LAYERED CONTROL OF A BINOCULAR CAMERA HEAD

1993 ◽  
Vol 07 (01) ◽  
pp. 109-122 ◽  
Author(s):  
JAMES L. CROWLEY ◽  
PHILIPPE BOBET ◽  
MOUAFAK MESRABI
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Final Section ◽  
Vision System ◽  
Active Vision ◽  
Six Degrees Of Freedom ◽  
Binocular Stereo

This paper describes a layered control system for a binocular stereo head. It begins by a discussion of the principles of layered control. It then describes the mechanical configuration for a binocular camera head with six degrees of freedom. A device level controller is presented which permits an active vision system to command the position of a binocular gaze point in the scene. The final section describes the design of perceptual actions which exploit this device level controller.

scholarly journals Binocular visual tracking and grasping of a moving object with a 3D trajectory

2009 ◽  
Vol 7 (03) ◽  
Author(s):  
J. Fuentes-Pacheco ◽  
J. Ruiz-Ascencio ◽  
J. M. Rendón-Mancha
Keyword(s):  
Control System ◽  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Vision System ◽  
Moving Object ◽  
Three Dimensions ◽  
Stereo Pair ◽  
Six Degrees Of Freedom ◽  
Linear Predictors ◽  
Server Architecture

This paper presents a binocular eye-to-hand visual servoing system that is able to track and grasp a moving object in real time. Linear predictors are employed to estimate the object trajectory in three dimensions and are capable of predicting future positions even if the object is temporarily occluded. For its development we have used a CRS T475 manipulator robot with six degrees of freedom and two fixed cameras in a stereo pair configuration. The system has a client‐server architecture and is composed of two main parts: the vision system and the control system. The vision system uses color detection to extract the object from the background and a tracking technique based on search windows and object moments. The control system uses the RobWork library to generate the movement instructions and to send them to a C550 controller by means of the serial port. Experimental results are presented to verify the validity and the efficacy of the proposed visual servoing system.

New Redundant Manipulator Robot with Six Degrees of Freedom Controlled with Visual Feedback

2017 ◽  
pp. 231-255
Author(s):  
Claudio Urrea ◽  
Héctor Araya
Keyword(s):  
Visual Feedback ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Vision System ◽  
Artificial Vision ◽  
Correct Operation ◽  
Six Degrees Of Freedom ◽  
Design And Implementation ◽  
Implementation Stages ◽  
Manipulator Robot

The design and implementation stages of a redundant robotized manipulator with six Degrees Of Freedom (DOF), controlled with visual feedback by means of computational software, is presented. The various disciplines involved in the design and implementation of the manipulator robot are highlighted in their electric as well as mechanical aspects. Then, the kinematics equations that govern the position and orientation of each link of the manipulator robot are determined. The programming of an artificial vision system and of an interface that control the manipulator robot is designed and implemented. Likewise, the type of position control applied to each joint is explained, making a distinction according to the assigned task. Finally, functional mechanical and electric tests to validate the correct operation of each of the systems of the manipulator robot and the whole robotized system are carried out.

Development of active six-degrees-of-freedom microvibration control system using giant magnetostrictive actuators

2000 ◽  
Vol 9 (2) ◽  
pp. 175-185 ◽  
Author(s):  
Yoshiya Nakamura ◽  
Masanao Nakayama ◽  
Keiji Masuda ◽  
Kiyoshi Tanaka ◽  
Masashi Yasuda ◽  
...  
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Six Degrees Of Freedom ◽  
Magnetostrictive Actuators

Nonlinear system controllability analysis and autopilot design for bank-to-turn aircraft with two flaps

2018 ◽  
Vol 233 (5) ◽  
pp. 1772-1783 ◽  
Author(s):  
Jinlu Dong ◽  
Di Zhou ◽  
Chuntao Shao ◽  
Shikai Wu
Keyword(s):  
Numerical Simulation ◽  
Control System ◽  
Nonlinear System ◽  
Feedback Linearization ◽  
Degrees Of Freedom ◽  
Lyapunov Stability Theory ◽  
Zero Dynamics ◽  
Controlled System ◽  
Linearization Technique ◽  
Six Degrees Of Freedom

In this study, the six-degrees-of-freedom flight motion of a tail-controlled bank-to-turn aircraft with two flaps is described as a nonlinear control system. The controllability of this flap-controlled system is analyzed based on nonlinear controllability theory and the system is proved to be weakly controllable. By choosing the angle-of-attack and roll angle as the outputs of this control system, the zero dynamics of the system are analyzed using Lyapunov stability theory, and are proved to be stable under some conditions given by an inequality. Then an autopilot is designed for this system using the feedback linearization technique. Results of the numerical simulation for this control system show the effectiveness of the controllability analysis and autopilot design.

