Rolling Prevention Mechanism for Underground Pipe Erosion Inspection Robot with a Real Time Vision System

2013 ◽  
Vol 3 (3) ◽  
pp. 60-76
Author(s):  
Liqiong Tang ◽  
Donald Bailey ◽  
Matthieu Jones
Keyword(s):  
Real Time ◽  
Vision System ◽  
Position Angle ◽  
Video Data ◽  
Test Model ◽  
Pipe Inspection ◽  
Inspection Robot ◽  
Body Rolling ◽  
Inspection Data ◽  
Robot Body

Pipe inspection is one of the areas that have attracted high research interest for robot applications especially in oil and chemical industry and civil engineering. Robot body rolling while it travels within a pipe has been a problem for accurately collecting inspection data. Under certain circumstances where vision systems have to be employed, robot body rolling may cause vision inspection data to have little value as it is difficult to know where exactly the camera was looking at. This paper proposes an anti-rolling mechanism to hold consistent camera orientation. By changing the position angle of the robot legs, the mechanism is able to adjust the resistance to rolling within a pipe, therefore preventing robot rolling happening. The design makes use of the friction force caused by the gravity force of the robot to prevent the robot body rolling. The design analysis quantifies the effect of pipe radius, robot weight, payload, and payload offset distance in robot rolling. A test model was built based on the design concept. The experimental results obtained from the test model match the predication of the computational analysis. A real time vision system has been developed using FPGA and the algorithm of the structured laser light stripe configuration in the context of pipe inspection. The real-time hardware implementation of the algorithms on the robot itself removes the need to transmit raw video data back to an operator.

scholarly journals Use of 3D Simulation to Design Theoretical and Real Pipe Inspection Mobile Robot Model

2018 ◽  
Vol 12 (3) ◽  
pp. 232-236
Author(s):  
Leszek Baranowski ◽  
Michał Siwek
Keyword(s):  
Mobile Robot ◽  
Vision System ◽  
Geometrical Parameters ◽  
Functional Tests ◽  
Pipe Inspection ◽  
Sewer Pipes ◽  
3D Simulations ◽  
Inspection Robot ◽  
Real Robot ◽  
Inclined Pipe

Abstract The main aim of the paper is to present the process of design pipe inspection mobile robot by using 3D simulations. Next methods and processes of making designed components was described. Finally, functional tests of a constructed real robot model such as speed tests, inclined pipe test was carried out. The robot was specifically designed to inspect sewer pipelines. The mobile robot is equipped with a vision system. The structure of the pipe inspection robot allows adjustments to the geometrical parameters of the robot to suit the sewer pipes diameters by using in the construction of a pneumatic system with an actuator.

scholarly journals Development and implementation of interactive 3D video environment on run-time reconfigurable FPGA platform

2021 ◽  
Author(s):  
Sergiy Zhelnakov
Keyword(s):  
Data Processing ◽  
Real Time ◽  
Data Streams ◽  
Vision System ◽  
Critical Time ◽  
Video Data ◽  
Hybrid Architecture ◽  
Real Time System ◽  
Virtual Objects ◽  
Run Time

Video data processing tasks are traditionally performed either through software-based systems when various algorithms must be applied to the data and when time issue is not critical, DSPs -- when certain time constraints are set but when the set of tasks is limited, or ASICs -- when the highest performance is required, the set of tasks is fixed and highly optimized, the data stream doesn't change, and the number of data streams is limited. For a real-time system which must operate on multiple data streams which also can change in time and on which various data processing algorithms must be applied neither of the mentioned approaches can be used. Timing requirements and power limitation does not allow utilization of sequential CPU. ASIC becomes too big to accomodate multiple processing circuits for each algorithm and associated modes. Only Run-Time Reconfigurable (RTR) FPGA approach allows implementation of such a system. The thesis presents a real-time stereo vision system with elements of synthesis of interactive 3-D virtual objects designed and implemented on the FPGA-based reconfigurable platform. FPGA chip integrates a hybrid architecture system with multi-mode and mutli-stream processing ability for critical time tasks and with embedded microprocessor(s) for computing complex algorithms for 3-D objects synthesis for which timing requirements are not so strict. An approach for the formal presentation and processing of the 3-D virtual objects and their transformation is also analyzed and presented in this paper. Architecture synthesis and optimization for a hybrid system are also considered. The experimental results proved the effectiveness of proposed approach: the FPGA-based system-on-chip provides stereo visualization in different modes (actual image and edge detection image), with synthesized 3-D controls (pressed and released buttons).

scholarly journals Development and implementation of interactive 3D video environment on run-time reconfigurable FPGA platform

2021 ◽  
Author(s):  
Sergiy Zhelnakov
Keyword(s):  
Data Processing ◽  
Real Time ◽  
Data Streams ◽  
Vision System ◽  
Critical Time ◽  
Video Data ◽  
Hybrid Architecture ◽  
Real Time System ◽  
Virtual Objects ◽  
Run Time

