Human inspired lighting control in robot systems with the intention of glare avoidance

This paper presents some human-inspired strategies for lighting control in a robot system for best scene interpretation,where the main intention is to avoid possible glares or highlights occurring in images. It firstly compares the characteristics of human eyes and robot eyes. Then some evaluation criteria are addressed to assess the lighting conditions. A bio-inspired method is adopted to avoid the visual glare which is caused by either direct illumination from large light sources or indirect illumination reflected by smooth surfaces. Appropriate methods are proposed to optimize the pose and optical parameters of the light source and the vision camera.     

Improved hand tracking algorithm in video sequences for intelligent rehabilitation

Intelligent rehabilitation system is an active research topic. It is motivated by the increased number of limb disabled patients. Human motion tracking is the key technology of intelligent rehabilitation system, because the movement of limb disabled patients needs to be localized and learned so that any undesired motion behavior can be corrected in order to reach an expectation. This paper introduces a realtime tracking system of human hand motion, specifically intent to be used for home rehabilitation. Vision sensor (camera) is employed in this system to track the hand movement, and the improved Camshift algorithm and Kalman filter are used to implement dynamic hand tracking in the video. CAMSHIFT algorithm is able to track any kind of target colors by building a histogram distribution of the H channel in HSV color space from the region of interests selected by users at the initial stage. Kalman filter is able to predict hand location in one image frame based on its location data detected in the previous frame. The experimental results show that this system can track 2D hand motion and has acceptable accuracy by using the two algorithms properly. The new algorithm proposed in this paper can not only deal with the skin color interference problems, but also deal well with the track of complex background.     

Monocular vision based navigation method of mobile robot

A trajectory tracking method is presented for the visual navigation of the monocular mobile robot. The robot move along line trajectory drawn beforehand, recognized and stop on the stopsign to finish special task. The robot uses a forward looking colorful digital camera to capture information in front of the robot, and by the use of HSI model partition the trajectory and the stopsign out. Then the “sampling estimate” method was used to calculate the navigation parameters. The stopsign is easily recognized and can identify 256 different signs. Tests indicate that the method can fit largescale intensity of brightness and has more robustness and better realtime character.     

Trajectory tracking control of quantum systems

For quantum state trajectory tracking of density matrix in Liouville equation of quantum systems,with the help of concept in quantum system control,one can apply unitary transformation both to controlled system and free-evolutionary target system such as to change the time-variant and non-stationary target system into a stationary state.Therefore,the quantum state trajectory tracking problem becomes a steering one.State steering control law of the system transformed is designed by means of the Lyapunov stability theorem.Finally,numerical simulation experiments are given for a five-level energy quantum system.The comparison analysis of original system’s trajectory tracking with other method illustrates the advantage in control time of the method proposed.     

Design of Bionic Deformable Planetary-Wheeled Robots

In order to improve the robot＇s obstacle-climbing capability,a new bionic deformable planetary-wheeled robot based on the modular design was proposed. It mainly consisted of planetary wheels to surmount obstacles,a transformable chassis and an averagely segmentation body. The mobile system of the robot was mainly designed while considering the chassis transformability; a deformable four-bar linkage was adopted,which could realize the robot＇s wheelbase conversion from storing to driving. To improve the wheels＇ capability of obstacle-climbing,planetary wheels were adopted. At the same time,passive adaptation to various terrains was considered in the body design and an averaging system was included,which ensured that the planetary wheels could land simultaneously in rugged grounds. The robot＇s steering mode was analyzed and its kinematics model was built,which provided the theoretical evidence for studying the robot motion control.     

Study on video intelligent early warning and tracking system based on ARM

The protrusion of the planning of numerical intelligent early-warning and tracking system in this study which can ease triggerman ’ s work strength , lay the next generation intelligence supervision system foundation and expand effectively the video resources use etc .In the numerical intelligent early-warning matrix sub-system , the authors have designed a kind dual-core system which includes both ARM and DSP , and designed detailedly traffic dynamics affairs early-warning arithmetic which bases on that system .And then, this system will carry quickly on fixing the right position of license plate , correcting the inclination degree of license plate , and thinning it to get the number of this li-cense and severity grade .Secondly, in the rotated dome camera sub-system, the authors have de-signed three-dimensional trajectory mathematical model which makes use of a fuzzy PID controller to achieve the high-speed track.At last, Simulation shows that the proposed control method has high profile tracking precision , accuracy and robustness of the disturbance .     

