- 标题
- 摘要
- 关键词
- 实验方案
- 产品
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Intelligent Indoor Mobile Robot Navigation Using Stereo Vision
摘要： Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding environment. Stereo vision,while still being a rapidly developing technique in the field of autonomous mobile robots, are currently less preferable due to its high implementation cost. This paper aims at describing an experimental approach for the building of a stereo vision system that helps the robots to avoid obstacles and navigate through indoor environments and at the same time remaining very much cost effective. This paper discusses the fusion techniques of stereo vision and ultrasound sensors which helps in the successful navigation through different types of complex environments. The data from the sensor enables the robot to create the two dimensional topological map of unknown environments and stereo vision systems models the three dimension model of the same environment.
关键词： Point clouds,Triangulation,SLAM,Arduino,Stereo vision system
更新于2025-09-23 15:23:52
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An intelligent adjustable spanner for automated engagement with multi-diameter bolts/nuts during tightening/loosening process using vision system and fuzzy logic
摘要： The paper presents the development of a novel automated engagement intelligent spanner that is capable of autonomously changing its jaws’ size according to the diameters of the bolt’s/nut’s heads. It is a complete innovative system that involves the utilization of the vision system and fuzzy logic to make decisions about the diameter of head of bolt/nut. Image processing techniques has been implemented to extract the features of the bolts/nut, such as borders, non-borders area, outer diameter, and inner diameter of the head of the bolt/nut. It can be generally divided into three different stages, namely image pre-processing, image processing, and image post-processing. In image pre-processing stage, the image is prepared by applying some operations, such as acquiring streaming video, image cropping, gray-scale transformation, and background separation. Many filters and functions are applied in the image processing stage to efficiently get a clear border for the bolt/nut. In image post-processing, the necessary calculations are applied to get the diameter of the desired bolt, which involves the use of Hough Transformer and fitting circles searching process. The fuzzy logic-based decision-making algorithm is applied to the images resulting from the post-processing stage in order to do a final decision on the diameter of the bolt/nut and approximate it to the nearest standards diameter. Three bolts sizes are used in the experiments, namely M4, M4 with dust; M5; and M6 which are tested with 80 samples (20 for each). The results show the capability of image processing and fuzzy logic algorithms in making the right decisions on the diameter of bolts/nuts with 99% successful rate.
关键词： Vision system,Decision-making,Intelligent spanner,Image processing,Fuzzy logic
更新于2025-09-23 15:22:29
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Artificial optic-neural synapse for colored and color-mixed pattern recognition
摘要： The priority of synaptic device researches has been given to prove the device potential for the emulation of synaptic dynamics and not to functionalize further synaptic devices for more complex learning. Here, we demonstrate an optic-neural synaptic device by implementing synaptic and optical-sensing functions together on h-BN/WSe2 heterostructure. This device mimics the colored and color-mixed pattern recognition capabilities of the human vision system when arranged in an optic-neural network. Our synaptic device demonstrates a close to linear weight update trajectory while providing a large number of stable conduction states with less than 1% variation per state. The device operates with low voltage spikes of 0.3 V and consumes only 66 fJ per spike. This consequently facilitates the demonstration of accurate and energy efficient colored and color-mixed pattern recognition. The work will be an important step toward neural networks that comprise neural sensing and training functions for more complex pattern recognition.
关键词： optic-neural synaptic device,human vision system,pattern recognition,energy efficiency,h-BN/WSe2 heterostructure
更新于2025-09-23 15:21:21
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Wheel Alignment of a Suspension Module Unit Using a Laser Module
摘要： Vehicle wheel alignment inspection is generally carried out using a computer vision-based system. Due to its inspection mechanism using four wheel centers, the computer vision-based system cannot be applied to the wheel alignment inspection of suspension module units. However, when a vehicle suspension module is being developed, there is no complete car ready for wheel alignment inspection even though it is a very important procedure for suspension property tests. This study proposes a novel and e?cient way to inspect vehicle wheel alignment for suspension modules. Two laser modules and several mechanical jigs were employed for wheel alignment inspection, allowing the toe and camber angles of the suspension module to be measured. For accurate wheel alignment results, calibration of the laser modules was performed prior to the inspection. This calibration procedure adjusts the yaw and pitch angles of the laser module so that they can be orthogonal to the mounting jig. For the calibration, a novel method of using laser straightness was adopted and, consequently, 0.02 degrees of orthogonality was achieved. The wheel alignment inspection results were determined then veri?ed using a vision system with two cameras. In order to use this vision system, two cameras were used and a new method of modifying the measurement mechanism was developed. According to the veri?cation results, the proposed wheel alignment inspection provided very high measurement accuracy. The wheel alignment inspection mechanism proposed in this study can not only give very reliable results but also provide a cost-e?cient method of inspecting the wheel alignment of suspension modules to automakers.
