Billingsley / Bradbeer Mechatronics and Machine Vision in Practice

1. Auflage 2007
ISBN: 978-3-540-74027-8
Verlag: Springer-Verlag
Format: PDF
Kopierschutz: Adobe DRM (»Systemvoraussetzungen)

E-Book, Englisch, 348 Seiten

From grading and preparing harvested vegetables to the tactile probing of a patient’s innermost recesses, mechatronics has become part of our way of life. The addition of senses and computing intelligence to blend with mechanical actuation gives rise to a breed of new machines with all the best attributes of a robot.

Here we find educational robots competing under water and dancing on land. Surgical robots drill precision holes in the skull while others direct radiation treatment or extract blood from an umbilical cord. Machine vision manages beer kegs and automated paint spraying, while controlling feral animals and the watering of cotton crops.

Although there is no shortage of theoretical and technical detail in these chapters, they have the common theme that they describe work that has been applied in practice. They are vital reading both for students of mechatronics and for engineers harnessing its power to create new products.

Autoren/Hrsg.

Billingsley, John

Bradbeer, Robin

Inhaltsverzeichnis

1;Foreword;5
2;Contents;6
3;Education;9
3.1;Emergent Behaviour Real-time Programming of a Six- Legged Omni- Directional Mobile Robot: Planning of Viennese Waltz Behaviour;10
3.1.1;1 Introduction;10
3.1.2;2 The Viennese Waltz ( see reference [ 3] for a movie clip);13
3.1.3;3 Applications of Viennese Waltz Behaviour;14
3.1.4;4 Analysis of Sun and Planet Wheel Model;16
3.1.5;5 Application of Sun and Planet Wheel Model to the Robot;19
3.1.6;6 Summary;22
3.1.7;References;22
3.2;The Hong Kong Underwater Robot Challenge;23
3.2.1;1 Introduction;23
3.2.2;2 The Robot Kit;23
3.2.3;3 The Competition;25
3.2.4;4 The Workshops;25
3.2.5;5 The Hong Kong Finals;26
3.2.6;6 The Hoi Ha Wan Trials;27
3.2.7;7 The International Finals, Houston, Texas;28
3.2.8;8 The Educational Objectives;29
3.2.9;9 Conclusions;30
3.2.10;Acknowledgements;30
3.2.11;References;30
3.3;Dynamics and Control of a VTOL Quad-Thrust Aerial Robot;32
3.3.1;1 Introduction;32
3.3.2;2 Current “State of the Art” in Quadrotor UAVs;33
3.3.3;3 Design of the Propulsion System;34
3.3.4;4 Dynamic Modelling of Attitude;35
3.3.5;5 Attitude Controller Design and Simulation;38
3.3.6;6 Control Electronics;40
3.3.7;7 Attitude Estimation;41
3.3.8;8 Attitude Controller Implementation;43
3.3.9;9 Conclusions;44
3.3.10;References;44
3.4;Project-oriented Low Cost Autonomous Underwater Vehicle with Servo- visual Control for Mechatronics Curricula;46
3.4.1;1 Introduction;46
3.4.2;2 General Layout of the Project;47
3.4.3;3 AUV Visual Servoing Project Description;48
3.4.4;4 Results;54
3.4.5;5 Conclusions;55
3.4.6;References;55
3.5;Coordination in Mechatronic Engineering Work;56
3.5.1;1 Abstract;56
3.5.2;2 Introduction;56
3.5.3;3 Empirical Research Method;58
3.5.4;4 Coordination in Mechatronic Engineering Work;58
3.5.5;5 Implications for Engineering Education;64
3.5.6;Acknowledgements;65
3.5.7;References;65
4;Vision Techniques;67
4.1;A Vision System for Depth Perception that Uses Inertial Sensing and Motion Parallax;68
4.1.1;1 Introduction;68
4.1.2;2 Experiental Set-up;69
4.1.3;3 Distance from Motion Parallax;71
4.1.4;4 Results from Simulation and Experiment;73
4.1.5;5 Conclusions;77
4.1.6;Acknowledgements;78
4.1.7;References;78
4.2;Rate Shape Identification Based on Particle Swarm Optimization;79
4.2.1;1 Introduction;79
