Mechatronics and Machine Vision in Practice 2003
Conference Programme
Monday 8th December
Tuesday 9th December
9.30 - 10.00 Keynote Speaker
068 Full paper
Why Aren't Mechatronics Engineers Wealthy?
James Trevelyan
The University of Western Australia,
Chairperson, Mechatronics Discipline Group
E-mail: James.Trevelyan@uwa.edu.au
This paper asks why mechatronics engineering as a discipline lacks some key elements of other engineering disciplines, particularly the notion of 'prudent design'. The paper discusses a case study of poor mechatronics design in practice and asks whether this and other instances of poor engineering practice are related to the choice of reference material available to practitioners and possibly the content of typical mechatronics engineering courses.
Break
10.40 - 12.20 Mobility and Control
006 Full paper
Testing Steer-by-Wire Controllers for Off-Highway Vehicles by Hardware-in-the-Loop Experiments
Riccardo Morselli, Paolo Pavan, Roberto Zanasi
D.I.I., University of Modena and Reggio Emilia,
Alessandro Bertacchini
DI.S.M.I. – C.U.Mec., University of Modena and Reggio Emilia
Abstract
The control laws and the hardware architecture for the implementation of a steer-by-wire system for off-highway vehicles are proposed. This paper describes how the hardware-independent control laws for the steer-by-wire actuators have been obtained, it explains the motivations for the choice of the force feedback actuator and of the steering rod electro-hydraulic actuator and finally it presents some hardware-in-the-loop simulation results that test the electro-hydraulic rod actuator and the electronic control unit dedicated to the steering rod.
Keywords:
Steer-by-Wire, Off-Highway Vehicles,
Hardware-in-the-Loop Experiments,Electro-Hydraulic Steering Systems, Energetic
Approach.
024 Full paper
Visual Dead-Reckoning for Motion Control of a Mecanum-Wheeled Mobile Robot
J. A. Cooney 1 , W. L. Xu and G. Bright
Institute of Technoloy and Engineering,
Abstract
Given an omni-directional mobile platform using four Mecanum wheels, it requires further a capability being programmed to achieve various motion behaviours and intelligence. This paper describes an undergraduate solution to the problem involving both hardware and software developments. Two optical mice were attached to the front and rear of the robot giving positional feedback for closed-loop control and dead-reckoning for navigation and a Mitsubishi M16C/62 microcontroller was interfaced to all those TTL compatible devices and subsequently programmed to implement various robotic behaviours. A closed-loop control scheme using three independent PID controllers was implemented to follow three degrees-of-freedom motions. The path following performance of the robot was tested in both open-loop and closed-loop modes and the optical mice were found to be a promising but inexpensive sensor to the dead-reckoning for robot motion control.
Keywords:
Mecanum wheel, optical mouse, motion
control, mobile robot.
051 Full paper
The Steering of Trailed Implements for Tractor Path Tracking
Clement Ong,
College of Computer Studies
De La Salle University
2401 Taft Avenue, Manila 1004,
Professor John Billingsley,
Faculty of Engineering and Surveying
Toowoomba, QLD 4350
Abstract
In contour farming operations, it is important that the path of an implement precisely follows the path of the tractor that pulls it. An alternative implement positioning method is proposed that avoids the use of steered coulters or wheels: unequal drag forces from differential dig depths of the implement's wings linearly slews the rig, changing its path. The experimental rig, an AFM-880 cultivator, has a span of 10m and a drawbar length of 5m. It was found that position could be arbitrarily set versus the nominal center by as much as 48 cm if the wing heights were caused to differ by 30 cm. The calibrated simulation of the uncontrolled, natural path of a trailed rig on a sinusoidal path was compared with the path generated when the rig was actively steered differentially, showing a significant reduction in path undercut, a prerequisite to garnering the full benefits of controlled traffic.
Keywords
Contour Farming, Controlled Traffic, Trailed
Implement Steering
063 Full paper
A Modular Architecture for an Underwater Robotic Vehicle
G. Seet, V. Iastrebov, J.H.Ho, M.W.S. Lau, E. Low
Robotics Research Center,
School of Mechanical & Production Engineering,
Nanyang Technological University, Nanyang Avenue,
Singapore 639798
Abstract:
This paper presents a modular URV architecture design, optimized for rapid customization to suit changes in mission requirements. The goal was to implement a flexible modular re-configurable architecture for a semi-autonomous inspection class URV. Aspects of modularity were applied to both hardware and software subsystems in the form of a self-contained power and controller pod design. The current semi-autonomous configuration has two pods. The sensor pod houses the primary navigation system and its main sensors, and the actuator pod hosts the main controller. The actuator pod receives motion commands from the surface and controls the various thruster and camera sub-systems. Software modularity was built on the QNX4.25 real-time operating system, exploiting its modular multi-controller, multi-process capabilities. By grouping hardware and its complementary software into ‘self contained’ modules or pods, changes in URV specification could be implemented with relative ease, from a simple eyeball configuration to a light intervention semi-autonomous hybrid URV. This novel “plug-and-play” implementation detracts from the traditional customized configurations adopted by both industrial and research URVs.
Keywords:
URV Control Architecture, Modular URV design.
