微创手术机器人视觉定位系统的研究

根据立体视觉的基本原理，建立摄像机标定模型和立体视觉模型，设计了基于微创手术机器人的视觉定位系统．介绍了相应图像处理软件的设计，实现对目标的准确识别和精确定位．实验证明该方案有较好的定位效果，同时分析了引起误差的原因．     

多尺度模型与矩描绘子相结合的手势识别算法

提出了一种基于单目视觉的手势识别算法．通过用户初始化过程获取基本识别参数，结合视频跟踪的过程实时获取用户手势区域，在该区域内采用矩描绘子与多尺度模型相结合的方法进行特征提取，对于提取出的特征采用分类识别规则，实现对手势1～10的正确识别．经过试验证明，该算法可以适用于不同用户，识别正确率达到93．5％．     

场地搜救机器人路径规划

介绍了场地搜救轮式移动机器人的硬件组成及工作原理。提出了一种能迅速、准确的搜索到目标信号的路径规划算法。实验表明,该算法可使搜救机器人避开障碍物、识别边界、自动定位,降低了搜索时间,提高了搜索到目标的可靠性。     

运动图像处理在汽车车型识别中的应用

本文介绍了“多品种混流机器人喷漆自动线的汽车车型识别系统”的一种算法,提出了基于运动序列图像的自适应阈值判别法和利用特征匹配法解决了同种车型的图像在结构上产生局部变化的识别问题。     

基于RBF神经网络的复杂场景人群目标的识别

大型公共建筑内人群数目及分布的在线监测是有效控制和疏散客流、保障人员安全的重要依据之一．利用公共建筑内现有的闭路电视监视系统,通过计算机视觉技术实现人群数目的自动识别是目前国外普遍采用的一种方式．文中提出了一种基于RBF神经网络的复杂场景人群目标的识别算法,利用包含行人数目信息的前景图像的投影曲线等特征数据,通过训练好的RBF神经网络直接得到该前景图像中包含的人群数目．与其他算法相比,该算法具有较高的识别准确率,在一定误差范围内可以达到较好的效果．     

基于肤色CIELab空间的视觉窗口手势跟踪

考虑到手势的应用场合，手部肤色作为特殊的识别标记往往区别于环境，因此加入肤色分割对手部图像序列进行分析以及跟踪．在CIELab空间，采用了平均转移分割算法提高了分割速度．在此基础上结合单目视觉中对指尖的识别，提高了手部分割的可识性和未来手部语义应用的可行性．跟踪则采用了卡尔曼滤波处理后的窗口跟踪．手指尖的半封闭特征的利用以及窗口算法保证了处理过程中的鲁棒性和准确性．     

隧道视觉检测机器人成套系统研制

目前国内隧道视觉检测系统存在检测精度较低、病害识别速度较慢等问题,对此研制了隧道视觉检测机器人成套系统。为提高隧道衬砌图像采集精度,设计研发了视觉采集角度调节装置和车载测速装置,实现了对车载工业相机拍摄角度的精确调节以及病害坐标的高精度获取;为提高病害识别速度,组建了数据中心,实现了海量隧道图像数据的存储、处理和管理。工程实践证明隧道视觉检测机器人成套系统解决了图像采集精度低、病害识别速度慢的问题,具有良好的应用前景。     

基于混合遗传算法的连续空间下机器人的路径规划

介绍一种基于遗传算法的移动机器人路径规划的新方法．采用混合遗传算法对连续空间下机器人的路径进行规划时，先对规划空间利用Ford算法进行链接图建模，得出可选路径，然后再使用遗传算法来调整各个路径点，最后得到最优的或近似最优的优化路径．该方法可以克服可视图法和人工势场法在路径规划中的某些不足．     

