A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning...A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning level, a motion control level and a servo control level. The last three levels form a local real-time open robot controller, which realizes motion planning and motion control of a robot. A camera calibration method based on the relative movement of the end-effector connected to a robot is proposed and a method for tracking weld seam based on the structured light stereovision is provided. Combining the parameters of the cameras and laser plane, three groups of position values in Cartesian space are obtained for each feature point in a stripe projected on the weld seam. The accurate three-dimensional position of the edge points in the weld seam can be calculated from the obtained parameters with an information fusion algorithm. By calculating the weld seam parameter from position and image data, the movement parameters of the robot used for tracking can be determined. A swing welding experiment of type V groove weld is successfully conducted, the results of which show that the system has high resolution seam tracking in real-time, and works stably and efficiently.展开更多
In IBVS (image based visual servoing), the error signal in image space should be transformed into the control signal in the input space quickly. To avoid the iterative adjustment and complicated inverse solution of im...In IBVS (image based visual servoing), the error signal in image space should be transformed into the control signal in the input space quickly. To avoid the iterative adjustment and complicated inverse solution of image Jacobian, CMAC (cerebellar model articulation controller) neural network is inserted into visual servo control loop to implement the nonlinear mapping. Two control schemes are used. Simulation results on two schemes are provided, which show a better tracking precision and stability can be achieved using scheme 2.展开更多
This article describes the development and implementations of a novel software platform that supports real-time, science-based policy making on air quality through a user-friendly interface. The software, RSM-VAT, use...This article describes the development and implementations of a novel software platform that supports real-time, science-based policy making on air quality through a user-friendly interface. The software, RSM-VAT, uses a response surface modeling(RSM) methodology and serves as a visualization and analysis tool(VAT) for three-dimensional air quality data obtained by atmospheric models. The software features a number of powerful and intuitive data visualization functions for illustrating the complex nonlinear relationship between emission reductions and air quality benefits. The case study of contiguous U.S.demonstrates that the enhanced RSM-VAT is capable of reproducing the air quality model results with Normalized Mean Bias 〈 2% and assisting in air quality policy making in near real time.展开更多
This paper presents an effective power scheduling strategy for energy efficient multiple objects identification and association. The proposed method can be utilized in many heterogeneous surveillance systems with visu...This paper presents an effective power scheduling strategy for energy efficient multiple objects identification and association. The proposed method can be utilized in many heterogeneous surveillance systems with visual sensors and RFID (radio-frequency identification) readers where energy efficiency as well as association rate are critical Multiple objects positions and trajectory estimates are used to decide the power level of RFID readers. Several key parameters including the time windows and the distance separations are defined in the method in order to minimize the effects of RFID coverage uncertainty. The power cost model is defined and incorporated into the method to minimize energy consumption and to maximize association performance. The proposed method computes the power cost using the range of the outermost position for possible single association and group associations at every sampling time. An RFID reader is activated with the proper coverage range when the power cost for the current time is lower than the power cost for the next time sample. The simplicity of the power cost model relieves the problematic combinatorial comparisons in multiple object cases. The performance comparison simulation with the minimum and maximum energy consumption shows that the proposed method achieves fast single associations with less energy consumption. Finally, the realistic comparison simulation with the fixed range RFID readers demonstrates that the proposed method outperforms the fixed ranges in terms of single association rate and energy consumption.展开更多
An automated approach is proposed for a microassembly task, which is to insert a 10 μm diameter glass tube into a 12 μm diameter hole in a silicon substrate, and bond them together with ultraviolet (UV) curable ad...An automated approach is proposed for a microassembly task, which is to insert a 10 μm diameter glass tube into a 12 μm diameter hole in a silicon substrate, and bond them together with ultraviolet (UV) curable adhesive. Two three-degree-of-freedom micromanipulators axe used to move the glass tube and the dispensing needle, respectively. Visual feedback is provided by an optical microscope. The angle of the microscope axis is precisely calibrated using an autofocus strategy. Robust image segmentation method and feature extraction algorithm are developed to obtain the features of the hole, the glass tube and the dispensing needle. Visual servo control is employed to achieve accurate aligning for the tube and the hole. Automated adhesive dispensing is used to bond the glass tube and the silicon substrate together after the insertion. On-line monitoring ensures that the diameter of the adhesive spot is within a desired range. Experimental results demonstrate the effectiveness of the proposed strategy.展开更多
基金This work was supported by the National High Technology Research and Development Program of China under Grant 2002AA422160 by the National Key Fundamental Research and the Devel-opment Project of China (973) under Grant 2002CB312200.
