Seam Tracking and Visual Control for Robotic Arc Welding Based on Structured Light Stereovision

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.

Networked control and supervision system based on LonWorks fieldbus and Intranet/Internet

A networked control and supervision system （NCSS） based on LonWorks fieldbus and lntranet/Intemet was designed, which was composed of the universal intelligent control nodes （ICNs）, the visual control and supervision configuration platforms （VCCP and VSCP） and an Intranet/Internet-based remote supervision platform （RSP）. The ICNs were connected to field devices, such as sensors, actuators and controllers. The VCCP and VSCP were implemented by means of a graphical programming environment and network management so as to simplify the tasks of programming and maintaining the ICNs. The RSP was employed to perform the remote supervision function, which was based on a three-layer browser/server（B/S） structure mode. The validity of the NCSS was demonstrated by laboratory experiments.

A dual working mode mobile robot system based on visual guiding and visual servoing

A dual operational modes mobile robot system based on visual guiding and visual servo control is presented. This system consists of a mobile robot with a two-axis manipulator and a tele-operation station. In the visual guiding mode, for the robot works in an open loop visual servo control mode, the manipulating burden of the operator is reduced largely. In the visual servo mode the robot can locate the position of the target assigned by the operator and pick it up by its manipulator. With the help of the operator, the diffieuh problems of finding and handling a target in a complicated environment by the robot can be solved easily.

CONTROL SCHEMES FOR CMAC NEURAL NETWORK-BASED VISUAL SERVOING

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.

Upgraded control system designed for SECRAL

To improve the accuracy and usability of the superconducting electron cyclotron resonance ion source with advanced design in Lanzhou(SECRAL), an upgraded version of the control system was designed and tested. This paper details the architecture of the optimized control system and presents the results of its use in the long-term operation of the accelerator. The control system software, based on Visual C++, was developed following the model-view-controller architecture design pattern. The data acquisition system was based on a field-programmable gate array integrated circuit. In addition, control strategies were optimized for higher operational stability. The upgraded control system was tested with a U^(33+) ion beam at SECRAL, where it provided a data acquisition time of less than 1 ms. The fast reaction time and highprecision data processing during beam tuning verified the stability and maintainability of the control system.

Real-Time Debugging and Testing a Control System Using Matlab

In this paper two methods for real-time debugging and testing of a control system are proposed. The basic instruments used are personal computers, a Visual C++ compiler and MATLAB including the GUI Design Environment, Simulink, real-time workshop, xPC target, and some relevant hardware. For the first method, MATLAB functions are used to build a control system debugging and testing environment. This method is flexible and only one RS-232 serial cable is used. Limited programming is used for the second method and ready-made blocks in MATLAB/Simulink are used to build the simulation environment and communication channel. In both methods, the parameters of the emulation system can be modified online, important graphs can be drawn in real time and relevant data can be easily saved for the later analysis. As can be seen from the presented examples, both techniques are easily realized.

Rate Control Algorithm of Wireless Video Based on Visual Saliency Map Model

In order to further improve the efficiency of video compression, we introduce a perceptual characteristics of Human Visual System (HVS) to video coding, and propose a novel video coding rate control algorithm based on human visual saliency model in H.264/AVC. Firstly, we modifie Itti's saliency model. Secondly, target bits of each frame are allocated through the correlation of saliency region between the current and previous frame, and the complexity of each MB is modified through the saliency value and its Mean Absolute Difference (MAD) value. Lastly, the algorithm was implemented in JVT JM12.2. Simulation results show that, comparing with traditional rate control algorithm, the proposed one can reduce the coding bit rate and improve the reconstructed video subjective quality, especially for visual saliency region. It is very suitable for wireless video transmission.

基于云模型的煤矿安全风险四色图动态管控系统研究

四色图是一种规范的、新型的安全可视化管理方法。针对井下工作环境复杂多变、隐患排查不到位、煤矿安全风险防范四色图科学性与指导性不强等问题,为提高风险辨识评估的准确性及煤矿安全管理水平,紧跟煤矿安全管理信息化、智能化的发展趋势,建立了基于云模型的煤矿安全风险四色图动态管控系统。该系统主要由硬件和软件构成,利用内嵌于系统的云模型对煤矿各风险点进行风险等级评估,并根据结果展现对应的风险等级颜色,克服了传统煤矿安全风险调控效率较低的弊端,将风险评价等级和防控措施相结合,实现了煤矿安全风险的实时评估和动态管理。云模型-四色图的组合通过云模型解决分级过程中系统的模糊性和不确定性,并利用四色图对风险分级进行直观展示,为科学的煤矿风险管理提供理论支撑。该系统在山西潞安五阳矿井成功应用,为更多煤矿安全管理信息化、智能化发展提供支持。