A Hand-Eye Vision Measuring System for Articulate Robots

To make dynamic measurements for an articulate robot, a hand-eye vision measuring system is built up. This system uses two charge coupled device (CCD) cameras mounted on the end-effector of the robot. System analysis is based on the stereovision theory and line-matching technology, using a computer to evaluate the dynamic performance parameters of an articulate robot from the two images captured by the two cameras. The measuring procedure includes four stages, namely, calibration, sampling, image processing, and calculation. The path accuracy of an articulate industrial robot was measured by this system. The results show that this system is a low-cost, easy to operate, and simple system for the dynamic performance testing of articulate robots.     

Global localization of in-pipe robot based on ultra-long wave antenna array and global position system

A global localization system of in-pipe robot is introduced in this paper.Global position system(GPS)is applied to monitor the motion of robot along the whole pipeline which is equally divided intomany segments by tracking stations.The definite segment in which robot existing can be detected and thisis long-range localization.Ultra-long wave(ULW)is adopted to solve the problem of metallic shieldingand realize effective communication between inside and outside of pipeline.ULW emitter is carried byrobot.W...     

Distributed virtual reality system based on hybrid rendering

A distributed virtual reality system is presented based on a hybrid rendering scheme. This system first predicts the camera position of the next key frame in real-time according to the tendency of the current camera movement. The predicted key frame is then generated using a geometry-based algorithm. Finally, a real-time backward image warping algorithm is employed to create a smooth transition between the two adjacent key frames. Since the ren dering procedure can be divided into two independent steps, this system can be efficiently implemented in distributed mode.     

The design of the robot assisted magnetic resonance imaging guidance for minimally invasive surgery system

assisted Minimally lnvasive Surgery (MIS) is one of the rapidest developing directiorls in the current surgical reahn. Magnetic Resonance Imaging (MRI) is an optimal imaging modality which was applied in MIS in recent years. By combination of precise positioning to the target by intra-operative MRI guided surgery and dexterous motion by the robot, safe and smooth operation is expected to be peffurmed.An overview of the MR I-guided robotic system for MIS is offered. The design of the intra-operative MR scalmer system is described. The MR-compatible robotic system is carefully desigaled for safety and sterilization issues. This system unifies image information from open MRI, an optical endoscope and conventional vital-sign detectors. It helps and guides the surgeon and other medical staffs so they can make the right decisions. The high-performance manipulator can mimic the movement of the surgeon‘ s hand precisely. And the analysis for active and passive interventional surgical instrument tracking is provided.     

五自由度立体视觉机器人平台建模与物体跟踪

从立体视觉与机器人控制集成的角度出发,建立了一个主动立体视觉跟踪和定位系统,用于柔性装配线中装配零件的运动跟踪和装配工位的定位.该系统具有五个自由度,采用D-H方法得到五自由度立体视觉平台的运动学模型,并获得运动学的正解.该系统能在工作空间内迅速跟踪移动物体,并有较好的精度.通过该跟踪实验证明了模型的正确性和方法的有效性.     

基于机器视觉的目标跟随六足机器人

针对智能机器人控制领域的机器视觉中的目标跟踪问题与机器人运动控制方法研究,设计实现了一款基于机器视觉的目标跟随六足机器人,该系统的机器视觉目标跟踪算法为TLD(tracking-learning-detection)算法,采用stm32嵌入式处理器驱动32路舵机控制板控制机器人运动,并设计实现了一种小型自动火控装置用于锁定目标后的定位打击.该系统融合了六足机器人运动学和机器视觉目标跟踪技术,对六足机器人步态进行研究,根据目标视觉导航,精确锁定目标,对目标进行瞄准打击做出了详细的设计实现工作.     

基于视觉目标跟踪的侦察机器人导航方法

针对未知环境下侦察机器人的自主导航问题,提出了一种基于视觉目标跟踪的侦察机器人导航方法.首先利用二进制鲁棒独立元素特征(BRIEF)提取方法来检测和描述待跟踪视觉目标的局部不变特征点,在快速的特征匹配计算基础上提出由粗到精的目标定位两步法实现机器人导航过程中视觉目标的实时准确跟踪.其次对基于视觉目标跟踪的自主导航任务进行行为分解和实现,在行为中集成视觉目标跟踪算法.最后利用基于宏行为的机器人事务执行机制实现移向视觉目标的自主导航控制.实验结果表明,提出的方法能够使侦察机器人实时准确地跟踪视觉引导目标,在复杂障碍物环境下可靠地完成移向目标的自主导航任务.     