关键词： Laser module,Vision system for wheel alignment inspection,Wheel alignment inspection
更新于2025-09-23 15:19:57
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A case report: Feasibility of a near infrared ray vision system (Photo dynamic eye?) for the postoperative ischemic complication of gallbladder carcinoma
摘要： INTRODUCTION: Radical resection with or without preserving extra-hepatic bile duct has shown similar prognoses for gallbladder carcinoma (GB ca), although aggressive resection is essential. In preserving bile duct, ischemic complications are serious, life-threatening serious problems. Correct evaluation of the blood flow to the biliary tract is crucial. CASE PRESENTATION: A case of gallbladder ca in a 62-year-old man was reported. The patient was diagnosed with stage II GB ca (T2, N0, M0) by ultrasonography, computed tomography, magnetic resonance imaging, and endoscopic ultrasonography. Cholecystectomy and intraoperative frozen section examination were planned. After recognition of invasion to subserosa and negative cystic duct margin, radical dissection of the lymph nodes in the hepatoduodenal ligament with preserving biliary tract was performed. Three days after the operation, biliary peritonitis was revealed. Emergency laparotomy showed ischemic bile leakage. Proper blood flow of the biliary system was realized by a near-infrared ray vision system (Photo Dynamic Eye?: HAMAMATSU Photonics) using indocyanine green. Primary suture of the extra-hepatic biliary duct and T-tube drainage were selected. No stricture of the bile system nor recurrence was recognized for two years after surgery. DISCUSSION: In the case of ischemic biliary complications, whether to preserve the extrahepatic bile duct is a critical issue for the surgeons. In this case study, the feasibility of authentic indocyanine green near-infrared imaging was shown for postoperative ischemic biliary situations. CONCLUSIONS: Authentic indocyanine green near-infrared imaging was feasible for the estimation of the blood flow to the postoperative ischemic biliary complication.
关键词： Preservation of the bile duct,Bile leakage,Near-infrared ray vision system,Bile duct stricture,Ischemic complication,Gallbladder carcinoma
更新于2025-09-23 15:19:57
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The Development of Supervised Motion Learning and Vision System for Humanoid Robot
摘要： With the development of the concept of Industry 4.0, research relating to robots is being paid more and more attention, among which the humanoid robot is a very important research topic. The humanoid robot is a robot with a bipedal mechanism. Due to the physical mechanism, humanoid robots can maneuver more easily in complex terrains, such as going up and down the stairs. However, humanoid robots often fall from imbalance. Whether or not the robot can stand up on its own after a fall is a key research issue. However, the often used method of hand tuning to allow robots to stand on its own is very inefficient. In order to solve the above problems, this paper proposes an automatic learning system based on Particle Swarm Optimization (PSO). This system allows the robot to learn how to achieve the motion of rebalancing after a fall. To allow the robot to have the capability of object recognition, this paper also applies the Convolutional Neural Network (CNN) to let the robot perform image recognition and successfully distinguish between 10 types of objects. The effectiveness and feasibility of the motion learning algorithm and the CNN based image classification for vision system proposed in this paper has been confirmed in the experimental results.