031 Full paper Movie
A Two-Metre Wingspan, Hovering and Flying, Protracting and Retracting Wing, Ornithopter Bat Robot
Frank Nickols,
School of Mechanical and Production Engineering, Nanyang
Technological
Abstract
The initial design and construction of a 2metre-wingspan bat robot is described. This is not a simulation project but involves real hardware. The robot will be used to study the flight of bats and birds as well as developing an application as an unmanned aerial vehicle. The robot is also an example of a reciprocating mass system. The wings possess an articulated system similar to a bat in that the wings can protract and retract as well as flap. Wing protraction and retraction permits hovering flight whilst the body is horizontal. Control methods and mechanical articulation designs are described that give controlled hovering flight in four degrees of freedom. Problems of reducing weight and minimising power in driving the reciprocating masses of the wings are described and how these problems are being overcome.
Keywords:
Reciprocating mass robot, oscillating mass robot, ornithopter, bat robot, hovering flight, flapping wing, protracting and retracting wing, unmanned aerial vehicle.
Lunch
1.40 - 3.20 Medical Mechatronics
023 Full paper
Jaw Mechanism Modeling and Simulation
B. Daumas 1 , W. L. Xu and J. Bronlund
Institute of Technology and Engineering, College of Sciences, Massey
Abstract
To quantitatively evaluate the dynamic changes to the texture of foods during chewing a mechatronic device is required that could reproduce human chewing behaviour. To design such a device the jaw mechanism needs to be firstly modelled and analysed through simulations. Following an investigation into the biological process of mastication, the muscles responsible for the chewing movements are represented by a set of linear actuators, and are placed between the mandible (or the end-effector) and the skull (or the ground) according to the biological structure and functionality, resulting in a spatial mechanism. The physical dimensions and properties of the mechanism are measured from a replica model skull. Simulations for motion and control have been conducted using the Matlab SimMechanics toolbox, and results have shown that the jaw mechanism is modelled properly, which enables the jaw movements to be reproduced..
Keywords:
Robotic mouth, jaw mechanism, mastication,
food texture.
036 Full paper Movie
A Feasibility Study for Mechatronic Assisted Prostate Biopsy
S Chauhan 1 , R Mishra 1 , JR Li 1 , L D Seneviratne 2
1 Division of Mechatronics and Design, School of MPE,
Nanyang Technological University, Singapore.
2 Dept. of Mechanical Engineering, Kings College, London.
mcsunita@ntu.edu.sg
Abstract
The most common type
of biopsy option available for prostate is trans-rectal ultrasound guided
needle biopsy, wherein a cylindrical tissue sample is excised from the
prostate. Since prostate cancers/tumors are small in size and are scattered
around in its volume, even with extended protocols, the number of false
negative diagnoses is reported to be as high as 20%. A novel approach to
prostate biopsy is described in this paper. A trans-perineum approach is considered
due to the availability of a larger work-space for needle manipulation. The
design and development of a mechatronic manipulation system employing
directional vacuum assisted approach for prostate biopsy using a conventional
trans-rectal image guidance system is presented. At the time of biopsy, and
during the process of transforming the coordinates from pre-planning stage,
concept of a virtual needle is introduced to reconfirm registration prior to
aiming the biopsy probe. Coupled with a pre-operative planning schedule and an
automated trans-rectal on-line imaging under computer control, the potential of
optimizing the number of incisions and accuracy of localization in the proposed
system is much higher than currentlyavailable techniques.
Keywords:
Biomechatronics, prostate biopsy, surgical
planning
057 Full paper
ACTIVE END EFFECTOR FOR SURGICAL ROBOT
J. Raczkowsky, H. Peters, C. Kübler, D. Engel and H. Wörn
Institute for Process Control and Robotics (IPR)
Department of Computer Science
rkowsky@ira.uka.de
Abstract
Within the scope of the collaborative research center 414 “Computer and Sensor Based Surgery” the surgical robot system RobaCKa for cranio facial surgery was developed. In 2003 we started with first patient treatment at the medical center of the University of Heidelberg after numerous tests with plastic skull models and experimental pigs. First results showed the necessity to enhance the current system by adding additional axes. Our first approach was the development of a linear active axes system containing a local control system and various sensors. This paper shows the advantage in terms of reachability of complex trajectory geometry. Additionally the real time behavior of the end effector could be improved. The project is funded by the “Alfried Krupp von Bohlen und Halbach-Stiftung” in the special program “Neue Ingenieur-Teams”.
Keywords:
Surgical robotics, embedded mechatronic system, RT-Linux, distributed
control
system.
059 Full paper
A THREE DIMENSIONAL SURFACE
VISUALISATION SYSTEM FOR ANALYSING
RESPIRATORY FUNCTION
T. Earthrowl, T.D.P. Allsop, B. Jones & I. Bennion
School of Engineering and Applied Science, Aston University,
Abstract
Described here is a basis for a three-dimensional surface contour reconstruction system that is suitable for respiratory function monitoring and has the prospect with future development to be incorporated into a garment based clinical tool. A fibre optic sensor matrix measurement technique is employed with which to base an upper body surface measurement device that monitors respiration. In experimental form the system performance on group estimation compares favourably with existing system on volumetric performance. In addition provides continuous transient measurement of respiratory motion within an acceptable accuracy using approximately 20 sensing elements. Because of the potential small size and low complexity of the system it is possible to deploy it as a fully mobile ambulatory monitoring device, which may be used outside of the laboratory
Keywords:
Spirometry, plethysmography, Optical sensor,
Long period Grating
062 Full paper
Design and Manufacture a Micro Mechatronic Device
for Separating Spermatogenic Cells
Derived From
Testicular Biopsies
M. Prince * , X. Ma * , M. Ward + , P. Docker + , P. Prewett +
* School of Engineering and Applied Science, University of Aston. + Department of Mechanical and Manufacturing Engineering,
University of Birmingham.
