Motion Generation for a Sword-Fighting Robot Based on Quick Detection of Opposite Player’s Initial Motions

2015 ◽  
Vol 27 (5) ◽  
pp. 543-551 ◽  
Author(s):  
Akio Namiki ◽  
◽  
Fumiyasu Takahashi
Keyword(s):  
Least Squares ◽  
High Speed ◽  
Least Squares Method ◽  
Vision System ◽  
Experimental Results ◽  
Change Points ◽  
Motion Generation ◽  
Robot System ◽  
The Moment ◽  
Human Player

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270005/11.jpg"" width=""300"" /> Defensive motion against attack</div> In this paper, we discuss how to generate defensive motions for a sword-fighting robot based on quick detection of the opposite player’s initial motions. Our sword-fighting robot system, which has a stereo high-speed vision system, recognizes both the position of a human player and that of the sword grasped by the robot’s hand. Further, it detects the moment when the human player initiates a move using ChangeFinder, which is a method of detecting change points. Next, using least squares method, it predicts the possible trajectories of the sword of the human player from the moment when the attack starts. Finally, it judges the type of the attack and generates an appropriate defensive motion. The effectiveness of the proposed algorithm is verified by experimental results. </span>

Image Reconstruction on Quincunx Patterned Green Channel

2013 ◽  
Vol 717 ◽  
pp. 493-496
Author(s):  
Gwang Gil Jeon
Keyword(s):  
Image Reconstruction ◽  
Least Squares ◽  
Least Squares Method ◽  
Interpolation Method ◽  
Experimental Results ◽  
Color Filter ◽  
Image Artifacts ◽  
Green Channel ◽  
Filter Array ◽  
Single Sensor

This paper addresses the issue of the quincunx patterned green channel interpolation method that is obtained by single sensor cameras. Our goal is to reconstruct the green channel in Bayer color filter array (CFA) data. We present a new filter-based method for the reduction of image artifacts in green channel. To reconstruct green channel, we trained a filter using least squares method. Experimental results confirm the effectiveness of the proposed method. Compared to other bilinear and bicubic filters, the improvement in quality has been achieved.

THE FLOW FIELD ACTING ON THE FLUTTERING PROFILE, KINEMATICS, FORCES AND TOTAL MOMENT

2013 ◽  
Vol 13 (07) ◽  
pp. 1340009 ◽  
Author(s):  
JAN KOZÁNEK ◽  
VÁCLAV VLČEK ◽  
IGOR ZOLOTAREV
Keyword(s):  
Mathematical Model ◽  
Least Squares ◽  
High Speed ◽  
Least Squares Method ◽  
High Speed Camera ◽  
Aerodynamic Forces ◽  
Total Moment ◽  
Airfoil Surface ◽  
Measured System ◽  
Simplified Mathematical Model

A high speed camera was used for interferometry visualization (in different phases of the motion) of the fluttering NACA0015 profile supported in a translational and rotational manner. First, the simplified mathematical model of the support of investigated profile was identified from minimum least squares differences between modeled and measured system responses. A special graphical Matlab procedure was proposed for evaluation of interferograms. Kinematic analysis defining motion of the profile as a function of time was obtained by a regression using the least squares method. Numerical integration of pressure functions around the airfoil surface allows for calculation of the resulting aerodynamic forces and moments.

scholarly journals Constrained Balancing of Two Industrial Rotor Systems: Least Squares and Min-Max Approaches

2009 ◽  
Vol 16 (1) ◽  
pp. 1-12 ◽  
Author(s):  
Bin Huang ◽  
Daiki Fujimura ◽  
Paul Allaire ◽  
Zongli Lin ◽  
Guoxin Li
Keyword(s):  
Least Squares ◽  
High Speed ◽  
Least Squares Method ◽  
Weighted Least Squares ◽  
Rotor Systems ◽  
Weighted Least Squares Method ◽  
Mass Unbalance ◽  
Second Order Cone ◽  
Residual Response ◽  
Rotor Mass

