Illumination Adaptive Identification Algorithm of a Reconfigurable Modular Robot

Reconfigurable modular robots feature high mobility due to their unconstrained connection manners.Inspired by the snake multi-joint crawling principle,a chain-type reconfigurable modular robot(CRMR)is designed,which could reassemble into various configurations through the compound joint motion.Moreover,an illumination adaptive modular robot identification(IAMRI)algorithm is proposed for CRMR.At first,an adaptive threshold is applied to detect oriented FAST features in the robot image.Then,the effective detection of features in non-uniform illumination areas is achieved through an optimized quadtree decomposition method.After matching features,an improved random sample consensus algorithm is employed to eliminate the mismatched features.Finally,the reconfigurable robot module is identified effectively through the perspective transformation.Compared with ORB,MA,Y-ORB,and S-ORB algorithms,the IAMRI algorithm has an improvement of over 11.6%in feature uniformity,and 13.7%in the comprehensive indicator,respectively.The IAMRI algorithm limits the relative error within 2.5 pixels,efficiently completing the CRMR identification under complex environmental changes.

Visual Identification Method and Implementation of Impurities in Food Grain

A method to check impurities in food grain based on digital image processing is proposed in this study. According to the feature of the impurity, one image with twice processing is put forward based on blob analysis, which eliminates impurities that were brighter or darker than normal particles. With the image processing system developed by Matrox Imaging Library, black and white blobs are extracted for twice with one function, and then the size and the position of impurities are calculated quickly through mathematical morphologic and blob analysis. The method can be extended and applied in other fields due to its advantages of quick speed and high accuracy.

Visual identification of silver ornament by the structural color based on Mie scattering of ZnO spheres

Structural colors originated from Mie scattering of dielectric spheres can be regulated by the coupling effect between them and substrates.Here a rapid visual identification method of silver ornaments was proposed by the coupling effect of Zn O spheres with them.Both simulation and experimental results proved that,by coupling with different metal substrates,the Mie resonance scattering peaks of ZnO spheres with dimeter of 700 nm showed different degrees of redshift,which lead to different structural color appeared when ZnO spheres deposited on different metal surfaces with a similar appearance.A red structural color was displayed on the surface of the real silver ornament and a yellow-green structural color was shown on the surface of the cupronickel ornament.This method is quite simple and low-cost because it only needs to spray the dispersion of ZnO spheres on the ornament surface.Due to the mild chemical properties of the ZnO,covering and erasing ZnO spheres on the surface of silver would not corrode the silver ornament.Finally,an atomizer method was used for portable and daily testing.This work opens new perspectives on the visual identification of silver.

Vision-based docking system for an aromatic-hydrocarbon-inspired reconfigurable robot

Aromatic hydrocarbons generally refer to compounds containing benzene rings.Many types of isomers can be formed by replacing hydrogen atoms on the benzene ring.In this paper,an aromatic-hydrocarbon-inspired modular robot(AHIMR)is proposed.The robot can be reassembled into different configurations suitable for various task requirements.A vision-based docking system is designed for the AHIMR.The system primarily consists of two stages:a remote guidance stage and a precise docking stage.During the remote guidance stage,an object module is identified using an illumination adaptive target recognition algorithm,and then the active module moves to the docking area through communication with ZigBee.In the precise docking stage,the active module calculates the relative pose with the object module using a perspective-n-point method and dynamically adjusts its posture to dock.In this process,a Kalman filter is used to reduce target occlusion and jitter interference.In addition,the docking system feasibility is verified via several simulation experiments.The module docking accuracy is controlled within 0.01 m,which meets the reconfiguration task requirements of the AHIMR.In the AHIMR submodule docking experiment,the active module accurately moves to the expected position with a docking success rate of 95%.