Contact: x.ma@aston.ac.uk
Abstract
The small size of microfabricated structures are opening new avenues in the field of biomedical engineering where structures are being developed to process [1] and analyse [2,3] nanolitre quantities of biological fluids, and cellular tissues. This paper outlines the design and manufacture principlals of a passive micro-mechatronic device for the filtration and sorting of spermatogenic cells. This device is to be applied in a urological clinical environment where it can be used to semi-automate the spermatozoa selection process from non-obstructive azoospermic testis biopsies. Detailed and discussed herein are the advantages and drawbacks of MicroElectroMechanical Systems (MEMS) as applied to clinical biomedical situations, and requirements for the design methodology and process of a microfluidic system based on MEMS technology with a view to manufacture by Direct Reactive Ion Etching(DRIE) through Advanced Silicon Etch multiplexer. The modelling of the micromechatronic device using computational fluid dynamic simulation methods is also covered in this paper.
Keywords:
MEMS, biomedical, urology, testicular biopsy, microfluid, micro mechatronic
Break
3.50 - 4.50 Wireless Methods
011 Full paper
Bluetooth .... Embedded Wireless Systems for Home Automation
F. Bonizzi, G. Finelli, F. Giva, L. Sedoni, U. Manzoli, R.Morselli,
P. Pavan.
D.I.I. - Department of Information Engineering,
University of Modena and Reggio Emilia
Via Vignolese, 905 41100 Modena –
e-mail: bonizzi.fabio@unimore.it
web:www.dii.unimore.it/bluetooth
Abstract
This paper presents a wireless home control system based on Bluetooth technology. A wireless home network, that allows to control and monitor home devices, is realized and it can be accessed also by internet. An embedded system, which enables the normal devices to be interconnected without wire, is developed, showing either hardware and software design aspects.
Keywords:
Bluetooth, embedded, Home Automation,
domotic
038 Full paper
Wireless Mechatronic Controller For Tele-Operated Camera Platforms
N.S. Tlale 1 , G. Bright 2 , J. Potgieter 1
2 University of Natal; School of Mechanical Engineering; Durban;
South Africa 1 Institute of Engineering & Technology; Massey University;
Auckland;
brightg@nu.ac.za; n.s.tlale@massey.ac.nz; j.potgieter@massey.ac.nz
Abstract
The skill of the camera operator in controlling the orientation of camera platforms in the film industry is one of the crucial factors in producing movies with precision cinematography. Some film footage requires landscapes that make it difficult for the camera operator to efficiently operate the camera platform e.g. an inclined mountain terrain with surrounding trees and bushes. These scenes often require tele-operation of the camera platform. Tether tele-operation increases the time required to set-up the camera platform for the scene shoots, and hence increases the cost of making a movie. Tether connections limit the manner in which the camera platform can be mounted in order to achieve the best scene shooting. This paper reports on the project undertaken by the Mechatronics and Robotics Research Group at Massey University, in conjunction with the New Zealand film industry, on the development of wireless control camera platforms.
Keyword:
Mechatronics, Control, Ethernet, Robotics.
6.00 Paddle Steamer Cruise, Jazz and Dinner
Wednesday 10th December
9.00 - 10.00 Robotics and Manipulators (1)
026 Full paper
A New Suspension-Type Maintenance System for Tall Buildings and its Mechanical Analysis
Shirong Ya,
Dept of Mechanical Engineering, Fuzhou
University, Fujian,350002, PR China
ys_rong@yahoo.com.cn
SK Tso
CIDAM, City University of Hong Kong,
mesktso@cityu.edu.hk
Abstract
Both the structure and working principle of a new suspension-type maintenance system for tall buildings are introduced, which needs no suction devices for its working unit. A mechanic model is established for the first time to this system when it is doing maintaining work. Simulation work is done based on the model and some interesting and important factors are found from these, which can be used to direct the design of similar new systems.
Keywords:
suspension, maintenance systems, tall building, mechanics
032 Full paper
Intelligent Hierarchical Control of a Space-Based Deployable Manipulator
Jian Zhang and Clarence W. de Silva
Department of Mechanical Engineering, The
Columbia, Vancouver, B. C., Canada V6T 1Z4
Abstract
An intelligent hierarchical controller for vibration control of a deployable manipulator is developed in this paper . The emphasis is on the tuning of a low-level direct controller using an upper-level knowledge-based tuner so as to improve the performance of the manipulator. In the present development, a conventional modal controller is used as the direct controller. First a fuzzy inference system (FIS) is developed for controller tuning. The FIS and the modal controller are integrated into a hierarchical control system for use with the deployable manipulator. An example is presented to illustrate the application of the hierarchical control system for suppressing vibrations caused by initial disturbance of a space-based deployable manipulator system. The simulation results show that the developed system is very effective in suppressing vibrations induced due to an initial disturbance at the tip of a manipulator module. Performance of the modal controller is significantly improved through knowledge-based tuning
Keywords:
Deployable manipulator, intelligent tuning,
modal control.
035 Full paper
Adaptive Control of a Manipulator with Flexible Joints
Using Neural Networks
Y. Cao and C.W. de Silva
Department of Mechanical Engineering,
Columbia,
Abstract
In this paper, a neural network based adaptive controller is designed for a novel deployable manipulator. The analytical formulation of the system is presented. Neural network is used to approximate the unknown terms in the dynamical equations of the manipulator. The applicability and effectiveness of the neural-network control scheme for this manipulator system are tested through computer simulations.
Keywords:
Neural networks, adaptive control, deployable manipulator.
Break
10.30 – 10.40 Session Preamble
069 Full text
Just what should we be teaching?