New Redundant Manipulator Robot with Six Degrees of Freedom Controlled with Visual Feedback

2020 ◽  
pp. 142-166
Author(s):  
Claudio Urrea ◽  
Héctor Araya
Keyword(s):  
Visual Feedback ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Vision System ◽  
Artificial Vision ◽  
Correct Operation ◽  
Six Degrees Of Freedom ◽  
Design And Implementation ◽  
Implementation Stages ◽  
Manipulator Robot

The design and implementation stages of a redundant robotized manipulator with six Degrees Of Freedom (DOF), controlled with visual feedback by means of computational software, is presented. The various disciplines involved in the design and implementation of the manipulator robot are highlighted in their electric as well as mechanical aspects. Then, the kinematics equations that govern the position and orientation of each link of the manipulator robot are determined. The programming of an artificial vision system and of an interface that control the manipulator robot is designed and implemented. Likewise, the type of position control applied to each joint is explained, making a distinction according to the assigned task. Finally, functional mechanical and electric tests to validate the correct operation of each of the systems of the manipulator robot and the whole robotized system are carried out.

An Autonomous Underwater Vehicle for Competition

2013 ◽  
Vol 380-384 ◽  
pp. 595-600
Author(s):  
Hai Tian ◽  
Bo Hu ◽  
Can Yu Liu ◽  
Guo Chao Xie ◽  
Hui Min Luo
Keyword(s):  
Control System ◽  
Hydrodynamic Model ◽  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Vertical Motion ◽  
Underwater Vehicle ◽  
Step Response ◽  
Six Degrees Of Freedom ◽  
Simulink Simulation

The research of this paper was derived from the small autonomous underwater vehicle (AUV)Raider well performed in the 15th International Underwater Vehicle Competition (IAUVC),San Diego. In order to improve the performance of underwater vehicle, the control system of performance motion played an important role on autonomous underwater vehicles stable motion, and the whole control system of AUV is the main point. Firstly, based on the motion equations of six degrees of freedom, the paper simplified the dynamical model reasonably in allusion; Due to the speed of Raider to find the target was very low, this paper considered the speed was approximately zero and only considered the vertical motion. Therefore, this paper established the vertical hydrodynamic model of Raider, obtaining the transfer equation of vertical motion. Through the experiment and Matlab/Simulink simulation, this paper got the actual depth of the step response curve and simulation curve, and verified the validity of the vertical hydrodynamic model and the correlation coefficient.

scholarly journals Efficient RGB–D data processing for feature–based self–localization of mobile robots

2016 ◽  
Vol 26 (1) ◽  
pp. 63-79 ◽  
Author(s):  
Marek Kraft ◽  
Michał Nowicki ◽  
Rudi Penne ◽  
Adam Schmidt ◽  
Piotr Skrzypczyński
Keyword(s):  
Feature Extraction ◽  
Degrees Of Freedom ◽  
Active Vision ◽  
Visual Odometry ◽  
Data Sets ◽  
Six Degrees Of Freedom ◽  
Localization And Mapping ◽  
Feature Based ◽  
General Architecture ◽  
Mapping Solution

Abstract The problem of position and orientation estimation for an active vision sensor that moves with respect to the full six degrees of freedom is considered. The proposed approach is based on point features extracted from RGB-D data. This work focuses on efficient point feature extraction algorithms and on methods for the management of a set of features in a single RGB-D data frame. While the fast, RGB-D-based visual odometry system described in this paper builds upon our previous results as to the general architecture, the important novel elements introduced here are aimed at improving the precision and robustness of the motion estimate computed from the matching point features of two RGB-D frames. Moreover, we demonstrate that the visual odometry system can serve as the front-end for a pose-based simultaneous localization and mapping solution. The proposed solutions are tested on publicly available data sets to ensure that the results are scientifically verifiable. The experimental results demonstrate gains due to the improved feature extraction and management mechanisms, whereas the performance of the whole navigation system compares favorably to results known from the literature.

scholarly journals Design and development of anchoring positioning control system for riprap leveling ship

2021 ◽  
Vol 233 ◽  
pp. 04007
Author(s):  
Xiaotao Hua ◽  
Yan Liu ◽  
Haiyang Sun ◽  
Jianru Chen
Keyword(s):  
Control System ◽  
Equilibrium State ◽  
Degrees Of Freedom ◽  
Wind Wave ◽  
Control Method ◽  
Positioning Control ◽  
Six Degrees Of Freedom ◽  
Hydrodynamic Parameters ◽  
Convergence Control ◽  
Heading Angle

It is very important to level foundation bed by riprap in water and soil engineering. In this paper, a real-time feedback convergence control method is proposed to control the position and heading angle of the riprap leveling ship. The wind, wave, current and hydrodynamic parameters are obtained by empirical formula; the tension of four cables is calculated according to the balance equation of six degrees of freedom, and then the cable deformation is obtained. According to the deformation of the cable, the length of the cable in a certain equilibrium state can be obtained. The length of four cables can be lengthened or shortened by comparing the length of cables at two balanced positions. The length of cables can be controlled by winch to complete the anchoring and positioning control of leveling ship.

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