Rotor vibrations caused by rotor mass unbalance distributions are a major source of maintenance problems in high-speed rotating machinery. Minimizing this vibration by balancing under practical constraints is quite important to industry. This paper considers balancing of two large industrial rotor systems by constrained least squares and min-max balancing methods. In current industrial practice, the weighted least squares method has been utilized to minimize rotor vibrations for many years. One of its disadvantages is that it cannot guarantee that the maximum value of vibration is below a specified value. To achieve better balancing performance, the min-max balancing method utilizing the Second Order Cone Programming (SOCP) with the maximum correction weight constraint, the maximum residual response constraint as well as the weight splitting constraint has been utilized for effective balancing. The min-max balancing method can guarantee a maximum residual vibration value below an optimum value and is shown by simulation to significantly outperform the weighted least squares method.

scholarly journals Non-Contact Measurement of the Surface Displacement of a Slope Based on a Smart Binocular Vision System

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2890 ◽  
Author(s):  
Leping He ◽  
Jie Tan ◽  
Qijun Hu ◽  
Songsheng He ◽  
Qijie Cai ◽  
...  
Keyword(s):  
Monitoring System ◽  
Template Matching ◽  
High Speed ◽  
Surface Deformation ◽  
Least Squares Method ◽  
Vision System ◽  
Deformation Monitoring ◽  
Tracking Algorithm ◽  
Zernike Moment ◽  
Tracking Accuracy

The paper presents an intelligent real-time slope surface deformation monitoring system based on binocular stereo-vision. To adapt the system to field slope monitoring, a design scheme of concentric marking point is proposed. Techniques including Zernike moment edge extraction, the least squares method, and k-means clustering are used to design a sub-pixel precision localization method for marker images. This study is mostly focused on the tracking accuracy of objects in multi-frame images obtained from a binocular camera. For this purpose, the Upsampled Cross Correlation (UCC) sub-pixel template matching technique is employed to improve the spatial-temporal contextual (STC) target-tracking algorithm. As a result, the tracking accuracy is improved to the sub-pixel level while keeping the STC tracking algorithm at high speed. The performance of the proposed vision monitoring system has been well verified through laboratory tests.

Retrospective Dynamic Transmit Focusing

1995 ◽  
Vol 17 (3) ◽  
pp. 173-196 ◽  
Author(s):  
S. Freeman ◽  
Pai-chi Li ◽  
M. O'Donnell
Keyword(s):  
Least Squares ◽  
Real Time ◽  
Least Squares Method ◽  
Experimental Results ◽  
Image Degradation ◽  
Filtering Technique ◽  
Focal Zone

Dynamically-focused on receive, real-time array systems exhibit image degradation far from the focal zone of the fixed transmit lens. A retrospective filtering technique reducing the effects of the fixed transmitter is presented. The filter deconvolves the defocused transmit pattern producing a new in-focus transmit/receive image, where the filter coefficients are derived with a least-squares method. Experimental results are presented for a 128 channel array system showing the method's performance. A proposed architecture for real-time filtering is also discussed.

The Application of Total Least Squares Method in Data Fitting of Speed Radar

2012 ◽  
Vol 203 ◽  
pp. 69-75 ◽  
Author(s):  
Cheng Chen ◽  
Chang Jin Liu
Keyword(s):  
Least Squares ◽  
Initial Velocity ◽  
High Speed ◽  
Least Squares Method ◽  
Data Fitting ◽  
Total Least Squares ◽  
Measure Data ◽  
Observation Data ◽  
Unknown Parameters ◽  
Observation Matrix

For acquiring the initial velocity of high-speed object, it needs data fitting to get the unknown parameters. Least squares method(LS) is usually uses to complete this work, but LS method takes no account of the errors in the observation matrix, not only may makes error in unknown parameters' fitting, but also do harm to the further analysis. Therefore, this paper lead total least squares method(TLS) into data fitting, it can at the same time in consideration of observation data and its error margin, and at last in actually measure data analysis to prove TLS compare to LS enjoy higher accuracy.