视觉伺服机器人视界内的直接路径规划

建立了GRB-400单目视觉伺服机器人的图像雅可比矩阵，针对此动态双环系统设计了控制算法使视觉伺服闭环运动控制系统稳定．根据视觉伺服闭环运动控制系统的需要，提出了最速下降法与惩罚函数法相结合的平面规划方法,在机器人的视界内解决一定时间内最小能量的路径规划问题．仿真与实验结果表明。机器人根据在其视觉范围内的目标物体的位置即可采用上述方法确定优化的路径。     

彩色与灰度图像间转换算法的研究

在智能车牌识别系统中，从人眼的视觉特性入手，分析人眼的视觉生理模型和常用的计算机转换算法。在此基础上提出了一种将32位彩色图像转换成8位灰度图像的算法即HLS模型转换算法，使得转换后的灰度图像边缘亮度噪声少，平滑效果好．     

COLLISION-FREE OF MULTI-ROBOT SYSTEMS IN VIRTUAL ENVIRONMENT

IntroductionWith the development of automation and con-trol technology,on car- body plant,at present,consideration of multi- robot systems has become abasic requirement. With the help of multi- robotsystems,we can shorten production time,improveproduction quality and quantity,and decrease pro-duction error rate. Buthow multi- robots can coop-erate with each other,especially on welding pro-duction line for car- body,is what we concernabout the most.We hope to find a good way toplan out paths fo…     

OBSTACLE-AVOIDANCE NAVIGATION OF MULTIPLE MOBILE ROBOTS

IntroductionRobo Cup,which involves multiple robots in acomplicated environment to achieve specific objec-tives,poses a common standard problem for aboard spectrum of specialize sub- fields in AI andintelligentrobotic agents[1] .The majorcharacteris-tic of the Robo Cup Soccer competition is the dy-namic nature of environment surrounding robots,which includes the problem addressed in this pa-per.In the current research of it[2 ,3 ] ,when the re-searchers think about the problem of avoiding ob…     

Distributed cooperative coverage of mobile robots with consensus-based connectivity estimation

This paper deals with the discrete-time connected coverage problem with the constraint that only local information can be utilized for each robot. In such distributed framework, globM connectivity characterized by the second smallest eigenvalue of topology Laplacian is estimated through introducing distributed minimal- time consensus algorithm and power iteration algorithm. A self-deployment algorithm is developed to disperse the robots with the precondition that the estimated second smallest eigenvalue is positive at each time-step. Since thus connectivity constraint does not impose to preserve some certain edges, the self-deployment strategy developed in this paper reserves a sufficient degree of freedom for the motion of robots. Theoretical analysis demonstrates that each pair of neighbor robots can finally reach the largest objective distance from each other while the group keeps connected all the time, which is also shown by simulations.     

基于Cognex视觉的机器人自动搬运控制

针对企业原有生产圆盘类连接轴的工艺,设计了基于Cognex视觉的机器人自动搬运系统,将S7-300 PLC、Cognex视觉系统和FANUC机器人系统集成在一起,实现了1台机器人同时为铣床和车床2个加工系统自动上下料;通过Profibus总线和Ethernet通讯将PLC技术、视觉技术与工业机器人结合起来,发挥了工业以太网传输速度快、信号稳定的优势,提高了机器人的柔性取料能力;目前已应用在企业当中,提高了企业的自动化程度及生产效率,降低了企业的用工支出。     

STATICS ANALYSIS AND OPENGL BASED 3D SIMULATION OF COLLABORATIVE RECONFIGURABLE PLANETARY ROBOTS

In the last few years,based on the wide rangeof application domains,multirobot coordination be-came one of the focuses of robotics.M.B.Dias andA.Stentz[1]described a market-based architecturefor coordinating a group of robots to achieve a givenobjective.Terry Huntsberger,Paolo Pirjanian,Pir-janian,Ashitey Trebi-Ollennu,etc,have developedan enabling distributed control architecture calledcontrol architecture for multirobot planetary out-posts(CAMPOUT)[2].CAMPOUT includes thenecessary …     