4.2.2;2 Outline of Genetic Algorithm Based Affine Invariant Object Matching;80
4.2.3;3 Particle Swarm Optimization (PSO);81
4.2.4;4 Proposed Method: Affine Invariant Object Matching Based on PSO;82
4.2.5;5 Experimental results;84
4.2.6;6 Conclusion;86
4.2.7;References;86
4.3;Advanced 3D Imaging Technology for Autonomous Manufacturing Systems;88
4.3.1;1 Introduction;88
4.3.2;2 System Overview;89
4.3.3;3 Inline 3D Image Processing;90
4.3.4;4 Experiments;94
4.3.5;5 Conclusion;96
4.3.6;References;97
4.4;Vision Based Person Tracking and Following in Unstructured Environments;99
4.4.1;1 Introduction;99
4.4.2;2 Person Identification;100
4.4.3;3 Fuzzy Tracking and Following Control;102
4.4.4;4 Indoor and Outdoor Experiments;106
4.4.5;5 Summary and Conclusions;108
4.4.6;References;108
4.5;Simple, Robust and Accurate Head-Pose Tracking Using a Single Camera;110
4.5.1;1 Introduction;110
4.5.2;2 Hardware;111
4.5.3;3 Processing;112
4.5.4;4 Experimental Results;118
4.5.5;5 Conclusion;120
4.5.6;Acknowledgements;120
4.5.7;References;120
5;Vision Applications;122
5.1;Machine Vision for Beer Keg Asset Management;123
5.1.1;1 Abstract;123
5.1.2;2 Introduction;123
5.1.3;3 Problem Statement;125
5.1.4;4 Methodology;125
5.1.5;5 Keg ID Number Recognition;127
5.1.6;Acknowledgements;134
5.1.7;References;134
5.2;Millimetre Wave Radar Visualisation System: Practical Approach to Transforming Mining Operations;136
5.2.1;1 Introduction;136
5.2.2;2 Sensor Requirements;138
5.2.3;3 Selection of Technology;145
5.2.4;4 Radar Operational Technique and Specifications;146
5.2.5;5 Building the Radars;148
5.2.6;6 System Implementation and Results;149
5.2.7;7 Benefits to the Mining Industry;159
5.2.8;8 Conclusions;160
5.2.9;9 Acknowledgements;161
5.2.10;References;161
5.3;An Underwater Camera and Instrumentation System for Monitoring the Undersea Environment;163
5.3.1;1 Introduction;163
5.3.2;2 Structure of the System;164
5.3.3;4 Results of Observation;169
5.3.4;5 Discussion;173
5.3.5;6 Conclusion;174
5.3.6;Acknowledgement;175
5.3.7;References;175
5.4;Visual Position Estimation for Automatic Landing of a Tail- Sitter Vertical Takeoff and Landing Unmanned Air Vehicle;176
5.4.1;1 Introduction;176
5.4.2;2 Image Processing;177
5.4.3;3 Target Identification;178
5.4.4;4 State Estimation;179
5.4.5;5 Experimental Results;183
5.4.6;6 Conclusion;185
5.4.7;References;185
5.5;Minutiae-based Fingerprint Alignment Using Phase Correlation;187
5.5.1;1 Introduction;187
5.5.2;2 Phase Correlation;188
5.5.3;3 New Representation: MDI;189
5.5.4;4 Fingerprint Alignment Approach;189
5.5.5;5 Experiment and Preliminary Results;190
5.5.6;6 Conclusion;192
5.5.7;References;192
6;Robotic Techniques;193
6.1;A Snake-like Robot for Inspection Tasks;194
6.1.1;1 Introduction;194
6.1.2;2 The Locomotion Mechanism;195
6.1.3;3 The Locomotion Mode;195
6.1.4;4 Configuration of the Control System;196
6.1.5;5 The Snake-like Robot;197
6.1.6;6 Configuration of the Inspection System;198
6.1.7;7 Inspection of a Car;199
6.1.8;8 Future Works;200
6.1.9;Acknowledgments;200
6.1.10;References;201
6.2;Modelling Pneumatic Muscles as Hydraulic Muscles for Use as an Underwater Actuator;202
6.2.1;1 Introduction;202
6.2.2;2 Introduction of Shadow Muscle;203
6.2.3;3 Static Pressure-Contraction Relationships;203
6.2.4;4 Results;206
6.2.5;5 Conclusion;209
6.2.6;Aknowledgement;210
6.2.7;References;210
6.3;Automated Tactile Sensory Perception of Contact Using the Distributive Approach;211
6.3.1;1 Introduction;211
6.3.2;2 One Dimensional Performance Study for a Static Load Distribution;213
