针对风电叶片,设计了基于图像的裂纹检测系统。采用Harris-SUSAN算法提取叶片图像中的角点,利用SIFT算法确定角点的特征描述子;建立K-D树(K-Dimension Tree),并利用BBF算法(Best Bin First)寻找近邻点和次近邻点,基于欧式距离进行特征...针对风电叶片,设计了基于图像的裂纹检测系统。采用Harris-SUSAN算法提取叶片图像中的角点,利用SIFT算法确定角点的特征描述子;建立K-D树(K-Dimension Tree),并利用BBF算法(Best Bin First)寻找近邻点和次近邻点,基于欧式距离进行特征粗匹配。然后,采用随机抽样一致算法(RANSAC)进行特征精匹配,剔除错误点对,提高图像拼接质量;用图像的投影特征对横向、纵向和网状裂纹进行分类并计算裂纹参数;通过爬壁机器人搭载工业相机进行系统测试。实验表明,系统可实现裂纹图像拼接和裂纹参数计算。展开更多
Master-slaver dual-leg coordination control was proposed for the biped robot with heterogeneous legs(BRHL),in order to reduce gait planning and to get a good tracking performance.The key to coordination is gait trajec...Master-slaver dual-leg coordination control was proposed for the biped robot with heterogeneous legs(BRHL),in order to reduce gait planning and to get a good tracking performance.The key to coordination is gait trajectory tracking control.Bionic knee joint with closed-chain 4links makes robot walking more humanlike,but the model is complex and tracking of the bionic leg to the artificial leg is more difficult.P-type open-closed-loop iterative learning control(ILC)is not based on model parameters and has advantages in both open-loop and closed-loop ILC;so this paper proposes a complex robot gait trajectory tracking.The convergence is proved by using functional analysis and the stability condition is given.A tracking simulation based on the virtual prototype was done.The results show that this control strategy and algorithm are effective and robust,and the convergence speed is better than separate open-loop or closed-loop ILC.展开更多
文摘针对风电叶片,设计了基于图像的裂纹检测系统。采用Harris-SUSAN算法提取叶片图像中的角点,利用SIFT算法确定角点的特征描述子;建立K-D树(K-Dimension Tree),并利用BBF算法(Best Bin First)寻找近邻点和次近邻点,基于欧式距离进行特征粗匹配。然后,采用随机抽样一致算法(RANSAC)进行特征精匹配,剔除错误点对,提高图像拼接质量;用图像的投影特征对横向、纵向和网状裂纹进行分类并计算裂纹参数;通过爬壁机器人搭载工业相机进行系统测试。实验表明,系统可实现裂纹图像拼接和裂纹参数计算。
基金supported by the National Natural Science Foundation of China(Grant No.60475036).
文摘Master-slaver dual-leg coordination control was proposed for the biped robot with heterogeneous legs(BRHL),in order to reduce gait planning and to get a good tracking performance.The key to coordination is gait trajectory tracking control.Bionic knee joint with closed-chain 4links makes robot walking more humanlike,but the model is complex and tracking of the bionic leg to the artificial leg is more difficult.P-type open-closed-loop iterative learning control(ILC)is not based on model parameters and has advantages in both open-loop and closed-loop ILC;so this paper proposes a complex robot gait trajectory tracking.The convergence is proved by using functional analysis and the stability condition is given.A tracking simulation based on the virtual prototype was done.The results show that this control strategy and algorithm are effective and robust,and the convergence speed is better than separate open-loop or closed-loop ILC.