John Billingsley
Faculty of Engineering and Surveying, University of Southern Queensland
Abstract
Echoing James’s challenge to engineering designers, this throws out a challenge to the teachers of mechatronics. Do we teach what we teach because we believe in our hearts that this material is vital to the future of a young mechatronic engineer, or because it is easy to examine and can readily be found in a text book? The aim is to enliven discussion in the session that follows.
10.40 - 12.20 Mechatronic Education
001 Full paper Movie
Teaching mechatronics principles using laboratory classes
John Billingsley,
Faculty of Engineering and Surveying, University of Southern Queensland,
Reg Dunlop,
Department of Mechanical Engineering, University of Canterbury.
Abstract
The introductory module of a new course in mechatronics is based on practical experiments in which the control is created entirely by the student. Concepts of control system design in the presence of sharp nonlinearities and of topology of the feedback structure are introduced and illustrated with the example of an inverted pendulum, the culmination of the first sequence of experiments. For a further experiment, a three-wheeled variation on the mecanum mobile has been designed as the base of a pendulum to be balanced in both directions.
Keywords:
Inverted pendulum, mecanum, feedback topology.
021 Full paper Movie
Autonomous Racing Car Competition for Mechatronics Engineering Education
Samuel N. Cubero, Jeffrey Layanto and Matthew Goode
Mechatronics Studio,
Curtin University of Technology,
Abstract
A robot competition is described which overcomes many inherent limitations of existing competitions. The proposed “CARbot” (Computer-aided Autonomous Racing robot) competition requires students to build and program their own sensor-guided electric-powered racing cars and race these vehicles against each other on a standard closed-loop flat track. The design and manufacture of the “official” racetrack is described briefly as well as the basic design and control specifications for a fully functional “CARbot”. Students will be able to develop useful skills relating to low-level microcontroller programming, high-level PC programming and interfacing, basic PCB manufacture and design, serial communications and protocol programming, sensor interfacing, signal conditioning, hardware debugging and feedback control programming, while they work towards building an operational vehicle to race in an end-of-semester competition.
Keywords:
Autonomous Racing Car, “CARbot”
(Computer-guided Autonomous Racing robot), Micromouse, Robot Soccer, Robot
Sumo, Microcontroller programming, CCD optosensor array, Problem Based Learning
(PBL)
028 Full paper
Mechatronic Engineering By Distance Education
Robert L Fulcher and Christopher P Snook
Faculty of Engineering and Surveying, University of Southern
Abstract
The number of students undertaking tertiary studies by distance mode in Australia has been steadily increasing over the last decade. The Faculty of Engineering and Surveying at the University of Southern Queensland (USQ) is a renowned leader in distance education and extended its offer of bachelor of engineering programs to external mode in 1988. A Mechatronic Engineering program became a part of this offering in 1995 and has grown steadily over time, especially with overseas students. The USQ distance education model is presented within the context of the Bachelor of Engineering degree programs. A typical external student profile is presented and an analysis of student demand for this mode. A brief assessment of the success of this study mode is made and its positive aspects highlighted especially with respect to Mechatronic Engineering. Finally how this mode of study complements face-to-face teaching is presented and indeed how this might be the case nation wide.
Keywords:
Distance education, mechatronics
040 Full paper
A collaborative
problem-based learning course in electronic engineering for mechatronics
engineers
Robin Bradbeer
Department of Electronic Engineering, City University of Hong
Kong
Abstract
The City University of Hong Kong has been running a 3 year degree programme in mechatronic engineering since 1992. The programme was revised in 2002 and this resulted a changed degree structure. The amount of electronics taught on the programme was reduced, which meant that an opportunity occurred to substantially revise the thinking behind the learning pedagogy. At the same time, changes in the background of the students, including a less knowledgeable intake couple with the results of intake qualification grade inflation, had to be reflected in the structure of the new course. This paper presents the preliminary results of the first year of implantation.
Keywords:
Mechatronic engineering, problem-based learning, integrated studio teaching.
048 Full paper
Remote Laboratories and Team Skills in Mechatronics
James Trevelyan
School of Mechanical Engineering, The
Abstract
A remote laboratories system built at the University of Western Australia provides a useful learning environment for mechatronics skills, particularly the combination of technical skills and project management. The remote laboratories framework was designed with this in mind and overcomes one of the main limitations of other approaches that seems to account for the difficulties in real implementations: the cost and complexity of technical support needed for development and maintenance. The students learning in the context of the project develop these skills. The design provides a technical environment that is simple enough for undergraduate students to understand and make effective contributions.
Keywords:
Remote laboratories, internet, mechatronics, professional engineering
skills, team skills, technical skills.
Lunch
1.40-3.20 Vision and touch - recognition (1)
010 Full paper
An artificial vision system for classifying silverware, dishes and bottles
L. Acosta, J.N. Rodriguez, A. Hamilton, J.A. Mendez, L. Moreno
Department of Physics, Electronics & Systems
University of La Laguna.
Abstract
In this paper a vision system for a highly specialized autonomous robot is presented. The task of the robot is the setting and clearing of tables in a restaurant. The environment in which the robot will operate will be controlled and well known. The first objective of the robot is to navigate around the room to find collectable sites, that is, tables. Specifically, this paper is focused on the task that has to be performed once the robot is located in a table. This consists of analyzing the scene and extracting all the necessary information to collect the distinct objects located on it. The application is designed to identify and collect the following objects: dishes, bottles, glasses, forks, spoons, and knives.