6.3.3;3 Two Dimensional Performance Study for a Static Load Distribution;217
6.3.4;4 Dynamic Loading studies;218
6.3.5;5 Conclusions;219
6.3.6;References;220
6.4;Blind Search Inverse Kinematics for Controlling All Types of Serial- link Robot Arms;221
6.4.1;1 Introduction;221
6.4.2;2 Background of Inverse Kinematics;221
6.4.3;3 A New “Blind Search” Incremental IK Method;225
6.4.4;4 Conclusion;235
6.4.5;References;235
7;Medical Applications;237
7.1;Distributive Tactile Sensing Applied to Discriminate Contact and Motion of a Flexible Digit in Invasive Clinical Environments;238
7.1.1;Abstract;238
7.1.2;1 Introduction;238
7.1.3;2 Tactile Information Feedback Needs in Clinical Procedures;239
7.1.4;3 The System Functions and Method of Operation of the Digit;240
7.1.5;4 The Experimental Set-up;241
7.1.6;5 Experimental Demonstration of Performance;242
7.1.7;6 Conclusions;243
7.1.8;Acknowledgements;244
7.1.9;References;244
7.2;Intelligent Approach to Cordblood Collection;245
7.2.1;1 Introduction;245
7.2.2;2 Construction of the Intelligent UCB Collection System;246
7.2.3;3 Test Results;249
7.2.4;4 Conclusions;250
7.2.5;References;250
7.3;An Autonomous Surgical Robot Applied in Practice;251
7.3.1;1 Introduction;251
7.3.2;2 Preparing a Cochleostomy;252
7.3.3;3 The Autonomous System;253
7.3.4;4 Sensing the Medial Surface;254
7.3.5;5 Micro-drilling in Practice;255
7.3.6;6 Conclusion;255
7.3.7;Acknowledgements;256
7.3.8;References;256
7.4;Development of an Intelligent Physiotherapy System;257
7.4.1;1 Introduction;257
7.4.2;2 Objective;258
7.4.3;3 Hardware and Software Components;258
7.4.4;4 Phase One Design;259
7.4.5;5 Phase Two Design – Stand Alone Application;261
7.4.6;6 Field Trail Results;262
7.4.7;7 Conclusions;263
7.4.8;References;263
7.5;Visual Prostheses for the Blind: A Framework for Information Presentation;264
7.5.1;1 Introduction;264
7.5.2;2 A Framework for Information Presentation;265
7.5.3;3 Application of the Framework to Mobility Assessment;268
7.5.4;4 Results;272
7.5.5;5 Discussion;274
7.5.6;6 Conclusions;275
7.5.7;References;275
7.6;Computer-based Method of Determining the Path of a HIFU Beam Through Tissue Layers from Medical Images to Improve Cancer Treatment;277
7.6.1;1 Introduction;277
7.6.2;2 An Overview of HIFU and the Need for Medical Images;278
7.6.3;3 Manual Detection of Boundaries and Prediction of Beam Path;280
7.6.4;4 Automatic Prediction of Beam Path;282
7.6.5;5 Current Research and Development;287
7.6.6;6 Conclusion;289
7.6.7;References;290
8;Agricultural Applications;291
8.1;On-the-go Machine Vision Sensing of Cotton Plant Geometric Parameters: First Results;292
8.1.1;Abstract;292
8.1.2;1 Introduction;292
8.1.3;2 Measurement of Plant Structure Using Machine Vision;293
8.1.4;3 Image Processing;294
8.1.5;4 Field Equipment and First Trials;297
8.1.6;5 Results and Discussion;297
8.1.7;6 Conclusions;298
8.1.8;Acknowledgements;298
8.1.9;References;298
8.2;Robotics for Agricultural Systems;300
8.2.1;1 Introduction;300
8.2.2;2 Radicchio Harvester;301
8.2.3;3 Fennel Cutting System;308
8.2.4;4 Experimental Results;313
8.2.5;5 Summary;317
8.2.6;Acknowledgements;318
8.2.7;References;318
8.2.8;Biography;319
8.3;More Machine Vision Applications in the NCEA;320
8.3.1;1 Introduction;320
8.3.2;2 Identification of Animal Species;320
8.3.3;3 The Counting of Macadamia Nuts;323
8.3.4;4 Animal Behaviour;325
8.3.5;5 Texture Analysis;325
8.3.6;6 Measuring the Density of Dingo Teeth;326
8.3.7;7 Vision Guidance;328
8.3.8;8 Conclusions;329
8.3.9;Acknowledgments;329
8.3.10;References;330
9;Authors;331
10;Index;333