Abstract: Since the vision system application in industrial environment for autonomous purposes is required intensely, the image recognition technique becomes an important research topic. Here, deep learning algorithm is employed in image system to recognize the industrial object and integrate with a 7A6 Series Manipulator for object automatic gripping task. PC and Graphic Processing Unit (GPU) are chosen to construct the 3D Vision Recognition System. Depth Camera (Intel RealSense SR300) is employed to extract the image for object recognition and coordinate derivation. The YOLOv2 scheme is adopted in Convolution neural network (CNN) structure for object classification and center point prediction. Additionally, image processing strategy is used to find the object contour for calculating the object orientation angle. Then, the specified object location and orientation information are sent to robotic controller. Finally, a six-axis manipulator can grasp the specific object in a random environment based on the user command and the extracted image information. The experimental results show that YOLOv2 has been successfully employed to detect the object location and category with confidence near 0.9 and 3D position error less than 0.4 mm. It is useful for future intelligent robotic application in industrial 4.0 environment.
Abstract: The main principles of X-ray Fourier interferometric holography method are discussed. The object image is reconstructed by the mathematical method of Fourier transformation. The three methods are presented – method of approximation, iteration method and step by step method. As an example the complex amplitude transmission coefficient reconstruction of a beryllium wire is considered. The results reconstructed by three presented methods are compared. The best results are obtained by means of step by step method.
Abstract: This paper proposes a balance control scheme for a biped robot to trace an arbitrary path using image information. While moving, it estimates the zero moment point(ZMP) of the biped robot in the next step using a Kalman filter and renders an appropriate balanced pose of the robot. The ZMP can be calculated from the robot's pose, which is measured from the reference object image acquired by a CCD camera on the robot's head. For simplifying the kinematical model, the coordinates systems of individual joints of each leg are aligned and the robot motion is approximated as an inverted pendulum so that a simple linear dynamics, 3D-LIPM(3D-Linear Inverted Pendulum Mode) can be applied. The efficiency of the proposed algorithm has been proven by the experiments performed on unknown trajectory.
Abstract: Real-time 3D applications have to guarantee
interactive rendering speed. There is a restriction for the number of
polygons which is rendered due to performance of a graphics hardware
or graphics algorithms. Generally, the rendering performance will be
drastically increased when handling only the dynamic 3d models,
which is much fewer than the static ones. Since shapes and colors of
the static objects don-t change when the viewing direction is fixed, the
information can be reused. We render huge amounts of polygon those
cannot handled by conventional rendering techniques in real-time by
using a static object image and merging it with rendering result of the
dynamic objects. The performance must be decreased as a
consequence of updating the static object image including removing
an static object that starts to move, re-rending the other static objects
being overlapped by the moving ones. Based on visibility of the object
beginning to move, we can skip the updating process. As a result, we
enhance rendering performance and reduce differences of rendering
speed between each frame. Proposed method renders total
200,000,000 polygons that consist of 500,000 dynamic polygons and
the rest are static polygons in about 100 frames per second.