scholarly journals Intelligent Control System to Irrigate Orchids Based on Visual Recognition and 3D Positioning

2021 ◽  
Vol 11 (10) ◽  
pp. 4531
Author(s):  
Ting-Wei Chang ◽  
Wei-Cheng Wang ◽  
Rongshun Chen
Keyword(s):  
Visual Recognition ◽  
Irrigation System ◽  
Three Dimensional ◽  
Depth Map ◽  
Block Matching ◽  
Stem Leave ◽  
Intelligent Control System ◽  
3D Positioning ◽  
And Control ◽  
Individual Seedling

This work develops a novel automatic irrigation system to implement the customized and accurate watering for an individual seedling. The system integrates the modules of visual recognition of the stem-leaf junction, identification of the stem-root junction as the watering point, and control of the spraying nozzle. The model of YOLOv3 is employed to screen the stem-leave junction of an orchid seedling, whose depth map then acquired by the method of Semi-Global Block Matching (SGBM) extracts the three-dimensional (3D) coordinates of the junction center. Next, the concept of leaf vector is introduced to identify the stem-root junction of the orchid seedling as the accurate watering point, which the spraying nozzle is controlled to reach for supplement of the specific amount of water. A number of experiments were conducted to verify the proposed irrigation system for orchid seedlings at different locations with various heights. The experimental results show that the rates of successful watering are 82% and 83.3% for the uni-pot and multi-pot orchid seedlings, respectively.

scholarly journals Strata behavior and control strategy of backfilling collaborate with caving fully-mechanized mining

2020 ◽  
Vol 12 (1) ◽  
pp. 703-717
Author(s):  
Yin Wei ◽  
Wang Jiaqi ◽  
Bai Xiaomin ◽  
Sun Wenjie ◽  
Zhou Zheyuan
Keyword(s):  
Numerical Simulation ◽  
Control Strategy ◽  
Three Dimensional ◽  
Simulation Method ◽  
Mine Pressure ◽  
Hydraulic Support ◽  
Transition Area ◽  
Pressure Concentration ◽  
Strata Behavior ◽  
And Control

AbstractThis article analyzes the technical difficulties in full-section backfill mining and briefly introduces the technical principle and advantages of backfilling combined with caving fully mechanized mining (BCCFM). To reveal the strata behavior law of the BCCFM workface, this work establishes a three-dimensional numerical model and designs a simulation method by dynamically updating the modulus parameter of the filling body. By the analysis of numerical simulation, the following conclusions about strata behavior of the BCCFM workface were drawn. (1) The strata behavior of the BCCFM workface shows significant nonsymmetrical characteristics, and the pressure in the caving section is higher than that in the backfilling section. φ has the greatest influence on the backfilling section and the least influence on the caving section. C has a significant influence on the range of abutment pressure in the backfilling section. (2) There exits the transition area with strong mine pressure of the BCCFM workface. φ and C have significant effect on the degree of pressure concentration but little effect on the influence range of strong mine pressure in the transition area. (3) Under different conditions, the influence range of strong mine pressure is all less than 6 m. This article puts forward a control strategy of mine pressure in the transition area, which is appropriately improving the strength of the transition hydraulic support within the influence range (6 m) in the transition area according to the pressure concentration coefficient. The field measurement value of Ji15-31010 workface was consistent with numerical simulation, which verifies the reliability of control strategy of the BCCFM workface.

Cyclopean Vision, Size Estimation, and Presence in Orthostereoscopic Images

2001 ◽  
Vol 10 (3) ◽  
pp. 312-330 ◽  
Author(s):  
Bernard Harper ◽  
Richard Latto
Keyword(s):  
Visual System ◽  
Three Dimensional ◽  
Point Of View ◽  
Psychophysical Experiment ◽  
Size Estimation ◽  
Human Form ◽  
Image Capture ◽  
Series Of Experiments ◽  
Abstract Shapes ◽  
And Control

Stereo scene capture and generation is an important facet of presence research in that stereoscopic images have been linked to naturalness as a component of reported presence. Three-dimensional images can be captured and presented in many ways, but it is rare that the most simple and “natural” method is used: full orthostereoscopic image capture and projection. This technique mimics as closely as possible the geometry of the human visual system and uses convergent axis stereography with the cameras separated by the human interocular distance. It simulates human viewing angles, magnification, and convergences so that the point of zero disparity in the captured scene is reproduced without disparity in the display. In a series of experiments, we have used this technique to investigate body image distortion in photographic images. Three psychophysical experiments compared size, weight, or shape estimations (perceived waist-hip ratio) in 2-D and 3-D images for the human form and real or virtual abstract shapes. In all cases, there was a relative slimming effect of binocular disparity. A well-known photographic distortion is the perspective flattening effect of telephoto lenses. A fourth psychophysical experiment using photographic portraits taken at different distances found a fattening effect with telephoto lenses and a slimming effect with wide-angle lenses. We conclude that, where possible, photographic inputs to the visual system should allow it to generate the cyclopean point of view by which we normally see the world. This is best achieved by viewing images made with full orthostereoscopic capture and display geometry. The technique can result in more-accurate estimations of object shape or size and control of ocular suppression. These are assets that have particular utility in the generation of realistic virtual environments.