Keywords:
Artificial vision, Autonomous robotics, Hough transformation
022 Full paper
Machine Vision Classification of Animals
Mark Dunn
Faculty of Engineering and Surveying,
Prof John Billingsley
Faculty of Engineering and Surveying,
Neal Finch
School of Animal Studies, University of Queensland.
Abstract
This paper proposes a machine vision system suitable for the automatic classification of animal species. Edge tracking and silhouette encapsulation using s- psi coding is used to match the outline shape of the animal against a normalised library. An experimental system is described, and results from initial tests are reported. The proposed system has great potential for a low-cost, robust system to remotely monitor or classify animals.
Keywords:
Machine vision, animal classification,
pattern recognition.
025 Full paper
Hierarchical-Search to Reduce Search-Time of Machine-Vision System
1 D. Pal and 2 A. Chakraborty 1 Department of ECE, B.I.T. Mesra, Mesra(Ranchi)-835215, India 2 Department of Production Engineering, B.I.T. Mesra,
Mesra(Ranchi)-835215,
Abstract
This paper presents a modified template matching technique that greatly reduces the time to find and identify the potential match candidates of an image from a frame by employing Hierarchical-search method. The search algorithm developed reports significant reduction in search-time over that reported for traditional template matching. Rotation and scale invariance have been added to provide necessary robustness to the algorithm. Finally relations between search-time versus size of templates, number of match-candidates and different hierarchical levels of search have been examined. The algorithm promises a potentially improved machine-vision over those using neural network/ other soft computing tools in terms of speed, and those employing traditional template matching, in terms of robustness.
Keywords:
Machine-Vision, Template Matching,
Hierarchical-Search, Rotation Invariance, Scale Invariance .
029 Full paper Movie
Real Time Machine Vision for Quality Assurance of Canned Tuna
Julio Martín-Herrero, José L. Alba-Castro,
Signal Theory and Communications Department,
Abstract
We describe a PC-based real time machine vision system for the quality assurance of canned tuna at a tin rate over 1,000 tins per minute, allowing the inspection of the tin and its contents, with two main purposes: preventing defective tins from damaging the closure equipment or from reaching the market with a defective closure, and deviating from the production line tins with low quality content: bruised or darkened areas, excessive percentage of crumb, presence of strange bodies, or partially filled tins, such that they may be fixed and reintroduced in the line without wasting any oil or sauce. The system comprises a iPentium PC with frame grabber, a greyscale line scan CCD camera, a fibre optic halogen lighting system, and a compressed air system for the deviation of the rejected tins, and has been entirely programmed in C++.
Keywords:
Machine vision, quality assurance, real time
image analysis.
034 Full paper
Object Classification via Stereo Vision Sensing in a
Flexible Manufacturing
Work Cell
Devendra P. Garg
Professor & ASME Life Fellow, Email: dpgarg@duke.edu
Manish Kumar
Research Assistant, Email: manish@duke.edu
Dept. of Mechanical Engineering and Materials Science
Duke University,
Abstract
The research presented in this paper involves the use of multiple cameras to identify key features of an object, obtain a 3-D model and classify the object into some known classes of objects. The paper also investigates the use of Bayesian technique to fuse the information obtained from multiple vision sources. The proposed algorithm is able to determine the three dimensional position of the object in robot world frame. This information can be used by the robots to manipulate a variety of objects for simulating a manufacturing process. The camera to robot transformation is obtained via a neural network approach. The proposed strategy to obtain transformation and data fusion is validated in a robotic work cell comprising of two industrial robots, two cameras mounted on a stereo rig, and one camera located above the work cell.
Keywords:
Stereo Vision, Sensor Fusion, Camera Calibration, Bayesian Technique, Neural Network.
Break
3.50 - 4.50 Vision and touch - recognition (2)
037 Full paper
Mechatronic-Controlled Machine Vision Inspection Apparatus For Agile Manufacturing Systems
Prof G. Bright 1 ; Dr R. Mayor 2 ; Dr N. S Tlale 3 ; Dr J Potgieter 3
1 School of Mechanical Engineering, University of Natal, Durban,
South Africa 2 Michigan State University,
Dearborn, Michigan, USA 3 Massey University,
brightg@nu.ac.za ; rmayor@engin.umich.edu ;
n.s.tlale@massey.ac.nz ; j.potgieter@massey.ac.nz
Abstract
The competitive advantage critical to the survival of manufacturing enterprises in the modern global environment can no longer be defined by simple “lower price, higher quality” philosophies but should now be governed by the manufacturer’s ability to mass produce to specific customer requirements. The current trend towards mass customisation has driven the manufacturing industry towards the implementation of agile manufacturing systems. Agile manufacturing implies that the manufacturing system should have the ability to adapt on-line to changes within the local process domain. The resultant dynamic environment places unusually high demands on the automated inspection and quality control techniques implemented in the agile manufacturing system. This paper discusses the application of an automated visual inspection apparatus in a research-oriented flexible manufacturing system at the University of Natal. The automated visual inspection apparatus is a computer controlled inspection technology that exhibits enhanced levels of flexibility and therefore could be used to perform adaptive inspection and verification tasks in the modern, agile manufacturing environment.