基于无人系统的智能视觉控制算法研究

无人系统应用范围的急剧扩大,使得视觉感知环境愈加复杂多变,致使传统视觉控制算法难以有效控制视觉传感器获取精准的视觉感知图像,从而影响无人系统的稳定运行,故提出基于无人系统的智能视觉控制算法研究。应用Gamma曲线非线性变换无人系统视觉感知图像灰度值,再应用灰度世界法来增强图像的对比度。以处理后的图像为基础,计算其图像矩,即空间矩、中心矩和归一化中心矩,以描述图像的全局和局部特性。根据得到的无人系统视觉感知信息,搭建智能视觉控制框架。获取期望图像特征矩阵,提取当前时刻图像特征矩阵,通过基于改进萤火虫算法的极限学习机对摄像机转角进行非线性映射,从而获取智能视觉控制定律,以此消除视觉感知图像误差,实现智能视觉的有效控制。实验结果显示:在不同实验组别背景下,应用提出算法获得的视觉控制平均时间最小值达到了1 s,视觉控制平均误差最小值达到了0.12%,充分证实了提出算法的应用性能更佳。

Visual C++在异步串行通信控制中的应用

系统介绍了ＶｉｓｕａｌＣ＋ ＋实现异步串行通信的基本原理， 分别讲述了用Ｗｉｎｄｏｗｓ 函数库ＡＰＩ函数实现和Ｃ运行时库的实现方法，

一种水肥一体机的可视化控制模块应用研究

以进一步提升水肥一体机的作业效率与监测效率为目标,选取可视化技术作为研究切入点,基于可视化控制模块的设计与应用展开讨论。通过充分理解水肥一体机的作业机理,建立用于整机可视化控制的数学模型,并进行可视化控制模块的软件程序设计与硬件组件配置,形成全新高效的可视化水肥一体机。进行可视化控制模块应用作业试验,结果表明:基于可视化机理及控制模型应用的水肥一体机较普通控制下的水肥一体机作业有一定优势,系统的监测准确率与系统响应效率得到明显提升;各水肥管路及水肥参数监测及时,确保整机各项指令与输出正确合理,整机节水率与整机节肥率分别提升了6.80%和7.40%,灌溉均匀度可达90.50%,有利于农作物种植栽培高效高产。

基于UWB的三维建模可视化物资管控系统设计与实现

针对传统安全机制缺乏动态管控、难以满足复杂系统安全需求等问题,提出了一种三维可视化的电力物资信息管控系统。采用基于UWB技术的定位模块设计系统定位功能,借助UE4游戏引擎进行三维可视化管控系统的开发,探究了系统模型的设计流程、前端设计以及关键技术等,实现了对人员定位、三维显示设备运行状态、监测报警等功能。同时还设计了基于实体行为的可信度模型用于感知用户行为的动态变化,有效提高了用户信息的可靠性,并进一步保证了系统信息安全。提升了电力物资信息的可视化管控能力,促进其安全运行。

面向结构图的汽车电控系统建模研究与应用

随着汽车电控系统复杂程度的不断提高,面向结构图的图形化建模技术已逐步取代数据建模或手工建模。针对现有建模软件的缺点及汽车电控系统所具有的特点,采用面向结构图的可视化建模方法建立汽车电控系统模型,方便快捷地建立了系统模型,准确地模拟了现实系统的属性和操作,并以汽车防抱制动系统(ABS)为例,说明了此方法的合理性。

数据可视化在电力系统中的应用

在当今人工智能电网时代,信息化的发展使得电力数据成倍增长,用户对电力智能化数据处理尤为重要。电网调度监控、运行管理承担着重要使命,如何让电网用户对数据进行快捷准确的处理,成为提高工作效率及保障电力系统安全运行的迫切课题。随着大数据时代的到来,电力系统运行的数据采集、集成及数据可视化控件的UI设计显得尤为重要。