文摘A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning level, a motion control level and a servo control level. The last three levels form a local real-time open robot controller, which realizes motion planning and motion control of a robot. A camera calibration method based on the relative movement of the end-effector connected to a robot is proposed and a method for tracking weld seam based on the structured light stereovision is provided. Combining the parameters of the cameras and laser plane, three groups of position values in Cartesian space are obtained for each feature point in a stripe projected on the weld seam. The accurate three-dimensional position of the edge points in the weld seam can be calculated from the obtained parameters with an information fusion algorithm. By calculating the weld seam parameter from position and image data, the movement parameters of the robot used for tracking can be determined. A swing welding experiment of type V groove weld is successfully conducted, the results of which show that the system has high resolution seam tracking in real-time, and works stably and efficiently.
基金This project is supported by National Natural Science Foundation of China (No.59990470).
文摘In IBVS (image based visual servoing), the error signal in image space should be transformed into the control signal in the input space quickly. To avoid the iterative adjustment and complicated inverse solution of image Jacobian, CMAC (cerebellar model articulation controller) neural network is inserted into visual servo control loop to implement the nonlinear mapping. Two control schemes are used. Simulation results on two schemes are provided, which show a better tracking precision and stability can be achieved using scheme 2.
基金Financial and data support for this work is provided by the U.S. Environmental Protection Agency (No. GS-10F-0205T)partly supported by the funding of Guangdong Provincial Key Laboratory of Atmospheric Environment and Pollution Control (No. h2xj D612004 Ш )+1 种基金the funding of State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex (No. SCAPC201308)the project of Atmospheric Haze Collaboration Control Technology Design (No. XDB05030400) from Chinese Academy of Sciences
文摘This article describes the development and implementations of a novel software platform that supports real-time, science-based policy making on air quality through a user-friendly interface. The software, RSM-VAT, uses a response surface modeling(RSM) methodology and serves as a visualization and analysis tool(VAT) for three-dimensional air quality data obtained by atmospheric models. The software features a number of powerful and intuitive data visualization functions for illustrating the complex nonlinear relationship between emission reductions and air quality benefits. The case study of contiguous U.S.demonstrates that the enhanced RSM-VAT is capable of reproducing the air quality model results with Normalized Mean Bias 〈 2% and assisting in air quality policy making in near real time.
基金supported by the International Collaborative Research and Development Program of the Ministry of Knowledge Economy(MKE)of Korea under the Grant No.2010-TD-300802-002
文摘This paper presents an effective power scheduling strategy for energy efficient multiple objects identification and association. The proposed method can be utilized in many heterogeneous surveillance systems with visual sensors and RFID (radio-frequency identification) readers where energy efficiency as well as association rate are critical Multiple objects positions and trajectory estimates are used to decide the power level of RFID readers. Several key parameters including the time windows and the distance separations are defined in the method in order to minimize the effects of RFID coverage uncertainty. The power cost model is defined and incorporated into the method to minimize energy consumption and to maximize association performance. The proposed method computes the power cost using the range of the outermost position for possible single association and group associations at every sampling time. An RFID reader is activated with the proper coverage range when the power cost for the current time is lower than the power cost for the next time sample. The simplicity of the power cost model relieves the problematic combinatorial comparisons in multiple object cases. The performance comparison simulation with the minimum and maximum energy consumption shows that the proposed method achieves fast single associations with less energy consumption. Finally, the realistic comparison simulation with the fixed range RFID readers demonstrates that the proposed method outperforms the fixed ranges in terms of single association rate and energy consumption.
基金supported by National Natural Science Foundation of China under(Nos.61227804 and 61105036)
文摘An automated approach is proposed for a microassembly task, which is to insert a 10 μm diameter glass tube into a 12 μm diameter hole in a silicon substrate, and bond them together with ultraviolet (UV) curable adhesive. Two three-degree-of-freedom micromanipulators axe used to move the glass tube and the dispensing needle, respectively. Visual feedback is provided by an optical microscope. The angle of the microscope axis is precisely calibrated using an autofocus strategy. Robust image segmentation method and feature extraction algorithm are developed to obtain the features of the hole, the glass tube and the dispensing needle. Visual servo control is employed to achieve accurate aligning for the tube and the hole. Automated adhesive dispensing is used to bond the glass tube and the silicon substrate together after the insertion. On-line monitoring ensures that the diameter of the adhesive spot is within a desired range. Experimental results demonstrate the effectiveness of the proposed strategy.