Manual handling is less efficient and sometimes even hazardous to humans in many areas,for example,agriculture.Using robots in those areas not only avoids human contact with such dangerous agricultural materials but a...Manual handling is less efficient and sometimes even hazardous to humans in many areas,for example,agriculture.Using robots in those areas not only avoids human contact with such dangerous agricultural materials but also improves working efficiency.The motion of a robot is controlled using a technique called visual servoing that uses feedback information extracted from a vision sensor.In this study,a visual servoing method was proposed based on learning features and image moments for 3D targets to solve the problem of image moment-based visual servoing.A Gaussian process regression model was used to map the relationship between the image moment invariants and the rotational angles around the X-and Y-axes of the camera frame(denoted asγandβ).To obtain maximal decoupled structure and minimal nonlinearities of the image Jacobian matrix,it was assumed two image moment features,which are linearly proportional toγandβ.In addition to the other four standardized image moment features,a 6-DOF image moment-based visual servoing controller for the agricultural material handling robot was designed.Using this method,the problem of visual servoing task failure due to the singularity of the Jacobian matrix was solved,and it also had a better convergence effect for the part of the target image beyond the field of view and large displacement visual servoing system.The proposed algorithm was validated by carrying out experiments tracking bagged flour in a six-degree-of-freedom robotic system.The final displacement positioning accuracy reached the millimeter level and the direction angle positioning accuracy reached the level of 0.1°.The method still has a certain convergence effect when the target image is beyond the field of view.The experimental results have been presented to show the adequate behavior of the presented approach in robot handling operations.It provides reference for the application of visual servoing technology in the field of agricultural robots and has important theoretical significance and practical value.展开更多
Abilities of agricultural waste materials (walnut shell-WS, rice husk-RH, and peanut hull-PH) were tested as adsorbents for the adsorption of Cr(Ⅵ) from aqueous solution. Batch adsorption experiments were carried out...Abilities of agricultural waste materials (walnut shell-WS, rice husk-RH, and peanut hull-PH) were tested as adsorbents for the adsorption of Cr(Ⅵ) from aqueous solution. Batch adsorption experiments were carried out to study the adsorption kinetics mechanism of Cr(Ⅵ) effect of adsorbent dosage, pH, contact time, and temperature. The best results are obtained at 15g/L adsorbent concentration, 60min contact time, 298K temperature, and 50mg/L adsorbate initial concentration at pH 2. The adsorption isotherms, using initial concentrations of Cr(Ⅵ) between 10 and 500mg/L for the Cr(Ⅵ) removal, show the maximum metal uptake capacities of adsorbent were 10.48, 6.71, and 8.54mg/g for WS, RH, and PH, respectively. And the adsorption data fitted well to the Langmuir adsorption isotherm for WS, RH, and PH with correlation coefficients of 0.9862, 0.9723, and 0.9714, respectively. Moreover, the FTIR analysis of WS, RH, and PH before and after adsorption of Cr(Ⅵ) suggested that Cr ions were combined to some functional groups of compounds contained in these materials.展开更多
基金supported by the Twelfth Five-Year National Science and Technology Support Program(Grant No.2015BAD18B03).
文摘Manual handling is less efficient and sometimes even hazardous to humans in many areas,for example,agriculture.Using robots in those areas not only avoids human contact with such dangerous agricultural materials but also improves working efficiency.The motion of a robot is controlled using a technique called visual servoing that uses feedback information extracted from a vision sensor.In this study,a visual servoing method was proposed based on learning features and image moments for 3D targets to solve the problem of image moment-based visual servoing.A Gaussian process regression model was used to map the relationship between the image moment invariants and the rotational angles around the X-and Y-axes of the camera frame(denoted asγandβ).To obtain maximal decoupled structure and minimal nonlinearities of the image Jacobian matrix,it was assumed two image moment features,which are linearly proportional toγandβ.In addition to the other four standardized image moment features,a 6-DOF image moment-based visual servoing controller for the agricultural material handling robot was designed.Using this method,the problem of visual servoing task failure due to the singularity of the Jacobian matrix was solved,and it also had a better convergence effect for the part of the target image beyond the field of view and large displacement visual servoing system.The proposed algorithm was validated by carrying out experiments tracking bagged flour in a six-degree-of-freedom robotic system.The final displacement positioning accuracy reached the millimeter level and the direction angle positioning accuracy reached the level of 0.1°.The method still has a certain convergence effect when the target image is beyond the field of view.The experimental results have been presented to show the adequate behavior of the presented approach in robot handling operations.It provides reference for the application of visual servoing technology in the field of agricultural robots and has important theoretical significance and practical value.
基金National Natural Science Foundations of China(No.40771185,No.51004053)Li Shang-da Scientific Research Foundation of Jimei University,China(No.ZC2011015)
文摘Abilities of agricultural waste materials (walnut shell-WS, rice husk-RH, and peanut hull-PH) were tested as adsorbents for the adsorption of Cr(Ⅵ) from aqueous solution. Batch adsorption experiments were carried out to study the adsorption kinetics mechanism of Cr(Ⅵ) effect of adsorbent dosage, pH, contact time, and temperature. The best results are obtained at 15g/L adsorbent concentration, 60min contact time, 298K temperature, and 50mg/L adsorbate initial concentration at pH 2. The adsorption isotherms, using initial concentrations of Cr(Ⅵ) between 10 and 500mg/L for the Cr(Ⅵ) removal, show the maximum metal uptake capacities of adsorbent were 10.48, 6.71, and 8.54mg/g for WS, RH, and PH, respectively. And the adsorption data fitted well to the Langmuir adsorption isotherm for WS, RH, and PH with correlation coefficients of 0.9862, 0.9723, and 0.9714, respectively. Moreover, the FTIR analysis of WS, RH, and PH before and after adsorption of Cr(Ⅵ) suggested that Cr ions were combined to some functional groups of compounds contained in these materials.
