Mechatronics and Machine Vision in Practice (eBook)

Foreword 5
Contents 6
Education 9
Emergent Behaviour Real-time Programming of a Six- Legged Omni- Directional Mobile Robot: Planning of Viennese Waltz Behaviour 10
1 Introduction 10
2 The Viennese Waltz ( see reference [ 3] for a movie clip) 13
3 Applications of Viennese Waltz Behaviour 14
4 Analysis of Sun and Planet Wheel Model 16
5 Application of Sun and Planet Wheel Model to the Robot 19
6 Summary 22
References 22
The Hong Kong Underwater Robot Challenge 23
1 Introduction 23
2 The Robot Kit 23
3 The Competition 25
4 The Workshops 25
5 The Hong Kong Finals 26
6 The Hoi Ha Wan Trials 27
7 The International Finals, Houston, Texas 28
8 The Educational Objectives 29
9 Conclusions 30
Acknowledgements 30
References 30
Dynamics and Control of a VTOL Quad-Thrust Aerial Robot 32
1 Introduction 32
2 Current “State of the Art” in Quadrotor UAVs 33
3 Design of the Propulsion System 34
4 Dynamic Modelling of Attitude 35
5 Attitude Controller Design and Simulation 38
6 Control Electronics 40
7 Attitude Estimation 41
8 Attitude Controller Implementation 43
9 Conclusions 44
References 44
Project-oriented Low Cost Autonomous Underwater Vehicle with Servo- visual Control for Mechatronics Curricula 46
1 Introduction 46
2 General Layout of the Project 47
3 AUV Visual Servoing Project Description 48
4 Results 54
5 Conclusions 55
References 55
Coordination in Mechatronic Engineering Work 56
1 Abstract 56
2 Introduction 56
3 Empirical Research Method 58
4 Coordination in Mechatronic Engineering Work 58
5 Implications for Engineering Education 64
Acknowledgements 65
References 65
Vision Techniques 67
A Vision System for Depth Perception that Uses Inertial Sensing and Motion Parallax 68
1 Introduction 68
2 Experiental Set-up 69
3 Distance from Motion Parallax 71
4 Results from Simulation and Experiment 73
5 Conclusions 77
Acknowledgements 78
References 78
Rate Shape Identification Based on Particle Swarm Optimization 79
1 Introduction 79
2 Outline of Genetic Algorithm Based Affine Invariant Object Matching 80
3 Particle Swarm Optimization (PSO) 81
4 Proposed Method: Affine Invariant Object Matching Based on PSO 82
5 Experimental results 84
6 Conclusion 86
References 86
Advanced 3D Imaging Technology for Autonomous Manufacturing Systems 88
1 Introduction 88
2 System Overview 89
3 Inline 3D Image Processing 90
4 Experiments 94
5 Conclusion 96
References 97
Vision Based Person Tracking and Following in Unstructured Environments 99
1 Introduction 99
2 Person Identification 100
3 Fuzzy Tracking and Following Control 102
4 Indoor and Outdoor Experiments 106
5 Summary and Conclusions 108
References 108
Simple, Robust and Accurate Head-Pose Tracking Using a Single Camera 110
1 Introduction 110
2 Hardware 111
3 Processing 112
4 Experimental Results 118
5 Conclusion 120
Acknowledgements 120
References 120
Vision Applications 122
Machine Vision for Beer Keg Asset Management 123
1 Abstract 123
2 Introduction 123
3 Problem Statement 125
4 Methodology 125
5 Keg ID Number Recognition 127
Acknowledgements 134
References 134
Millimetre Wave Radar Visualisation System: Practical Approach to Transforming Mining Operations 136
1 Introduction 136
2 Sensor Requirements 138
3 Selection of Technology 145
4 Radar Operational Technique and Specifications 146
5 Building the Radars 148
6 System Implementation and Results 149
7 Benefits to the Mining Industry 159
8 Conclusions 160
9 Acknowledgements 161
References 161
An Underwater Camera and Instrumentation System for Monitoring the Undersea Environment 163
1 Introduction 163
2 Structure of the System 164
4 Results of Observation 169
5 Discussion 173
6 Conclusion 174
Acknowledgement 175
References 175
Visual Position Estimation for Automatic Landing of a Tail- Sitter Vertical Takeoff and Landing Unmanned Air Vehicle 176
1 Introduction 176
2 Image Processing 177
3 Target Identification 178
4 State Estimation 179
5 Experimental Results 183
6 Conclusion 185
References 185