Key Words:
Agile manufacturing systems, automated
visual inspection, adaptive inspection and verification, on-line
reconfiguration
042 Full paper
A Novel Affine Invariant Object
Alignment Scheme based on Migrant Principle and Genetic Algorithm
P.W.M. Tsang and Terry Y.F. Yuen,
Department of Electronic Engineering, City University of Hong
Kong, Tat Chee Ave., Kowloon,
Abstract
When the relative position between an object and the viewpoint is changed, the corresponding projected images can deviate significantly. This has imposed heavy problem in shape recognition and pose estimation as it is difficulty to determine whether two images are originated from different objects, or merely projections of the same object on multiple viewpoints. Past research had revealed that for a planar rigid object, its images observed from different positions could be related with Affine Transform. On this basis, a pair of object contours can be classified as similar if they can be aligned by applying a legitimate Affine Transformation on one of them. Although the latter can be found with blind search, the amount of computation required to determine the six Affine parameters is enormous. To address this problem, Simple Genetic Algorithm (SGA) has been adopted to shorten the time required to determine the Affine Transform that leads to the best alignment between image pairs. Despite the moderate success, the method is sensitive to the quality of the initial population and exhibits a generally high failure rate. In this paper, we have overcome the above problems with a novel approach based on the integration of “Migrant Principle” and SGA. We have restructured the former so that it can be applied in the context of object alignment. Experimental results demonstrated that our proposed method is capable of deducing the Affine Transform between image pairs with higher successful rate and shorter convergence time.
Keywords:
Affine Invariant, Object Alignment, Simple
Genetic Algorithm, Migrant Principle
030 Full paper
Orientation detection and shape discrimination of an object on a flat surface using the distributive tactile sensing technique
Pensiri Tongpadungrod* and P.N.Brett +
*Department of Production Engineering, King Mongkut's Institute of
Technology North Bangkok, 1518 Piboonsongkram Rd, Bangkok,
10800 Thailand (pensiri@kmitnb.ac.th) + School of Engineering and Applied Science, Mechanical
Engineering, University of Aston, Aston Triangle, Birmingham, B4
7EJ, U.K. (p.n.brett@aston.ac.uk)
Abstract
The development of distributive tactile sensors has shown potential to enhance certain tasks often performed by a vision system such as determination of an object shape at a lower operation cost. As oppose to a point-to-point or discrete sensing approach, a distributive technique can be employed in a tactile system and it offers potential to reduce the number of sensing elements. The technique relies on detection of changes in the surface properties that can be seen across the surface rather than at the point of contact. The changes due to a particular object are unique and vary between each object’s shape and position. In this paper we present a tactile system configured as a flat two-dimensional distributive system that can detect changes in the state of contact. We have chosen to study the performance of the system to determine orientation of a rectangular object and to discriminate objects of complex shapes. It was found that the system was able to determine orientation of the rectangular object to the precision within 3.4% of the angle of orientation. The success rate of the system to discriminate shapes was approximately 93.8 % of the data presented for samples placed at random positions and orientations on the surface.
Keywords:
Tactile sensor, neural network, object identification.
7.30 Conference Banquet
Thursday 11th December
9.00 Keynote
061 Full paper
A Flexible Digit With Tactile Feedback For Invasive Clinical Applications
Peter Brett
Professor of Biomedical Engineering Systems, Aston University, UK.
Contact: p.n.brett@aston.ac.uk
Abstract
This paper describes research on a flexible digit with the feedback of tactile sense, such as is appropriate to endoscopy and other applications of minimal access surgery. The investigation has considered use in clinical practice and cost as principal drivers of the solution. The master-slave system incorporates the application of the distributive sensing method applied to tactile sensing in order to discriminate different contact conditions of the flexible digit. The paper concentrates on the description of the application of this method towards providing a method suited to the needs in diagnosis and navigation by flexible invasive devices, and places this in the context of the user and the system as a whole.
Keywords:
Minimal access surgery, tactile sensing, flexible digit.
9.30 - 10.30 Vision for Control
012 Full paper
Vision-based Feedback Control of Laser Powder Deposition
Ehsan Toyserkani, Amir Khajepour, Steve Corbin
Department of Mechanical Engineering, University of Waterloo,
Abstract
This article describes a vision-based feedback control of the laser powder deposition (laser cladding) process. The automated laser powder deposition process is described to show the involved technologies in this mechatronics system. An optical CCD-based detector is developed to monitor the process zone. The filtered images are processed by a pattern recognition algorithm to obtain the clad’s height and angle of solid/liquid interface in real-time. The clad’s height measurement is then fed into a PID-based controller to tune the laser pulse energy. The experimental results of the application of the developed system to the laser powder deposition process are also presented.
Keywords:
Laser powder deposition, vision-based
feedback system, optical detector
019 Full paper
Conjugate Epipole-based Self-Calibration of Camera under Circular Motion
H. Zhong and Y. S. Hung
Department of Electrical and Electronic Engineering, The University
of
Abstract
In this paper, we propose a new method to self-calibrate camera with constant internal parameters under circular motion. The basis of our approach is to make use of the conjugate epipoles which are related to camera positions with rotation angles satisfying the conjugate constraint. A novel circular projective reconstruction is developed for computing the conjugate epipoles robustly. It is shown that for a camera with zero skew, two turntable sequences with different camera orientations are needed, and for a general camera three sequences with different camera orientations are required. The performance of the algorithm is tested with real images.
Keywords:
Self-calibration, conjugate epipole,
circular motion.
065 Full paper
Eye Tracking as a Computer Interface
Premnath Dubey, Allan Loh & Geoff West
Department of Computing
Curtin University of Technology
{dubeyp, lohawk, geoff}@cs.curtin.edu.au
Abstract
There are a number of proposed techniques in the literature for eye tracking. One of the most important disadvantages of current commercially available eye tracking systems is their intrusive and, in some cases, active nature. There is a need for non-intrusive and passive methods that do not require physical contact with the eye or the use of scanning systems such as lasers. In this paper we present an eye tracking system based on the object tracking technique called CAMSHIFT. This general technique can track a variety of regions using colour. It has been designed mainly for tracking hands and faces i.e. regions of similar colour different from their surroundings. The modified algorithm presented in this paper for eye tracking is shown to be very robust and effective for moving a pointer around a computer screen in real time.