基于惯性导航的智能抓取搬运机器人

当前自动分拣搬运机器人运行速度慢、准确度不高,无法识别物料与分拣、无法自行夹取物料以及无法自主规划路线,因此无法满足物流环节中仓储管理及运行的需求,导致国内AGV机器人使用率不高。为了解决以上的技术问题,设计开发一款基于惯性导航的智能抓取搬运机器人。该智能抓取搬运机器人具有对搬运的货物自动检测识别和利用惯性导航定位实现路径规划的功能,通过机器视觉技术使用基于BSD许可(开源)发行的跨平台计算机视觉和机器学习软件库OpenCV,来实现视觉躲避障碍物,颜色和形状识别等功能。实验结果证明了设计的可行性和有效性,所设计的智能抓取搬运机器人具有高自由度和可操作性,具有实际应用和推广价值。

基于视觉反馈的柔性充气仿生臂控制系统设计

设计了一种基于视觉反馈的柔性仿生臂控制系统,通过将其等效为刚体的建模方法对所设计的柔性仿生臂进行了理论分析。利用手动操纵杆实现了对柔性仿生臂的手动操控。在柔性仿生臂头端安装有摄像头,可以通过卷积神经网络目标检测和识别算法识别目标物体,其获得的位置信息可用于闭环控制。通过视觉反馈实现了对目标的搜索和锁定。相较于传统的刚性机械臂,本研究具有安全性高和体积小的优点。同时,计算机仿真和实验均验证了该设计的合理性与有效性。

考虑视觉搜索特性的指挥控制系统KLSM

传统的击键水平模型(KLM)专注于键盘和鼠标的操作分析,适用于简单软件界面任务完成时间的快速定量评估,但将其迁移到包含复杂信息特征的指控系统软件界面评估时,却会产生较大误差。为此,基于KLM,结合用户视觉特性,面向指挥控制系统典型任务,提出基于用户视觉搜索处理时间的物理操作时间单元指标,并通过实验获取用户视觉搜索处理时间典型参数,建立更精确的指控系统任务操作分析模型—击键和视觉搜索模型(KLSM),即考虑视觉搜索特性因素的影响。选取5类典型指控任务,进行对比实验验证,KLSM对任务完成时间的预测评估更为准确。

AI机器视觉智能监管系统在危险化学品安全管控中的应用

随着我国人工智能技术发展的速度不断加快,当前AI机器、人工智能、大数据技术、物联网技术等已经快速融入各个行业的发展之中,对于加快行业的发展,提升企业管理效能具有重要的作用。危险化学品安全管控是化工企业在日常管理工作中的重心,将人工智能AI技术应用于危险化学品安全管控当中可以促进管理工作的数字化、智能化以及网络化的发展。鉴于此,将以AI机器视觉智能监管系统为出发点,探讨当前我国危险化学品安全管控应用AI机器视觉智能监管系统中云-边-端-机器人融合赋能的智能视觉的技术要点,并分析该项系统在危险化学品安全管控中的应用,提升化工企业危险化学品管理的质量,有效推动我国化工企业健康稳定地发展。

可视化中控系统在电力应急指挥中心的应用

为解决电力应急指挥中心运行指挥效率低下的问题,满足电力应急指挥中心运行时高效管理、控制各类智能化系统的需求,详细介绍了电力应急指挥中心对可视化中控系统的需求,分析了在设计可视化中控系统时要注意的问题,提出了设计可视化中控系统的观点。该系统可应用于电力应急指挥中心,具有集中控制处理大屏幕显示系统、视音频矩阵系统、音响系统、视频会议系统、灯光系统和电动窗帘等多个分散子系统的功能,满足电力应急指挥中心对各种设备综合控制的需求,且能够给用户提供友好而便捷的人机界面,达到减少操作工作量、创造良好环境、提高工作效率的目的。

基于可视化分析模型的汽车电控系统需求开发方法

为解决汽车电控系统需求开发过程中需求描述模糊不清、理解不一致问题,结合实际研发项目及CMMI-3等级认证过程的经验,提出了一种基于可视化分析模型的需求开发方法。首先,将复杂的汽车电控系统进行层级划分,从客户对整车顶层功能需求开始着手分析,通过用例场景建模定义系统与外部环境边界和交互关系,捕获顶层系统需求;然后,基于活动图和时序图可视化分析方法,对系统静态和动态行为进行细化分析,给出了不同层级需求挖掘思路及方法,并用需求图展示需求开发细节以及不同层级需求的追溯关系;最后,以触发柴油机颗粒捕集器DPF再生为研究案例,系统阐述了可视化分析模型的需求方法的应用过程,验证了所提方法的可行性与有效性,为汽车电控系统正向开发提供技术手段和指导建议。