In the technique of robot-assisted invasive surgery, high quality image is a key factor of the visual navigation system. In this paper, the authors have made a study of the image processing in visual system. Based on ...In the technique of robot-assisted invasive surgery, high quality image is a key factor of the visual navigation system. In this paper, the authors have made a study of the image processing in visual system. Based on the analysis of plentiful demising methods, they proposed a new method （S-AM-W） which oxnbines Adaptive Median filter and Wioaer filter to renmve the main noises （Salt ＆ Pepper noise and Gattssian noise）. The sinlflation results show that it is simple, well real time, and has high Peak Signal-to-Noise Ratio （PSNR）. It was found that the new method is effective and efficient in dealing with medical image of background noise.展开更多
The study was aimed to identify the problems and also to suggest some solutions for robotic systems applications in harvesting of kiwi and apples. The results obtained show that physicomechanical properties of the har...The study was aimed to identify the problems and also to suggest some solutions for robotic systems applications in harvesting of kiwi and apples. The results obtained show that physicomechanical properties of the harvested fruits had an effect on the use of robotic systems. Parameters such as weight, height, width, thickness and surface area were identified as the main effect in robotic fruit harvesting. Image processing techniques also had direct effect on robotic systems operation which therefore requires careful selection procedure to achieve results accuracy. It was observed that the C# programming language used in robotic systems fruit harvesting should be parallel with the image processing to ensure accurate conversion of kinematic calculation, system input parameters and constant values. The use of hobby-type parts of a robot in the prototype study showed reliable results. However, to ensure functionality of the robotic systems application, industrial robots and servo engines should be used. It was also observed that the use of a gripper for picking the fruits from the branch must The engines that make the system work should be strong and the be made considering the physicomechanical properties of the fruit. cutting system should also be appropriate.展开更多
This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information...This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information gathering robotic system in unknown environment. Here, each mobile robot is not possible to know its own position. It can only estimate its own position by using the measurement value including white noise acquired by two omnidirectional cameras mounted on it. Each mobile robot is able to obtain the distance to those robots observed from the images of two omnidirectional cameras while making calibration during moving but not in advance. Simulation of three robots moving straightly shows the effectiveness of the proposed algorithm.展开更多
One being developed automatic sweep robot, need to estimate if anyone is on a certain range of road ahead then automatically adjust running speed, in order to ensure work efficiency and operation safety. This paper pr...One being developed automatic sweep robot, need to estimate if anyone is on a certain range of road ahead then automatically adjust running speed, in order to ensure work efficiency and operation safety. This paper proposed a method using face detection to predict the data of image sensor. The experimental results show that, the proposed algorithm is practical and reliable, and good outcome have been achieved in the application of instruction robot.展开更多
A motion control system for a parallel robot with image positioning was implemented in this paper. The system is composed of a machine vision device, a delta robot and a linear stage, and the concerned hardware, softw...A motion control system for a parallel robot with image positioning was implemented in this paper. The system is composed of a machine vision device, a delta robot and a linear stage, and the concerned hardware, software and working methods were developed completely and verified successfully. During the phase of machine vision, the image of object was captured by camera, and then the process of smoothing filter, threshold algorithm and edge detection, was applied so as to obtain the edges of image. Finally, DV-GHT （Displacement Vector Generalized Hough Transformation） algorithm was used to recognize the center of multiple and arbitrary 2-D shapes objects. After the center of objects was recognized, the objects were delivered to the workspace of a delta robot by a motorized stage. Through the coordinate transformation between the camera and the robot system, the information of center can be converted to control commands for every working motors. Following, the delta robot picks up objects to the specified position sequentially by the trajectory planning and tracking controls. The software of C＋＋/CLI is used to achieve the phase of motion controls and the program of DV-GHT is used to detect and conduct the positions for four different characteristics of the objects simultaneously so as to indicate the delta robot to classify the objects successfully.展开更多
