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Detection algorithm of high-voltage line based on Hessian matrix

Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2012年第8 SUPPL.期33卷 75-78页

作者： Li, Wentao Fan, Huijie Li, Xiangjun Xia, Yong Tang, Yandong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate School of the Chinese Academy of Sciences Beijing 100049 China Dalian Ocean University Dalian 1160004 China Benxi Power Supply Company of Liaoning Electric Power Company Benxi 117000 China

In this paper, we present a detection algorithm of high-voltage line based on Hessian matrix for the application background of high-voltage line inspection of Unmanned Aerial Vehicle (UAV). Firstly, we extract the direction of linear object according to the eigenvector direction of Hessian matrix. Secondly, we extract the point of approximate eigenvector direction to compose the line segment using the region growing method. Finally extracting the linear object from these line segment using the statistical method to make the line segment most and longest along the linear object. The results of experiment show that our method can detect high-voltage line accurately and satisfy the requirement of UAV line inspection for precision and speed.

关键词： Eigenvalues and eigenfunctions

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Research of power transmission tower detection method based on UAV

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2012年第8 SUPPL.期33卷 83-88页

作者： He, Siyuan Lin, Lan Yang, Dawei Liu, Gang Tang, Yandong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate University of Chinese Academy of sciences Beijing 100049 China Department of Information Engineering Shenyang Institute of Engineering Shenyang 110136 China Benxi Power Supply Company Liaoning Electric Power Company Limited Benxi 117000 China

In recent years, the use of UAV (Unmanned Aerial Vehicle) for power transmission line detection is a hot technology, and it can detect the transmission line and discriminate the failure under no power cut. However, there is little published method for automatic detection of power transmission tower from the aerial image. According to the characteristic of power transmission tower, we propose three detection methods based on LSD (Line Segment Detector) method. They are region density method, projection method and slope statistics method. In this paper, the principles of methods are firstly presented, and then these methods are tested in the UAV video. Finally, the results of experiments are analyzed and compared. The results of experiments show that these detection methods have better robustness, accuracy and validity.

关键词： Electric lines

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Linearity of Each Channel Pixel Values from a Surface in and out of Shadows and Its Applications

Linearity of Each Channel Pixel Values from a Surface in and...

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IEEE Conference on Computer Vision and Pattern Recognition

作者： Jiandong Tian Yandong Tang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781457703942

Shadows, the common phenomena in most outdoor scenes, are illuminated by diffuse skylight whereas shaded from direct sunlight. Generally shadows take place in sunny weather when the spectral power distributions (SPD) of sunlight, skylight, and daylight show strong regularity: they principally vary with sun angles. In this paper, we first deduce that the pixel values of a surface illuminated by skylight (in shadow region) and by daylight (in non-shadow region) have a linear relationship, and the linearity is independent of surface reflectance and holds in each color channel. We then use six simulated images that contain 1995 surfaces and two real captured images to test the linearity. The results validate the linearity. Based on the deduced linear relationship, we develop three shadow processing applications include intrinsic image deriving, shadow verification, and shadow removal. The results of the applications demonstrate that the linear relationship have practical values.

关键词： Linearity shadows Sunlight shadow region linear relation solar radiation surface reflectance pixel

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Approximate feedback linearization control for spatial 6-DOF hydraulic parallel manipulator

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Open Mechanical Engineering Journal 2011年第1期5卷 117-123页

作者： Yang, Chifu Zheng, Shutao Peter, O. Ogbobe Huang, Qitao Han, Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin 150001 China

Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to the complex dynamics of spatial 6-DOF hydraulic parallel manipulator. In order to improve the tracking performance of spatial 6-DOF hydraulic parallel manipulator and to conquer the drawbacks of TFL, a novel approximate feedback linearization approach, non-model based method, is proposed in this paper. The mathematical model of spatial hydraulic parallel manipulator is established. The approximate feedback linearization control is designed for the parallel manipulator in joint space, with position and stored force in the previous time step are employed, as a learning tool to yield improved performance. Under Lyapunov theorems, the stability of the presented algorithm is confirmed in the presence of uncertainties. Simulation results show the proposed control is easy and effective to realize path tracking, and it exhibits excellent performance and high efficiency without a precision dynamics of plant. Furthermore, the presented algorithm is well suitable for most industrial applications. © Yang et al.

关键词： Computational efficiency

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Experimental Study of Cooperative Obstacle Avoidance between Aerial and Ground Vehicles Using Multi-RFRs Testbed

Experimental Study of Cooperative Obstacle Avoidance between...

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IEEE International Conference on robotics and Biomimetics

作者： Zheng Wang Feng Gu Yuqing He Jianda Han Yuechao Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences

This manuscript gives a summary of the contributed video, submitted to IROS 2011, on a new-designed Multiple-Rotor-Flying-Robot experimental platform.

ISBN: (纸本)9781457721366

This manuscript gives a summary of the contributed video, submitted to IROS 2011, on a new-designed Multiple-Rotor-Flying-Robot experimental platform.

关键词： Ground vehicles Obstacle avoidance ANTENNA Collision avoidance

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Optimal motion generation for heavy duty industrial robots—control scheme and algorithm

Optimal motion generation for heavy duty industrial robots—...