Pressure-Based Approach to Estimating the Injection Start and End in Single and Split Common Rail Injection Processes

The deep understanding on sand and sand dunes scale can be useful to reveal the formation mechanism of the sandstorm for early sandstorm forecast. The current sandstorm observation methods are mainly based on conventional meteorological station and satellites remote sensing, which are difficult to acquire sand scale information. A wireless sensing network is implemented in the hinterland of desert, which includes ad hoc network, sensor, global positioning system (GPS) and system integration technology. The wireless network is a three-layer architecture and daisy chain topology network, which consists of control station, master robots and slave robots. Every three robots including one master robot and its two slave robots forms an ad hoc network. Master robots directly communicate with radio base station. Information will be sent to remote information center. Data sensing system including different kinds of sensors and desert robots is developed. A desert robot is designed and implemented as unmanned probing movable nodes and sensors’ carrier. A new optical fiber sensor is exploited to measure vibration of sand in particular. The whole system, which is delivered to the testing field in hinterland of desert (25 km far from base station), has been proved efficient for data acquisition.     

The Acquisition of Sand Vibration Information in Hinterland of Desert Based on Advanced Remote Sensing System and Network Technologies

The deep understanding on sand and sand dunes scale can be useful to reveal the formation mechanism of the sandstorm for early sandstorm forecast. The current sandstorm observation methods are mainly based on conventional meteorological station and satellites remote sensing, which are difficult to acquire sand scale information. A wireless sensing network is implemented in the hinterland of desert, which includes ad hoc network,sensor, global positioning system(GPS) and system integration technology. The wireless network is a three-layer architecture and daisy chain topology network, which consists of control station, master robots and slave robots.Every three robots including one master robot and its two slave robots forms an ad hoc network. Master robots directly communicate with radio base station. Information will be sent to remote information center. Data sensing system including different kinds of sensors and desert robots is developed. A desert robot is designed and implemented as unmanned probing movable nodes and sensors' carrier. A new optical fiber sensor is exploited to measure vibration of sand in particular. The whole system, which is delivered to the testing field in hinterland of desert(25 km far from base station), has been proved efficient for data acquisition.     

Mobile Robot Hierarchical Simultaneous Localization and Mapping Using Monocular Vision

A hierarchical mobile robot simultaneous localization and mapping (SLAM) method that allows us to obtain accurate maps was presented. The local map level is composed of a set of local metric feature maps that are guaranteed to be statistically independent. The global level is a topological graph whose arcs are labeled with the relative location between local maps. An estimation of these relative locations is maintained with local map alignment algorithm, and more accurate estimation is calculated through a global minimization procedure using the loop closure constraint. The local map is built with Rao-Blackwellised particle filter (RBPF), where the particle filter is used to extending the path posterior by sampling new poses. The landmark position estimation and update is implemented through extended Kalman filter (EKF). Monocular vision mounted on the robot tracks the 3D natural point landmarks, which are structured with matching scale invariant feature transform (SIFT) feature pairs. The matching for multi-dimension SIFT features is implemented with a KD-tree in the time cost of O(lbN). Experiment results on Pioneer mobile robot in a real indoor environment show the superior performance of our proposed method.     

Dynamic Obstacle Avoidance for Application of Human-Robot Cooperative Dispensing Medicines

For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a human-robot collaboration scenario,the safety of human,robot,and equipment in the environment is paramount.In this work,a practical and effective robot motion planning method is proposed for dynamic unstructured environments.To figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and obstacles.Then,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real time.Finally,the robot's dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.     

基于机器视觉的螺母垫圈分拣系统设计

介绍了基于机器视觉的螺母垫圈自动分拣系统的工作原理、系统组成及检测算法.该系统能够对生产线上螺母垫圈的内外圆直径、同轴度等进行实时动态检测.并触发分拣子系统对螺母垫圈废品予以剔除,实现了产品关键尺寸快速检测和等级分类.