The article presents multi-pattern formation exchange of mobile robots according to the image signals, programs motion paths using A＊ searching algorithm, and avoids the collision points of motion paths. The system c...The article presents multi-pattern formation exchange of mobile robots according to the image signals, programs motion paths using A＊ searching algorithm, and avoids the collision points of motion paths. The system contains an image system, a grid based motion platform, some wireless Radio Frequency （RF） modules and five mobile robots. We use image recognition algorithm to classify variety pattern formation according to variety Quick Response （QR） code symbols on the user interface of the supervised computer. The supervised computer controls five mobile robots to execute formation exchange and presents the movement scenario on the grid based motion platform. We have been developed some pattern formations according to game applications, such as long snake pattern formation, phalanx pattern formation, crane wing pattern formation, sword pattern formation, cone pattern formation, sward pattern tbrmation, T pattern formation, rectangle pattern formation and so on. We develop the user interface of the multi-robot system to program motion paths for variety pattern formation exchange according to the minimum displacement. In the experimental results, the supervised computer recognizes the various QR-code symbols using image system and decides which pattern formation to be selected on real-time. Mobile robots can receive the pattern formation command from the supervised computer, present the movement scenario from the original pattern formation to the assigned pattern formation on the motion platform, and avoid other mobile robots on real-time.展开更多
A method of image morphology in detecting and extracting the initial welding position during the autonomous welding process is described.During the process,firstly visual sensing technology is used to capture the stra...A method of image morphology in detecting and extracting the initial welding position during the autonomous welding process is described.During the process,firstly visual sensing technology is used to capture the straight seam image,and secondly the image edges are detected by morphological corrosion edge detection algorithm,with which can retain the critical information while filter other interferences effectively at the same time.Then morphological processing algorithm is used to conduct the direction of filter by selecting the multidirectional linear structuring elements and finally get the initial weld position point coordinates with the Hough transform.The algorithm is simple,rapid,self-adaptability with high accuracy for interferences except long lines so as to accomplish the entire process of detecting the initial welding position.It can meet the practical demands of automatic guidance for robotic welding.展开更多
Visual imagery constitutes the most important sensory information for humans.The entire field of acquiring,analyzing and synthesizing visual data by means of computers is called visual computing.It has an extraordinar...Visual imagery constitutes the most important sensory information for humans.The entire field of acquiring,analyzing and synthesizing visual data by means of computers is called visual computing.It has an extraordinarily wide range of applications,including for example:industrial quality control,street view and driver assistance systems,robot navigation,multimedia systems,and computer games.展开更多
基金supported by the Henan Province Innovation and Technology Fund for Outstanding Scholarship(0421000500)the Key Scientific Research Projects of Henan University of Technology(09XZD008)the support of the Chinese National Programs for Hi-Tech R&D(2007AA704339)
文摘In the technique of robot-assisted invasive surgery, high quality image is a key factor of the visual navigation system. In this paper, the authors have made a study of the image processing in visual system. Based on the analysis of plentiful demising methods, they proposed a new method （S-AM-W） which oxnbines Adaptive Median filter and Wioaer filter to renmve the main noises （Salt ＆ Pepper noise and Gattssian noise）. The sinlflation results show that it is simple, well real time, and has high Peak Signal-to-Noise Ratio （PSNR）. It was found that the new method is effective and efficient in dealing with medical image of background noise.
文摘The study was aimed to identify the problems and also to suggest some solutions for robotic systems applications in harvesting of kiwi and apples. The results obtained show that physicomechanical properties of the harvested fruits had an effect on the use of robotic systems. Parameters such as weight, height, width, thickness and surface area were identified as the main effect in robotic fruit harvesting. Image processing techniques also had direct effect on robotic systems operation which therefore requires careful selection procedure to achieve results accuracy. It was observed that the C# programming language used in robotic systems fruit harvesting should be parallel with the image processing to ensure accurate conversion of kinematic calculation, system input parameters and constant values. The use of hobby-type parts of a robot in the prototype study showed reliable results. However, to ensure functionality of the robotic systems application, industrial robots and servo engines should be used. It was also observed that the use of a gripper for picking the fruits from the branch must The engines that make the system work should be strong and the be made considering the physicomechanical properties of the fruit. cutting system should also be appropriate.