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International Conference on Mechatronics (ICM)

作者： Wei You Minxiu Kong Lining Sun State Key Laboratory of Robotics and Systems Harbin Institute of Technology 150001 China

In this paper an optimal motion generation approach for a heavy duty industrial robot, including both the control scheme and algorithm, was designed and tested. Aiming for the main defects in data sampling interpolation process of traditional motion control scheme, a FC based control scheme is proposed, An industrial computer with a TwinCAT real-time system was chosen as the motion control unit,and EtherCAT was used for command transmission. With the bask requirements of motion generation, a navel time and power optimal motion generation algorithm based on modified cubic spline interpolation is proposed. The execution time and work were chosen as the objective function. The constraints are the limits of torque, velocity and jerk. The position and velocity of the optimized motion were smooth. Acceleration was continuous throughout the execution period, including at the start point and end point Then the proposed control scheme and motion generation algorithm was applied for control of heavy duty material handling robots. The final experimental results showed that after obtaining motion parameters in an off-line stage, the computation of interpolation in Cartesian space could be finished very rapidly, within a short sample time (about four times the sample time of the position control loop). And the motion generation algorithm has a great effect on energy saving and production efficiency improvement.

关键词： Interpolation Acceleration Spline Algorithm design and analysis Kinematics Service robots

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An Amphibious Snake-like Robot with Terrestrial and Aquatic Gaits

An Amphibious Snake-like Robot with Terrestrial and Aquatic ...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Shumei Yu Shugen Ma Bin Li Yuechao Wang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenya Department of Robotics Ritsumeikan UniversityShiga-ken 525-8577Japan State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy ofSciencesShenyan

@@ THIS video presents the mechanism design, control system, terrestrial and aquatic gaits of an amphibious snake-like robot “Perambulator” developed in state key laboratory of robotics, Shenyang institute of Automa... 详细信息

关键词： Joints Gears Automation Laboratories Mobile robots Shafts

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Hybrid Map-based Navigation for Intelligent Wheelchair

Hybrid Map-based Navigation for Intelligent Wheelchair

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Yong Wang Weidong Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and In State Key Laboratory of Robotics and System (HIT) Harbin 150001 China

ISBN: (纸本)9781612843865

A navigation system based on hybrid map for intelligent wheelchair is presented. The system is consisted of hybrid map building, localization, path planning and trajectory following. The hybrid map includes a series of small probabilistic grid maps (PGM) and a global topological map (GTM). They are built simultaneously and easily using the human-guided method. Then on the hybrid map, the localization and the real-time path planning algorithms are realized smartly and effectively. The experiments and applications results show that the human-guided method integrates both the computer’s modeling ability and the human’s sensory perception to the environment. The hybrid map is easy to solve the loop-closure and doorway problems that enhances the robustness against uncertainty of sensors. It also can improve the efficiency in large-scale SLAM. Further more, at an elderly home we did the activities of daily living (ADL) testing and at Shanghai Expo 2010 we demonstrated the wheelchair system by offering trial rides to visitors.

关键词： Navigation Wheelchairs Trajectory Buildings Real time systems Senior citizens

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Master-slave control strategy for abdominal minimally invasive surgery robotic system

Master-slave control strategy for abdominal minimally invasi...

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IEEE International Conference on robotics and Biomimetics

作者： Yili Fu Ying Yu Shuguo Wang State Key Laboratory of Robotics and System Science Park Harbin Institute of Technology Harbin China Jiamusi University Jiamusi China

ISBN: (纸本)9781457721366

According to characteristics of abdominal minimally invasive robotic surgical tasks, based on performant industrial computer platform, an extended multifunctional hardware communicates with PCI-bus is designed, a master-slave control system is studied. In order to solve the problem of low responsivity caused by traditional inverse kinematics transformation method, a algorithm based on equivalent differential transformation suitable for real-time master-slave surgical robot control is put forward, and the accumulated error of the algorithm is eliminated by feedback mechanism. A fast trajectory planning method efficient in real-time master-slave surgical robot control is put forward to replace traditional trajectory prediction and off-line calculation. Finally, in order to avoid the impact on the accuracy of the system coursed by hand-trembling of operators, a digital filter is designed to help filtering the master manipulator signal.

关键词： Manipulators Master-slave Joints Kinematics Trajectory Surgery

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Complex indoor map building based on fusion of sequential Mb-ICP

Complex indoor map building based on fusion of sequential Mb...

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Chinese Control Conference (CCC)

作者： Ke Wang Lijun Zhao Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China

Towards complex indoor environment, this paper proposed a fusion method of sequential Mb-ICP scan matching for mobile robot map building. We firstly introduce the classic ICP scan matching method and its limitations for dealing with robot rotation. Based on a new metric space, Mb-ICP scan matching approach is analyzed. We then use Kalman Filter to fuse multiple sequential scan matching results of Mb-ICP. Experimental results are shown to validate the effectiveness of the proposed approach.

关键词： Buildings Iterative closest point algorithm Mobile robots Electronic mail Fuses Laboratories

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