基于机器人操作系统的机器人自主追踪系统设计

为了解决移动机器人在机器人操作系统(robot operating system, ROS)中的人脸追踪问题,提出一种基于Siamese目标跟踪算法开发的追踪系统。首先,开发了追踪系统的硬件平台;其次,开发了Siamese跟踪算法,实现了对人脸目标的实时跟踪;最后,实现了导航系统与视觉系统的开发及融合,并通过实时记录的追踪数据与追踪曲线,分析了该系统的追踪性能。实验结果表明:该系统能够在ROS系统下实现对人脸目标的实时跟踪。     

3D Object Visual Tracking for the 220kV/330kV High-Voltage Live-Line Insulator Cleaning Robot

The 3D object visual tracking problem is studied for the robot vision system of the 220kV/330kV high-voltage live-line insulator cleaning robot. The SUSAN Edge based Scale Invariant Feature (SESIF) algorithm based 3D objects visual tracking is achieved in three stages: the first frame stage,tracking stage,and recovering stage. An SESIF based objects recognition algorithm is proposed to find initial location at both the first frame stage and recovering stage. An SESIF and Lie group based visual tracking algo...     

基于计算机视觉的排爆机器人设计

本设计基于单片机及计算机视觉技术,完成了一个新型排爆机器人的制作．单片机作为系统检测和控制的核心。负责控制机器人平台及摄像头云台．应用了最新的计算机视觉技术（OpenCV）,该技术可实现目标的识别,识别出爆炸物,从而控制摄像头云台实时跟踪,传回所需爆炸物的图像信息,达到使操作员简洁快速排爆的目的．     

一种并联机器人双目主动视觉监测平台避障方法的研究

一种基于圆型轨道的双目主动视觉监测平台的建立,解决了并联机器人的"盲"工作状态问题.然而在摄像机和并联机器人的加工位置之间常常有障碍物出现,为了避免摄像机的观测视线被遮挡,提出了一种在摄像机运动空间上求解障碍区域的方法.该方法中引入了最小面积凸包围盒算法,简化了求解过程,从而能实现视觉监测平台的快速避障.算例实验表明该方法是正确、有效的.     

基于全局视觉的服务机器人滑模轨迹跟踪控制

以轮式移动服务机器人的轨迹跟踪控制为研究对象,分别建立了轮式移动机器人在任务空间和视觉空间内的运动学模型,利用摄像机成像模型,实现了视觉空间到任务空间的速度向量变换.采用视觉伺服控制方法,构建了全局视觉轨迹跟踪控制结构.结合滑模控制思想,建立了具有全局渐近稳定的滑模轨迹跟踪控制器.以具有任意初始误差的圆和直线为参考轨迹,进行了仿真研究.仿真结果表明,所构建的系统控制器具有理想的响应速度和跟踪精确性.     

激光视觉机器人焊接中同时标定摄像机和手眼关系的方法

摄像机和机器人手眼标定是视觉机器人应用中的重要组成部分。针对激光视觉机器人焊接,根据机器人手眼矩阵和机器人末端对基坐标系的位姿矩阵的特定关系,提出了一种同时标定摄像机和机器人手眼的方法。用所设计的标定物对此方法进行标定试验,由非线性最小二乘优化法求解待标定的参数。从焊缝上取20个样点,利用标定结果恢复其三维空间坐标,并与实际三维坐标对比,平均误差为0.12mm,满足焊缝跟踪要求。     

基于三维视觉的焊接机器人轨迹跟踪

为改善激光焊接机器人的运动轨迹精度,提出一种基于视觉的机器人轨迹跟踪控制方法。该方法将摄像机安装于工业机器人末端构成视觉反馈的控制系统,采用阈值分割方法检测出激光焦点,利用灰度投影积分方法快速检测出焊缝线,然后以修正的线-线匹配和立体视觉技术计算出激光焦点和焊缝线的空间位置,得到激光焦点相对于焊缝线的误差,再结合机器人运动学原理控制机器人实时运动以消除此误差。实验结果表明该方法能够有效提高机器人轨迹精度。