文摘This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information gathering robotic system in unknown environment. Here, each mobile robot is not possible to know its own position. It can only estimate its own position by using the measurement value including white noise acquired by two omnidirectional cameras mounted on it. Each mobile robot is able to obtain the distance to those robots observed from the images of two omnidirectional cameras while making calibration during moving but not in advance. Simulation of three robots moving straightly shows the effectiveness of the proposed algorithm.
文摘One being developed automatic sweep robot, need to estimate if anyone is on a certain range of road ahead then automatically adjust running speed, in order to ensure work efficiency and operation safety. This paper proposed a method using face detection to predict the data of image sensor. The experimental results show that, the proposed algorithm is practical and reliable, and good outcome have been achieved in the application of instruction robot.
文摘A motion control system for a parallel robot with image positioning was implemented in this paper. The system is composed of a machine vision device, a delta robot and a linear stage, and the concerned hardware, software and working methods were developed completely and verified successfully. During the phase of machine vision, the image of object was captured by camera, and then the process of smoothing filter, threshold algorithm and edge detection, was applied so as to obtain the edges of image. Finally, DV-GHT （Displacement Vector Generalized Hough Transformation） algorithm was used to recognize the center of multiple and arbitrary 2-D shapes objects. After the center of objects was recognized, the objects were delivered to the workspace of a delta robot by a motorized stage. Through the coordinate transformation between the camera and the robot system, the information of center can be converted to control commands for every working motors. Following, the delta robot picks up objects to the specified position sequentially by the trajectory planning and tracking controls. The software of C＋＋/CLI is used to achieve the phase of motion controls and the program of DV-GHT is used to detect and conduct the positions for four different characteristics of the objects simultaneously so as to indicate the delta robot to classify the objects successfully.
文摘The article presents multi-pattern formation exchange of mobile robots according to the image signals, programs motion paths using A＊ searching algorithm, and avoids the collision points of motion paths. The system contains an image system, a grid based motion platform, some wireless Radio Frequency （RF） modules and five mobile robots. We use image recognition algorithm to classify variety pattern formation according to variety Quick Response （QR） code symbols on the user interface of the supervised computer. The supervised computer controls five mobile robots to execute formation exchange and presents the movement scenario on the grid based motion platform. We have been developed some pattern formations according to game applications, such as long snake pattern formation, phalanx pattern formation, crane wing pattern formation, sword pattern formation, cone pattern formation, sward pattern tbrmation, T pattern formation, rectangle pattern formation and so on. We develop the user interface of the multi-robot system to program motion paths for variety pattern formation exchange according to the minimum displacement. In the experimental results, the supervised computer recognizes the various QR-code symbols using image system and decides which pattern formation to be selected on real-time. Mobile robots can receive the pattern formation command from the supervised computer, present the movement scenario from the original pattern formation to the assigned pattern formation on the motion platform, and avoid other mobile robots on real-time.
文摘A method of image morphology in detecting and extracting the initial welding position during the autonomous welding process is described.During the process,firstly visual sensing technology is used to capture the straight seam image,and secondly the image edges are detected by morphological corrosion edge detection algorithm,with which can retain the critical information while filter other interferences effectively at the same time.Then morphological processing algorithm is used to conduct the direction of filter by selecting the multidirectional linear structuring elements and finally get the initial weld position point coordinates with the Hough transform.The algorithm is simple,rapid,self-adaptability with high accuracy for interferences except long lines so as to accomplish the entire process of detecting the initial welding position.It can meet the practical demands of automatic guidance for robotic welding.
文摘Visual imagery constitutes the most important sensory information for humans.The entire field of acquiring,analyzing and synthesizing visual data by means of computers is called visual computing.It has an extraordinarily wide range of applications,including for example:industrial quality control,street view and driver assistance systems,robot navigation,multimedia systems,and computer games.