Keywords:
Eye tracking, human computer interface, vision.
Break
11.00 - 12.20 Robotics and Manipulators (2)
043 Full paper
Simplified Time-Optimal Path Planning of 2-DOF Mechanical Systems Along Circular Paths
Yang-O Kim, In-Joong Ha, Jin-Woo Hong, and
Jin-Won Park,
School of Electrical Engineering, Seoul National University
Abstract
In this paper, we consider time-optimal path planning of an X-Y gantry system along circular paths taking into full account of the acceleration and the jerk limitations of each actuator. Since these limitations are expressed as highly nonlinear state/input constraints, they are mathematically very difficult to handle effectively. In this context, we formulate our time-optimal problem under simplified constraints and derive its solution in feedback form. The proposed time-optimal circular path planning is based on the derived time-optimal solution. Finally, we present some experimental results which demonstrate the practical use of the proposed method.
Keywords:
Time-Optimal, Path Planning, Circular Path,
X-Y Gantry System.
047 Full paper
Exact Stiffness Modelling Applied to Stiffness Identification of a Robot Manipulator
Gürsel ALICI and Bijan SHIRINZADEH
Robotics & Mechatronics Research Laboratory
Department of Mechanical Engineering
Monash University, 3800, VIC,
Abstract
This paper addresses the exact stiffness modelling of a robot manipulator with a closed-chain mechanism, and a systematic approach to the estimation of the joint stiffness values. The exact stiffness model of the manipulator contains (i) the passive and active stiffness of the joints, and (ii) the active stiffness created by the change in the manipulator configuration and the payload carried. The experimental system considered in this study is a Motoman SK 120 robot manipulator. The deflection of the manipulator end point under a range of payloads is determined from the difference between the real manipulator end point positions measured by a high precision laser measurement system and the ideal end positions computed using the forward kinematic model of the manipulator. Based on the deflection data, a range of payloads and the exact stiffness model, the joint stiffness values are estimated in a least square sense. The joint stiffness values are then used to determine the order of the magnitude of the discrepancies between the exact and conventional stiffness models.
Keywords:
Stiffness modelling and identification, manipulator kinematic, compliance control
049 Full paper
Prediction of Geometric Errors of a Robot Manipulator with Particle Swarm Optimisation
Gursel
Alici1,
Ahmet Sekercioglu2,
Romuald Jagielski3,
and BijanShirinzadeh1
1Department
of Mechanical Engineering
2Department
of Electrical and Computer Systems Engineering
Monash
University, Clayton, 3800, VIC,
3School
of Information Technology
Swinburne
University of Technology,
Abstract
This paper presents an approach to the prediction of the expected positioning errors of robot manipulators due to their geometric parameters. A Swarm Intelligence (SI) based algorithm (Particle Swarm Optimisation – PSO) has been used to generate error estimator functions. The experimental system used is a Motoman SK 120 manipulator. The error estimation functions are based on the robot position data provided by a high precision laser measurement system. The functions have been verified for a test trajectory, which contains various configurations of the manipulator. The experimental results demonstrate that the positioning errors of robot manipulators can be effectively predicted with PSO. It must be emphasised that once the estimation functions are obtained, there is no need of any further experimental data in order to determine the expected positioning errors for a subsequent use in the error correction process.
Keywords:
Robot calibration, swarm intelligence,
particle swarm optimisation, error estimation and correction.
056 Full paper
Thin Wafer Pre-Align Gripping System – A new mechantronic approach to semiconductor handling
A. Binder*, G. Franz*, M. Lenzhofer*, M.
Soucek +
* Carinthian Tech Research AG
9524 Villach/St. Magdalen
Austria + IMA-Intergrated Microsystems
Viktor Kaplan Strasse 2/1
A-2700 Wiener Neustadt
Abstract
This paper describes a new mechatronic approach to thin wafer handling and pre-aligning issues in the semiconductor fabrication. Thin wafers are less than 200 µm thick and require specified handling solutions. One solution is the Bernoulli-Vacuum combined grip principle which successfully treats wafers with significant warpage up to 10 mm. A mechatronic gripper, which can replace standard pre-aligners by incorporating the functionality into the gripper and decreases cycle times is discussed. The Mechatronic Design and the control algorithms are explained in detail. Test results show that the accuracy at the system is 100 µm and the repeatability is 50 µm.
Keywords:
thin wafer handling, Mechatronic wafer pre-aligner, Bernoulli-Vacuum
grip.
Lunch
1.40 - 3.20 Control theory
004 Full paper
Adaptive Feedforward Compensation of Force Ripples in Linear Motors
K.K. Tan, H. Dou, S. Zhao
Department of Electrical and Computer Engineering
National University of Singapore, Singapore 117576
Abstract
This paper presents the design and realization of an adaptive dither to reduce the force ripple in an iron-core permanent magnet linear motor (PMLM). A composite control structure is used, consisting of three components: a simple feedforward component, a PID feedback component and an adaptive feedforward compensator(AFC). The first two components are designed based on a dominant linear model of the motor. The AFC generates a dither signal with the motivation to eliminate or suppress the inherent force ripple, thus facilitating smooth precise motion while uncompromising on the maximum force achievable. Real-time experimental results verify the effectiveness of the proposed scheme for high precision motion trajectory tracking using the PMLM.
Keywords:
Force ripples, PMLM, adaptive dither
compensator.
