A Laser Calibration Device for Mini Robots

2015 ◽  
Author(s):  
Giovanni Legnani ◽  
Andrea Gabrielli ◽  
Abdelmajid Ousdad ◽  
Irene Fassi ◽  
Serena Ruggeri ◽  
...  
Keyword(s):  
Vision System ◽  
Laser Device ◽  
Rotating Platform ◽  
Surface Scanning ◽  
System A ◽  
Working Cell ◽  
Calibration Device ◽  
Laser Calibration ◽  
Laser Triangulation Sensor ◽  
Triangulation Sensor

The paper describes a new laser device conceived for surface scanning and more specifically for mini robot calibrations. The system is based on a laser triangulation sensor which is moved by an extremely accurate device to collect a set of 3D points lying on surfaces. If the surfaces belong to the gripper of a robot that must be calibrated and a sufficient number of points of this gripper are collected, the pose of the robot can be measured. If the robot is moved to several different configurations and the gripper poses are measured for each of them, it is possible to reconstruct the kinematics of the robot and calibrate it. The paper presents the theory and describes the design, tests and calibration of the laser instrumentation with a focus on the first experimental results. These results are obtained in a working cell including a vision system, a 4-dof (xyz,θ) mini robot and a 2-dof rotating platform.

scholarly journals Measurement of Gem Colour Using a Computer Vision System: A Case Study with Jadeite-Jade

Minerals ◽  
2021 ◽  
Vol 11 (8) ◽  
pp. 791
Author(s):  
Sufei Zhang ◽  
Ying Guo
Keyword(s):  
Computer Vision ◽  
Regression Model ◽  
Vision System ◽  
Expert Group ◽  
Group Test ◽  
System A ◽  
Real Objects ◽  
Practical Tool ◽  
Almost All

This paper introduces computer vision systems (CVSs), which provides a new method to measure gem colour, and compares CVS and colourimeter (CM) measurements of jadeite-jade colour in the CIELAB space. The feasibility of using CVS for jadeite-jade colour measurement was verified by an expert group test and a reasonable regression model in an experiment involving 111 samples covering almost all jadeite-jade colours. In the expert group test, more than 93.33% of CVS images are considered to have high similarities with real objects. Comparing L*, a*, b*, C*, h, and ∆E* (greater than 10) from CVS and CM tests indicate that significant visual differences exist between the measured colours. For a*, b*, and h, the R2 of the regression model for CVS and CM was 90.2% or more. CVS readings can be used to predict the colour value measured by CM, which means that CVS technology can become a practical tool to detect the colour of jadeite-jade.

BEHAVIOR-BASED ACTIVE VISION

1994 ◽  
Vol 08 (06) ◽  
pp. 1493-1526
Author(s):  
CLAUDIO S. PINHANEZ
Keyword(s):  
Vision System ◽  
Active Vision ◽  
Implementation Process ◽  
High Concentration ◽  
Subsumption Architecture ◽  
System A ◽  
Saccadic Movement ◽  
Building Process ◽  
Sensor Structure ◽  
Behavior Based

A vision system was built using a behavior-based model, the subsumption architecture. The so-called active eye moves the camera’s axis through the environment, detecting areas with high concentration of edges, with the help of a kind of saccadic movement. The design and implementation process is detailed in the article, paying particular attention to the fovea-like sensor structure which enables the active eye to efficiently use local information to control its movements. Numerical measures for the eye’s behavior were developed, and applied to evaluate the incremental building process and the effects of the saccadic movements on the whole system. A higher level behavior was also implemented, with the purpose of detecting long straight edges in the image, producing pictures similar to hand drawings. Robustness and efficiency problems are addressed at the end of the paper. The results seem to prove that interesting behaviors can be achieved using simple vision methods and algorithms, if their results are properly interconnected and timed.

