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This paper proposed a novel contactless object-diameter method based on the binary-value circuit and Kalman filter algorithm in optical measurement systems. A circuit includes the binary-value and the data sample is used to obtain more important information from imaging sensor, and an Kalman filter mechanism is constructed to provide an appropriate reducing the effects of measurement noise and simultaneously...
This paper describes the principle, control method of working attitude of ROV (remotely operated vehicle). While the manipulator is reaching out under the water, the change of the center of the gravity will cause the robot pitching. It will take more time to make a maneuver for a pitched robot. A control device was developed to balance the attitude of the robot. A sliding mode controller was designed...
This paper introduces a new integrated method for segmenting image which imitates the human observing mechanism. Human firstly pays attention to large objects, then some details, and lastly the concerned details. At the first stage of the algorithm discontinuous edges are detected in the original image, then cut equidistantly to some segmentations, and the end points of segmentations are gathered...
In this article, the adaptive learning method of the radial basic function neural network is used on the variable structure sliding mode control of underwater robot to estimate and approach the upper bound of the uncertainty and disturbance induced by hydrodynamics. With this study method, the difficulties of establishment and resolving of precision dynamic model of underwater robot can be avoided...
This paper deals with a variable structure sliding mode control of ROV (remotely operated vehicle), with which the adaptive learning of the RBF neural network is used to estimate and approach the upper bound of the uncertainty and disturbance induced by hydrodynamics so as to avoid the difficulties of establishment and resolving of precision dynamic model. According the description and setting up...
This article describes the research on the anti-wave performance of small open-frame underwater robot. Through a series of study and modeling, a computer-based numerical calculus was done on the motion round the longitudinal axis of a remotely operating vehicle (ROV) in wave. In the practical application of near surface, as the manipulators of the ROV are gripping the object, the attitude of the ROV...
This paper present a convenient method for estimating the trifocal tensor corresponding to three images acquired by 3 cameras and 10-15 point projecting devices. A set of virtual 3D points are made by the laser pointers which are projected onto the working volume by turns. Its images are corresponding points naturally, found with sub-pixel precision. Then the trifocal tensor is computed via rank-4...
A non-time reference gait planning method is proposed. The usual reference variable, time, is substituted by a non-time variable in gait, so the whole gait-planning phase can be divided into two phases, (1) planning the space walking path: Taking the forward locomotion of upper-body as reference variable, considering the constraint of the environment, the walking path of a robot without collision...
In order to perform tracking a moving object, a vision-based tracking system mounted on a low-altitude flying unmanned helicopter is established. It is most important that the moving object must accurately be detected and tracked from dynamic scene. The multi-threshold segmentation algorithm with adaptive tolerance based on grey-level histogram is presented. And then the object dynamic clustering...
Concerning to problems of the traditional machine pitch system for miniaturizing Micro Air Vehicles (MAVs), A novel asymmetrical pitch method is put forward in this paper. This novel method makes use of the deformation of an elasticity link to generate the blade pitch meeting the requirement of the MAV flight mode control. This new pitch mechanism has been verified by means of two experiments. One...
A novel control strategy of pan-tilt-zoom camera is described. Because the active camera is mounted on a moving autonomous helicopter in visual tracking system, and the tracked object is moving at same time, and there exists the vibration influence of the helicopter, image stabilization becomes poor, and all pixels are running. Therefore, a biomimetic control strategy of on-board pan-tilt-zoom camera...
Subminiature fixed-wing unmanned aerial vehicles (SUAVs) present an enormous potential for low-altitude exploration applications. In order to develop a robotic SUAV and realize high level of autonomy, the flight motion model of the platform with wingspan of 1.8 m is studied thoroughly. Based on the rectilinear trim flight and small perturbation theory, the linear parametric model is investigated....
This paper describes a novel control strategy of pan-tilt-zoom camera for tracking a ground moving object from an autonomous helicopter. Because the active camera is mounted on a moving helicopter, and the tracked object is moving at same time, and there exists the vibration influence of the helicopter, image stabilization becomes poor, and all pixels are running. Therefore, a biomimetic control strategy...
Attitude determination system (ADS) that use inexpensive sensors and are based on computationally efficient and robust algorithms are indispensable for real-time vehicle navigation, guidance and control application. This paper describes an attitude determination system that is based on accelerometer and rate gyro. The algorithm is based on a extended Kalman filter. Using integration of angular rates...
Firstly, the characteristics of UAV visual tracking system were analysed, secondly the three-dimensional oculomotor control system model of biomimetic eye was developed based on the oculomotor neural paths. Then a new UAV visual tracking system was established. The on-board pan-tilt camera control system based on biomimetic eye can compensate the deflection caused by the UAV rotation and the movement...
Through analyzing the distribution of the normal reacting forces from the ground to the support foot, the stability condition of keeping the support foot to be in fully contacting with the ground is obtained. The theory basis of cutting a slot under the foot can improve the contact conditions between the foot and the ground is studied. A variety of states of elastic contact between the support foot...
Multi-sensory virtual guides are proposed in this paper to assist human operator to improve the quality, accuracy and speed of the executed teleoperation tasks with the power of virtual reality. Three categories of virtual guides: visual, acoustic and haptic virtual guides are designed and implemented in detail. A task-oriented virtual guides configuration strategy is also proposed and demonstrated...
In this paper, oculomotor characteristics and form were analyzed, the three-dimensional oculomotor control system model of biomimetic eye was developed based on the oculomotor neural paths, then the model was applied to the UAV on-board pan-tilt control system in the ground moving target low-altitude tracking system to coordinately control UAV and the on-board pan-tilt camera, thus the on-board camera...
It is the primary step of "digital city" to construct three-dimensional digital map (R. L. Shelly, 2003), (L. H. Liu, Dec. 2004). We consider that it constructed by computer vision based on the image microminiature aircraft collected (P. J. Basle, Apr. 1988). But the characteristic point's quantity cannot meet the requirement of construct digital elevation model. This paper provides a latest...
Visual tracking is currently one of the most active research topics in computer vision. It has a broad range of applications and many visual-tracking technologies are applied to the production auto-lines. In fact, the problem of visual tracking usually is regarded as the problem of combining control with computer vision. According to the result of image processing, production auto-lines can be monitored...
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