Minutiae-based Fingerprint Alignment Using Phase Correlation 187
1 Introduction 187
2 Phase Correlation 188
3 New Representation: MDI 189
4 Fingerprint Alignment Approach 189
5 Experiment and Preliminary Results 190
6 Conclusion 192
References 192
Robotic Techniques 193
A Snake-like Robot for Inspection Tasks 194
1 Introduction 194
2 The Locomotion Mechanism 195
3 The Locomotion Mode 195
4 Configuration of the Control System 196
5 The Snake-like Robot 197
6 Configuration of the Inspection System 198
7 Inspection of a Car 199
8 Future Works 200
Acknowledgments 200
References 201
Modelling Pneumatic Muscles as Hydraulic Muscles for Use as an Underwater Actuator 202
1 Introduction 202
2 Introduction of Shadow Muscle 203
3 Static Pressure-Contraction Relationships 203
4 Results 206
5 Conclusion 209
Aknowledgement 210
References 210
Automated Tactile Sensory Perception of Contact Using the Distributive Approach 211
1 Introduction 211
2 One Dimensional Performance Study for a Static Load Distribution 213
3 Two Dimensional Performance Study for a Static Load Distribution 217
4 Dynamic Loading studies 218
5 Conclusions 219
References 220
Blind Search Inverse Kinematics for Controlling All Types of Serial- link Robot Arms 221
1 Introduction 221
2 Background of Inverse Kinematics 221
3 A New “Blind Search” Incremental IK Method 225
4 Conclusion 235
References 235
Medical Applications 237
Distributive Tactile Sensing Applied to Discriminate Contact and Motion of a Flexible Digit in Invasive Clinical Environments 238
Abstract 238
1 Introduction 238
2 Tactile Information Feedback Needs in Clinical Procedures 239
3 The System Functions and Method of Operation of the Digit 240
4 The Experimental Set-up 241
5 Experimental Demonstration of Performance 242
6 Conclusions 243
Acknowledgements 244
References 244
Intelligent Approach to Cordblood Collection 245
1 Introduction 245
2 Construction of the Intelligent UCB Collection System 246
3 Test Results 249
4 Conclusions 250
References 250
An Autonomous Surgical Robot Applied in Practice 251
1 Introduction 251
2 Preparing a Cochleostomy 252
3 The Autonomous System 253
4 Sensing the Medial Surface 254
5 Micro-drilling in Practice 255
6 Conclusion 255
Acknowledgements 256
References 256
Development of an Intelligent Physiotherapy System 257
1 Introduction 257
2 Objective 258
3 Hardware and Software Components 258
4 Phase One Design 259
5 Phase Two Design – Stand Alone Application 261
6 Field Trail Results 262
7 Conclusions 263
References 263
Visual Prostheses for the Blind: A Framework for Information Presentation 264
1 Introduction 264
2 A Framework for Information Presentation 265
3 Application of the Framework to Mobility Assessment 268
4 Results 272
5 Discussion 274
6 Conclusions 275
References 275
Computer-based Method of Determining the Path of a HIFU Beam Through Tissue Layers from Medical Images to Improve Cancer Treatment 277
1 Introduction 277
2 An Overview of HIFU and the Need for Medical Images 278
3 Manual Detection of Boundaries and Prediction of Beam Path 280
4 Automatic Prediction of Beam Path 282
5 Current Research and Development 287
6 Conclusion 289
References 290
Agricultural Applications 291
On-the-go Machine Vision Sensing of Cotton Plant Geometric Parameters: First Results 292
Abstract 292
1 Introduction 292
2 Measurement of Plant Structure Using Machine Vision 293
3 Image Processing 294
4 Field Equipment and First Trials 297
5 Results and Discussion 297
6 Conclusions 298
Acknowledgements 298
References 298
Robotics for Agricultural Systems 300
1 Introduction 300
2 Radicchio Harvester 301
3 Fennel Cutting System 308
4 Experimental Results 313
5 Summary 317
Acknowledgements 318
References 318
Biography 319
More Machine Vision Applications in the NCEA 320
1 Introduction 320
2 Identification of Animal Species 320
3 The Counting of Macadamia Nuts 323
4 Animal Behaviour 325
5 Texture Analysis 325
6 Measuring the Density of Dingo Teeth 326
7 Vision Guidance 328
8 Conclusions 329
Acknowledgments 329
References 330
Authors 331
Index 333