Use of shape-from-shading to estimate three-dimensional architecture in the small intestinal lumen of celiac and control patients

2013 ◽  
Vol 111 (3) ◽  
pp. 676-684 ◽  
Author(s):  
Edward J. Ciaccio ◽  
Christina A. Tennyson ◽  
Govind Bhagat ◽  
Suzanne K. Lewis ◽  
Peter H.R. Green
Keyword(s):  
Three Dimensional ◽  
Shape From Shading ◽  
Intestinal Lumen ◽  
Small Intestinal ◽  
And Control

Three-dimensional adaptive fixed-time guidance law against maneuvering targets with impact angle constraints and control input saturation

2021 ◽  
pp. 014233122110598
Author(s):  
Fei Ma ◽  
Yunjie Wu ◽  
Siqi Wang ◽  
Xiaofei Yang ◽  
Yueyang Hua
Keyword(s):  
Sliding Mode ◽  
Input Saturation ◽  
Three Dimensional ◽  
Fixed Time ◽  
Impact Angle ◽  
Guidance System ◽  
Control Input ◽  
Guidance Law ◽  
The Stability ◽  
And Control

This paper presents an adaptive fixed-time guidance law for the three-dimensional interception guidance problem with impact angle constraints and control input saturation against a maneuvering target. First, a coupled guidance model formulated by the relative motion equation is established. On this basis, a fixed-time disturbance observer is employed to estimate the lumped disturbances. With the help of this estimation technique, the adaptive fixed-time sliding mode guidance law is designed to accomplish accurate interception. The stability of the closed-loop guidance system is proven by the Lyapunov method. Simulation results of different scenarios are executed to validate the effectiveness and superiority of the proposed guidance law.

Multi Mode Vibration Control and Broder Band Motion Control of Three Dimensional Shaking Table

2005 ◽  
Author(s):  
Tsunehiro Wakasugi ◽  
Toru Watanabe ◽  
Kazuto Seto
Keyword(s):  
Vibration Control ◽  
Controller Design ◽  
Design Method ◽  
Three Dimensional ◽  
Design Procedure ◽  
Equation System ◽  
State Equation ◽  
Shaking Table ◽  
Mode Vibration ◽  
And Control

This paper deals with a new system design method for motion and vibration control of a three-dimensional flexible shaking table. An integrated modeling and controller design procedure for flexible shaking table system is presented. An experimental three-dimensional shaking table is built. “Reduced-Order Physical Model” procedure is adopted. A state equation system model is composed and a feedback controller is designed by applying LQI control law to achieve simultaneous motion and vibration control. Adding a feedforward, two-degree-of-freedom control system is designed. Computer simulations and control experiments are carried out and the effectiveness of the presented procedure is investigated. The robustness of the system is also investigated.

Design and Analysis of Reduced Degree of Freedom Modular Snake Robot

2017 ◽  
Author(s):  
Peter Racioppo ◽  
Wael Saab ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Three Dimensional ◽  
Cross Sectional ◽  
Design Synthesis ◽  
Snake Robot ◽  
Routing Schemes ◽  
Revolute Joints ◽  
Modular Units ◽  
A Chain ◽  
The Moment ◽  
And Control

This paper presents the design and analysis of an underactuated, cable driven mechanism for use in a modular robotic snake. The proposed mechanism is composed of a chain of rigid links that rotate on parallel revolute joints and are actuated by antagonistic cable pairs and a multi-radius pulley. This design aims to minimize the cross sectional area of cable actuated robotic snakes and eliminate undesirable nonlinearities in cable displacements. A distinctive feature of this underactuated mechanism is that it allows planar serpentine locomotion to be accomplished with only two modular units, improving the snake’s ability to conform to desired curvature profiles and minimizing the control complexity involved in snake locomotion. First, the detailed mechanism and cable routing scheme are presented, after which the kinematics and dynamics of the system are derived and a comparative analysis of cable routing schemes is performed, to assist with design synthesis and control. The moment of inertia of the mechanism is modeled, for future use in the implementation of three-dimensional modes of snake motion. Finally, a planar locomotion strategy for snake robots is devised, demonstrated in simulation, and compared with previous studies.

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