007 Full paper
Active Control of Boring Bar Vibrations Using the Leaky Feedback Filtered X-LMS
L. Andrén, L. Håkansson and I. Claesson,
Department of Telecommunications and Signal Processing
Blekinge Institute of Technology, 372 25
Ronneby,
Abstract
The boring operation is a cumbersome manufacturing process marred by noise and vibration related problems. The manufacturing industry is having trouble with these kinds of metal cutting operations. There exist several approaches to reduce the vibrations in cutting operations in general. Passive tuned dampers in boring bars have been commercially available for some time. An active solution is likely to be more robust to changes in the spectral content, where the passive counterpart have a small operable area, the active solution is able to adapt to these kinds of changes. Active vibration control in boring operations has been proven to be feasible. The algorithm used in the successful experiments was the feedback filtered X-LMS algorithm. This algorithm does however not guarantee a stable behavior, but incorporating a leakage factor will make the algorithm more robust. Power spectral density of boring bar vibration of real cutting experiments show that the leaky filtered X-LMS algorithm is a possible candidate to be a suitable control algorithm. Nyquist diagrams of the controller during operation show that the stability is increased significantly.
Keywords:
Active control, boring operation, leaky
feedback filtered X LMS
052 Full paper
Adaptive Robust Control for Hard Disk Servo systems
H. D. Taghirad I and E. Jamei II
Department of Electrical Engineering,
K.N.Toosi University of Technology
I taghirad@kntu.ac.ir II Ehsan_jamei@yahoo.com
Abstract
Adaptive robust controller is proposed for read/write head systems for hard disk drives (HDD). This structure can be applied to both track seeking and track following modes, and it makes the mode switching control algorithms found in conventional HDD servo system unnecessary. A discontinuous projection based on adaptive robust controller (ARC) is considered first. This controller theoretically guarantees a prescribed transient performance and tracking in presence of parametric uncertainties. An improved desired compensation ARC scheme is then presented, in which the regressor is calculated using reference trajectory information. This has been done by structural vibration minimized acceleration trajectory control method (SMART). The resulting controller has several implementation advantages such as less on-line computation time, less vibration, reduction of noise measurement effect, separation of robust control design from parameter adaptation, and a faster adaptation rate. The simulation and comparison results are presented to illustrate the effectiveness and the achievable control performance of the proposed controller algorithm.
Keywords:
Hard disk drive, adaptive robust control,
structural vibration, minimized acceleration.
064 Full paper
Linear Prediction Method For Real-Time Object Tracking
P.Y. Yeoh and S.A.R. Abu-Bakar
Department of Microelectronics and Computer Engineering,
Universiti Teknologi Malaysia.
Abstract
An efficient algorithm for real-time tracking of single moving object using a stationary camera is presented. The proposed tracking algorithm is based on the 2 nd order Linear Prediction method and solved by using the Maximum Entropy Method (MEM). The employed one-step predictor attempts to predict the location of the moving object in the next frame, based on the past centroid measurements. The accuracy performance of the proposed tracking algorithm has been verified by some real-world experimental image sequences. In addition, it has been shown that the proposed recursive predictor-corrector tracking algorithm is able to achieve faster tracking speed than that using the Kalman Filter.
Keywords:
Linear Prediction, Maximum Entropy Method, Projection Histograms,
motion
tracking.
067 Full paper
Tuning of PID Controller Of Dead Time Process Using Immune Based On Multiobjective
Dong Hwa Kim, WonPyo Hong
Dept. of Instrumentation and Control Eng., Hanbat National University,
16-1 San Duckmyong-Dong Yuseong-Gu, Daejon City, Korea, 305-719.
E-mail: kimdh@hanbat.ac.kr, Hompage: ial.hanbat.ac.kr
Tel: +82-42-821-1170, Fax: +82-821-1164
Abstract
Dead time processes exist widely in many types of systems such as chemical processes, biomedical processes, and the main steam temperature control system of the thermal power plant. Up to the present time, PID Controller has been used to operate this system. However, it is very difficult to achieve an optimal PID gain with no experience, since the gain of the PID controller has to be manually tuned by trial and error. The conventional PID controller to connected to theses plants are also tuned with a reduction of gain so that overall stability can be obtained. This results in poor performance of control. This paper suggests tuning method of the PID Controller for steam temperature process with long dead time using immune based multiobjective approach through computer simulation. Tuning technique of multiobjective based on immune algorithms in this paper can be used effectively in tuning of PID controllers.
Keywords:
PID control; Steam temperature control; Immune algorithm, Multiobjective control, Auto-tuning.
Electronic presentation – the author could not
be present
041 Full paper Movie
Vision-based control of a
CCTV pan-tilt video camera
Eric Galloix,
Information Processing Laboratory,
Department of Electrical and Information Engineering,
BOX 4500 FIN-90014
University Of Oulu, Finland (egalloix@ee.oulu.fi)
Abstract
In this article, a
simple and constrained approach to active camera control is illustrated by a
real-time machine vision demonstration for human-computer interaction. The
application is driven by manufacturer’s data, contrary to usual approaches that
select the pan-tilt units according to the output of the algorithms. The
available CCTV pan-tilt camera unit can be controlled solely using the duration
time of a motion command. The output of the image feature extraction module is
a set of skin-like pixels. Position monitoring is then achieved by pulling back
the center of the image frame towards the position of the center of mass
calculated over detected feature points.
Keywords:
Moving camera, control,
skin-like pixels.
Friday 12th December
9.00 - 5.00 Post-conference trip to Rottnest Island (optional)