Robotic system design and development for automated dismantling of PCB waste

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Ioan Doroftei ◽  
Daniel Chirita ◽  
Ciprian Stamate ◽  
Stelian Cazan ◽  
Carlos Pascal ◽  
...  
Keyword(s):  
Design Methodology ◽  
Printed Circuit Board ◽  
Vision System ◽  
Electronic Waste ◽  
Robotic System ◽  
Circuit Board ◽  
Short Introduction ◽  
Content Type ◽  
Printed Circuit ◽  
System A

Purpose The mass electronics sector is one of the most critical sources of waste, in terms of volume and content with dangerous effects on the environment. The purpose of this study is to provide an automated and accurate dismantling system that can improve the outcome of recycling. Design/methodology/approach Following a short introduction, the paper details the implementation layout and highlights the advantages of using a custom architecture for the automated dismantling of printed circuit board waste. Findings Currently, the amount of electronic waste is impressive while manual dismantling is a very common and non-efficient approach. Designing an automatic procedure that can be replicated, is one of the tasks for efficient electronic waste recovery. This paper proposes an automated dismantling system for the advanced recovery of particular waste materials from computer and telecommunications equipment. The automated dismantling architecture is built using a robotic system, a custom device and an eye-to-hand configuration for a stereo vision system. Originality/value The proposed approach is innovative because of its custom device design. The custom device is built using a programmable screwdriver combined with an innovative rotary dismantling tool. The dismantling torque can be tuned empirically.

3D Sole Mould Surface Scanning Based on a Computer Vision System

1995 ◽  
Vol 28 (24) ◽  
pp. 311-315
Author(s):  
F.J. Escobar Salas ◽  
S. Madrid Mota ◽  
L.M. Tomás Balibrea
Keyword(s):  
Computer Vision ◽  
Vision System ◽  
Computer Vision System ◽  
Surface Scanning ◽  
Mould Surface

Dead Time Compensation for a Novel Positioning System via Predictive Controls and Virtual Intermittent Setpoints

2009 ◽  
Author(s):  
Chan Wong ◽  
Laine Mears ◽  
John Ziegert
Keyword(s):  
Predictive Control ◽  
Dead Time ◽  
Vision System ◽  
Liquid Crystal Display ◽  
Digital Camera ◽  
Motion Controller ◽  
New Class ◽  
System A ◽  
Time Problem ◽  
Dead Time Compensation

Predictive control and intermittent setpoints are proposed to overcome the dead time that problem occurs in a new class of high precision position sensor for manufacturing equipment. In place of a rotary encoder or linear glass scale, a combination of a digital camera and a Liquid Crystal Display (LCD) screen is used to actively monitor two dimensional position changes on an XY table. In order to achieve precise spatial resolution, an actively-controlled planar pixel matrix is used as the tracking target for the system. A digital camera senses the location of the moving image displayed on the LCD screen and provides 2 dimensional position feedback. Thus, the timing and the quality of the visual feedback to the controller are the significant factors to determine the accuracy of the system. Due to the long image processing time, the vision feedback of the actual position of the stage is delayed. At the same time, with the slow frame capturing rates of the camera, dead time occurs between consecutive acquisitions of feedback signals from the vision system to the motion controller, which is detrimental to the performance of the system. Hence, studies and detailed analysis on different dead time compensation strategies and path planning algorithms have been performed to select the optimal strategy to address these challenges. Based on simulation results, a proposed method for integrating predictive control with virtual intermittent setpoints algorithm to mitigate dead time problem is presented in the final section of the paper.

Design an Autonomous Excavation System for Hydraulic Excavators

2013 ◽  
Vol 437 ◽  
pp. 471-474
Author(s):  
Zhuo Wu ◽  
Ke Yi Sun ◽  
Ming Song ◽  
Min Zheng
Keyword(s):  
Research And Development ◽  
Vision System ◽  
Rapid Change ◽  
Information Control ◽  
3D Vision ◽  
Construction Automation ◽  
System A ◽  
Operator Interface ◽  
3D Information ◽  
3D Measurement System

Shortages of skilled labor,extensive dangerous work,and technological advances are forcing rapid change in the construction industry, thus motivating construction automation,research and development of unmanned execution technologies for use to enhance safety has been undertaken.This paper presents an outline of research and development concerning automation of hydraulic excavator performed by applying a 3D vision system,3D information control system, a safety system, a 3D measurement system,and an operator interface communication system.As a result of the verification of the excavation motion suggest the technical possibility of achieving autonomous robotic excavation in moving toward construction automation.

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