关键词： vision system,particle swarm optimization,humanoid robot,convolutional neural network
更新于2025-09-19 17:15:36
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A Mathematical Model of Laser Radiation Propagation in Seawater
摘要： Based on the well-known models of optical properties of a seawater layer in the spectral range of 530–550 nm, a mathematical model of the propagation of laser radiation is proposed. The mathematical model is obtained by solving radiative transfer equation for a narrow beam using a few-parameter approximation of the scattering indicatrix of the seawater layer. The model makes it possible to determine the spatial distribution of irradiance at a given distance from the laser radiation source by the known Secchi disk depth. The results of numerical experiments for water areas with known optical properties are given.
关键词： water inherent optical properties,turbid medium,optical radiation transfer,underwater vision system
更新于2025-09-16 10:30:52
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Sensors performance in laser-based manufacturing process quality assessment: a conceptual framework
摘要： Laser-based manufacturing processes are emerging in manufacturing. Thus, new requirements are created with respect to monitoring, control, and online quality assessment. This work describes a framework for both studying and designing the performance of an IR-vision sensor with respect to real-time on-axis laser-based process quality assessment. More specifically, utilizing physics model at machine level as well as experimental results, requirements are extracted for the efficiency metrics of the sensor. These requirements regard temporal and spatial characteristics of the sensor physical layer, as well as software (algorithmic) level specifications.
关键词： Electro-optical characterisation,Vision system,Laser process quality assessment,IR,Sensor performance
更新于2025-09-12 10:27:22
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Quality Inspection System for Robotic Laser Welding of Double-Curved Geometries
摘要： The quality of robotic laser welded parts is related to the joint location, the trajectory of the laser focal point and the process parameters. By performing in-process monitoring, it is possible to acquire sufficient process knowledge for post-inspection to evaluate the geometrical weld quality. The existing solutions for such systems operate along linear welds. This paper contributes with a quality inspection system for robot laser welding, that can handle double-curved geometries. The data acquisition system includes a CMOS camera, which is mounted such that it looks through the laser optics, external LED illumination and matching optical filters. During the process, the area around the moving laser focal point is captured, resulting in a sequence of images. The trajectory of the focal point is determined by estimating the 2D displacement field between each image using template matching and subsequently filtering the data through a Kalman filter to improve the accuracy and robustness of the system. The joint location is determined by applying a Canny edge detector and a standard Hough transform within a specified region of interest. As this paper deals with double-curved geometries, the region of interest is moved in relation to the laser trajectory, such that it always contains the visible part of the joint, that is closest to the focal point. The developed post-inspection system evaluates the quality of the weld by comparing the estimated trajectory relative to the determined location of the joint. The performance of the proposed quality inspection system was validated empirically on 18 samples. The tests showed promising results, as the system was able to accurately detect changes in the welding trajectory relative to the location of the joint with an accuracy of ± 0.2 mm.
关键词： Vision system,Image processing,Quality inspection,Laser welding,Welding trajectory
更新于2025-09-12 10:27:22
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[IEEE 2019 IEEE International Symposium on Dynamic Spectrum Access Networks (DySPAN) - Newark, NJ, USA (2019.11.11-2019.11.14)] 2019 IEEE International Symposium on Dynamic Spectrum Access Networks (DySPAN) - EyeLoc: Smartphone Vision Enabled Plug-n-play Indoor Localization in Large Shopping Malls
摘要： Indoor localization is an emerging demand in many large shopping malls. Existing indoor localization systems, however, require exhausted system bootstrap and calibration phases. The huge sunk cost usually hinders practical deployment of the indoor localization systems in large shopping malls. In contrast, we observe that ?oor-plan images of large shopping malls, which highlight the positions of many shops, are widely available in Google Maps, Gaode Maps, Baidu Maps etc. According to several observed shops, people can localize themselves (self-localization). However, due to the requirements of geometric sense and space transformation, not all people get used to this way. In this paper, we propose EyeLoc, which uses smartphone vision to enable accurate self-localization on ?oor-plan images. EyeLoc addresses several challenges which include developing ubiquitous smartphone vision system, ef?cient vision clue extraction and robust measurement error mitigation. We implement EyeLoc in Android and evaluate its performance in emulated environment and four large shopping malls. The 90-percentile errors of localization and heading direction are 4m and 20? in the two large shopping malls.
关键词： text detection/recognition,inertial measurement,smartphone vision system,Indoor localization
更新于2025-09-12 10:27:22