Effect of Gas Velocity and Particle Velocity on Coating Adhesion in Wire Arc Spraying

1996 ◽  
Author(s):  
X. Wang ◽  
J. Heberlein ◽  
E. Pfender ◽  
W. Gerberich
Keyword(s):  
Bond Strength ◽  
Particle Velocity ◽  
High Speed ◽  
Vision System ◽  
Arc Spraying ◽  
Gas Velocity ◽  
Coating Quality ◽  
Wire Arc Spraying ◽  
Particle Velocities ◽  
The Moment

Abstract In wire arc spraying, atomizing gas velocity and particle velocity are important factors influencing coating quality. A nozzle with secondary gas injection has been developed to increase the gas velocity and to improve coating quality. In this study, wire arc spraying of stainless steel on aluminum substrates has been investigated with the objective of establishing correlations between atomizing gas velocities, particle velocities, particle sizes and coating bond strength. Cold gas velocity is measured with a Pitot tube. Particle velocities are determined from high speed images of particle streaks taken with a Kodak high speed vision system and evaluated using image analysis. Bond strength is measured with pull-off tensile test. Secondary gas atomization clearly leads to improved adhesion due to additional metallurgical bonding between the coating and the substrate achieved through higher particle temperatures at the moment of impact.

Collison Control of the Robot Manipulator by a Learning Control Using the Weighted Least-Squares Method

1991 ◽  
Vol 3 (6) ◽  
pp. 491-496
Author(s):  
Hiroshi Wada ◽  
◽  
Toshio Fukuda ◽  
Hideo Matsuura ◽  
Fumihito Arai ◽  
...  
Keyword(s):  
Least Squares ◽  
High Speed ◽  
Control Method ◽  
Least Squares Method ◽  
Robot Manipulator ◽  
Weighted Least Squares ◽  
Learning Rule ◽  
Learning Control ◽  
Weighted Least Squares Method ◽  
Control Gain

Collision phenomena are very fast and nonlinear, thus, it is difficult to control a manipulator by collision phenomena. Therefore, in the past, manipulators moved slowly in order to avoid collision. However, the need for high-speed operation has been increasing, making it is indispensable to control manipulators by collision phenomena. With such fast phenomena, it is effective to use learning control in a forward manner. In this paper, we have proposed a learning control method to optimize the weighted least-squares criterion of learning errors. This method is applied in order to obtain a unique control gain by the Riccati equation which has a state dimension equal to the sampling number. It is shown that the convergence of learning error can be readily assured because the present learning rule consists of a steadystate Kalman filter. Based on this learning control method, experimental results of force control with a collision phenomena are reported.

Digital Halftoning Based on Clustering Analysis and Weighted Least Squares

2012 ◽  
Vol 241-244 ◽  
pp. 2676-2680
Author(s):  
Zi Fen He ◽  
Zhao Lin Zhan ◽  
Yin Hui Zhang
Keyword(s):  
Least Squares ◽  
Least Squares Method ◽  
Vision System ◽  
Weighted Least Squares ◽  
Interaction Model ◽  
Performance Measure ◽  
Human Vision ◽  
Digital Halftoning ◽  
Gray Scale ◽  
Gray Image

We propose a weighted least-squares-based halftoning model from human vision system(HVS) model and an efficient iterative strategy using gray image statistical information. First, the gray image is partitioned into several finite regions using clustering segmentation method. Next, the statistics of the mean and variance of the gray-scale pixel of each clustering are calculated. Finally, the new energy function is constructed using the weighted least squares method, which the reciprocal of the variance of the segmented regions are referred to as the weighting operator. Our method also incorporates a measurement based printer dot interaction model to prevent the artifacts due to dot overlap and to improve texture quality. The analysis and simulation results show that the proposed algorithm produces better gray-scale halftone image quality when we increase the number of clustering with a certain range. A performance measure for halftone images is used to evaluate our algorithm. The value of MSEv and PSNR for the partitions regions that the proposed algorithm achieves consistently better values of MSEv and PSNR than the LSMB algorithm. After four iterations of the algorithm of the proposed algorithm, the convergence error dropped to 0.25.

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