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The speed characteristic of moving contact is vital to the high voltage circuit breakers. But due to the contacts of high voltage circuit breaker are completely isolated by arc chamber, the common measurement methods have some disadvantages. In this paper, a new method for measuring the speed characteristics based on machine vision algorithm is developed. This noninvasive method just needs to draw...
As an excellent underwater biorobotics, robotic fish has got considerable development in recent decades. However the majority of researches assume that the flow field where the fish swims is a steady one, ignoring the fact that fish in nature has to deal with diverse flow fields. This takes part of responsibility for the low efficiency of robotic fish comparing with live one. In this paper, we present...
Vision system is the important equipment for Unmanned Surface Vehicle (USV) to find obstacles and monitor surrounding environment. There are popular calibration methods for vision system used indoor and outdoor on land. However, the USV has to be transported, hoisted and deployed, and calibrated parameters may be changed in the process. Consequently, it is desired to calibrate the vision system in...
This paper proposes a solution for recovery of spilled oil on dangerous water area with an Unmanned Surface Vehicle(USV). A Dynamic Inclined Plane Skimmer(DIPS) is placed on the front deck of the USV so that it can run to the destination at high speed. For automatic deployment of the DIPS onto the water, a mechanism consisting of two pillars fixed on each side of the front deck, a portal-type frame...
Due to the special working environment, some problems should be taken into account for calibration of vision system used on autonomous surface vehicle (ASV). This paper discussed the relation between calibration parameters obtained from different distances. After a brief introduction to the imaging model of camera and the classical calibration methods, the relation between the distance from calibration...
This paper provides a three-dimensional quantitative description method of cockroach movement. An experimental platform is built to observe the locomotion of cockroach, which is made of two parts: a high speed camera is used to record the locomotion, and two mirrors that locate two franks provide visual frames. Mathematical model of the platform was provided so that 3D coordinates of cockroach can...
Every year many vehicle departure accidents happen due to the driver's carelessness. Lane Departure Warning System (LDWS) is a kind of system which can relieve the stress of the drivers and reduce traffic accidents. But most traffic scenes have greater dynamic range than the digital camera at present. It makes the accuracy of the system would be affected by the complicated lighting. Traditional lane...
This paper presents a stereovision system to aid in navigating an Autonomous Surface Vehicle (ASV). The ASV is guided to follow a path mainly by GPS, while the stereovision system is designed for assisting it to avoid obstacles or follow a target floating on water surface. After calibration, the stereovision system can estimate the positions of floating objects founded simultaneously by both cameras,...
This paper discusses the constraints of coplanar points in perspective projection, based on which a new method to calibrate lens distortion is presented. Stem from the concept of center line related to Ponceletpsilas theorem on projective geometry, an equation of the center line is derived algebraically, from which some useful properties of the center line are deduced. These properties constitute...
This paper presents an Unmanned Surface Vehicle (USV) for multi-mission applications. A small catamaran equipped with remotely operated system based on wireless local area network is developed and used as a universal platform. Outfitted with different appliances and instruments, the USV is tested for various applications including harbor surveillance, water quality sampling, hydrologic survey, maritime...
In this paper, we employ the concept of characteristic line to show some useful properties of planar homography matrix. These properties relate the characteristic line of a planar homography matrix with Euler angles of the planar pattern. Based on the characteristic line, a new method of linear camera calibration is proposed and a strategy to select poses of planar pattern during taking calibration...
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