficiencies of the improvement.

关键词： remote sensing images coastline extraction active contour model greedy algorithm

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Structuring of carbon nanotubes for field emission based movement sensors

Structuring of carbon nanotubes for field emission based mov...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Sergei Loschek Sascha Hermann Haibo Yu Stefan E. Schulz Thomas Gessner Center for Microtechnologies Chemnitz University of Technology Chemnitz Germany State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467315906

This paper addresses the exploitation of the field emitting properties of carbon nanotubes for movement sensor applications. To utilize this transducer principle a well defined gap between the field emitting carbon nanotubes and the counter electrode must be formed. Three different methods to dissect the dielectrophoretically deposited carbon nanotubes in a reproducible way are presented.

关键词： Electrodes Carbon nanotubes Electric breakdown Sensors Ion beams Electrical resistance measurement Micromechanical devices

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Localizability estimation for mobile robots based on probabilistic grid map and its applications to localization

Localizability estimation for mobile robots based on probabi...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： Zhe Liu Weidong Chen Yong Wang Jingchuan Wang State Key Laboratory of Robotics and System (HIT) Harbin China Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiaotong University Shanghai China

A novel approach to estimate localizability for mobile robots is presented based on probabilistic grid map (PGM). Firstly, a static localizability matrix is proposed for off-line estimation over the priori PGM. Then a dynamic localizability matrix is proposed to deal with unexpected dynamic changes. These matrices describe both localizability index and localizability direction quantitatively. The validity of the proposed method is demonstrated by experiments in different typical environments. Furthermore, two typical localization-related applications, including active global localization and pose tracking, are presented for illustrating the effectiveness of the proposed localizability estimation method.

关键词： Covariance matrix Estimation Heuristic algorithms Iterative closest point algorithm Mobile robots Indexes

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Strait-line tracking control of under-actuated ship

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International Journal of Advancements in Computing Technology 2012年第17期4卷 298-305页

作者： Ma, Yulong He, Yuqing Han, Jianda Graduate School of the Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China

High performance path following control, especially straight line path tracking, is one of the most difficult problems in autonomous control of under-actuated ship. In this paper, we propose a straight line path following control algorithm by combining adaptive yaw angle feedback, back-stepping and acceleration feedback technique together. The most absorbing advantage of the proposed controller is that it not only reserves the good performance of back-stepping controller and bring much faster convergent rate, but also eliminates the disturbance impacts, which is very important in real applications. The simulation results with respect to a training ship model have shown the feasibility and validity of the proposed method.

关键词： Ships

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Distributed data fusion based on fuzzy C-means for wireless sensor network

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Journal of Computational Information systems 2012年第22期8卷 9167-9174页

作者： Zhang, Yunzhou Li, Liqiang Bi, Yangyang Chen, Ying College of Information Science and Technology Northeastern University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China

To attain better time-delay performance, this article, based on clustering method, adapts vertices coverage method to build the tree-based structure for data transmission. It effectively decreases the data transmitting time and balance load. Then, a distributed fuzzy C-means algorithm (DFCMA) for heterogeneous data in WSN clusters is proposed to implement data fusion. According to the simulation result, the proposed data fusion algorithm owns good scalability and accuracy and lower time-delay. Copyright © 2012 Binary Information Press.

关键词： Time delay

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Validation of an odor source identification algorithm via an underwater vehicle

Validation of an odor source identification algorithm via an...

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2nd International Conference on Intelligent systems Design and Engineering Applications, ISDEA 2012

作者： Kang, Xiaodong Li, Wei Xu, Hongli Feng, Xisheng Li, Yiping State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Province 110016 China Graduate School of the Chinese Academy of Sciences Beijing 100049 China Department of Computer Engineering and Science California State University Bakersfield CA 93311 United States

ISBN: (纸本)9780769546087

This paper systemically discusses a procedure for evaluating and validating an odor source identification algorithm derived from moth-inspired plume tracing strategies. We evaluate and validate the proposed source identification algorithm as follows. First, we identify the source of a virtual chemical plume with significant filament intermittency and meander via a simulated underwater vehicle. Second, we validate the source identification algorithm using the virtual chemical plume and a real underwater vehicle in a swimming pool. Finally, we run in-water tests to trace a Rhoda mine dye plume developed in near-shore ocean environments characterized by turbulence, tides and waves, and to identify its source via the underwater vehicle at Da Lian Bay in China. © 2012 IEEE.

关键词： Vehicles

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A Hierarchical Connectionist CPG Controller for Controlling the Snake-like Robot's 3-dimensional Gaits

A Hierarchical Connectionist CPG Controller for Controlling ...

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IEEE/RSJ International Conference on Intelligent robotics and systems

作者： Guizhi Yang Shugen Ma Bin Li Minghui Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China. He is also with Graduate University of Chinese Academy of Sciences Beijing 100039 China Department of Robotics Ritsumeikan University Shiga-ken 525-8577 Japan. He is also with State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

ISBN: (纸本)9781467317375

Connectionist Central Pattern Generator models (CCPG) are helpful to understand how the CPG neural mechanism functions, and have relatively small complexity which makes them suitable for controlling snake-like robots. However, there are few CCPG models are constructed to generate the snake-like robot's three-dimensional gaits, which are important for adapation, and their gaits generation ability is also very inadequate. According to the CPG mechanism, a hierarchical CCPG model (HCCPG) with small complexity is proposed to implement the three-dimensional gaits better. The HCCPG has a two-layers structure, namely the basic rhythmic signal generation layer and the output signal modulation layer. The HCCPG can generate three-dimensional gaits well and is extendable. Based on the HCCPG, a three-dimensional gait control method is proposed. The simulations and experiments validate this method.

关键词： CPG have relatively their gaits

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