Video data processing tasks are traditionally performed either through software-based systems when various algorithms must be applied to the data and when time issue is not critical, DSPs -- when certain time constraints are set but when the set of tasks is limited, or ASICs -- when the highest performance is required, the set of tasks is fixed and highly optimized, the data stream doesn't change, and the number of data streams is limited. For a real-time system which must operate on multiple data streams which also can change in time and on which various data processing algorithms must be applied neither of the mentioned approaches can be used. Timing requirements and power limitation does not allow utilization of sequential CPU. ASIC becomes too big to accomodate multiple processing circuits for each algorithm and associated modes. Only Run-Time Reconfigurable (RTR) FPGA approach allows implementation of such a system. The thesis presents a real-time stereo vision system with elements of synthesis of interactive 3-D virtual objects designed and implemented on the FPGA-based reconfigurable platform. FPGA chip integrates a hybrid architecture system with multi-mode and mutli-stream processing ability for critical time tasks and with embedded microprocessor(s) for computing complex algorithms for 3-D objects synthesis for which timing requirements are not so strict. An approach for the formal presentation and processing of the 3-D virtual objects and their transformation is also analyzed and presented in this paper. Architecture synthesis and optimization for a hybrid system are also considered. The experimental results proved the effectiveness of proposed approach: the FPGA-based system-on-chip provides stereo visualization in different modes (actual image and edge detection image), with synthesized 3-D controls (pressed and released buttons).

Research on Video Encryption and Privacy Protection in Cloud Monitoring System Based on H.264

2019 ◽  
Vol 12 ◽  
Author(s):  
Qingtao Wu ◽  
Zaihui Cao
Keyword(s):  
Real Time ◽  
Monitoring System ◽  
Video Data ◽  
Encryption Algorithm ◽  
Management Tool ◽  
Video Encryption ◽  
Wireless Multimedia ◽  
Monitoring Technology ◽  
Security Issues ◽  
Cloud Monitoring

: Cloud monitoring technology is an important maintenance and management tool for cloud platforms.Cloud monitoring system is a kind of network monitoring service, monitoring technology and monitoring platform based on Internet. At present, the monitoring system is changed from the local monitoring to cloud monitoring, with the flexibility and convenience improved, but also exposed more security issues. Cloud video may be intercepted or changed in the transmission process. Most of the existing encryption algorithms have defects in real-time and security. Aiming at the current security problems of cloud video surveillance, this paper proposes a new video encryption algorithm based on H.264 standard. By using the advanced FMO mechanism, the related macro blocks can be driven into different Slice. The encryption algorithm proposed in this paper can encrypt the whole video content by encrypting the FMO sub images. The method has high real-time performance, and the encryption process can be executed in parallel with the coding process. The algorithm can also be combined with traditional scrambling algorithm, further improve the video encryption effect. The algorithm selects the encrypted part of the video data, which reducing the amount of data to be encrypted. Thus reducing the computational complexity of the encryption system, with faster encryption speed, improve real-time and security, suitable for transfer through mobile multimedia and wireless multimedia network.

scholarly journals Low-Cost Embedded System Using Convolutional Neural Networks-Based Spatiotemporal Feature Map for Real-Time Human Action Recognition

2021 ◽  
Vol 11 (11) ◽  
pp. 4940
Author(s):  
Jinsoo Kim ◽  
Jeongho Cho
Keyword(s):  
Embedded System ◽  
Real Time ◽  
Action Recognition ◽  
Processing Speed ◽  
Recognition Accuracy ◽  
Low Cost ◽  
Human Action Recognition ◽  
Human Action ◽  
Video Data ◽  
Feature Maps

The field of research related to video data has difficulty in extracting not only spatial but also temporal features and human action recognition (HAR) is a representative field of research that applies convolutional neural network (CNN) to video data. The performance for action recognition has improved, but owing to the complexity of the model, some still limitations to operation in real-time persist. Therefore, a lightweight CNN-based single-stream HAR model that can operate in real-time is proposed. The proposed model extracts spatial feature maps by applying CNN to the images that develop the video and uses the frame change rate of sequential images as time information. Spatial feature maps are weighted-averaged by frame change, transformed into spatiotemporal features, and input into multilayer perceptrons, which have a relatively lower complexity than other HAR models; thus, our method has high utility in a single embedded system connected to CCTV. The results of evaluating action recognition accuracy and data processing speed through challenging action recognition benchmark UCF-101 showed higher action recognition accuracy than the HAR model using long short-term memory with a small amount of video frames and confirmed the real-time operational possibility through fast data processing speed. In addition, the performance of the proposed weighted mean-based HAR model was verified by testing it in Jetson NANO to confirm the possibility of using it in low-cost GPU-based embedded systems.

scholarly journals Data integration by two-sensors in a LEAP-based Virtual Glove for human-system interaction

2021 ◽  
Author(s):  
Giuseppe Placidi ◽  
Danilo Avola ◽  
Luigi Cinque ◽  
Matteo Polsinelli ◽  
Eleni Theodoridou ◽  
...  
Keyword(s):  
Data Integration ◽  
Real Time ◽  
Vision System ◽  
Hand Tracking ◽  
Selection Strategy ◽  
Motion Sensors ◽  
Leap Motion ◽  
Time Data ◽  
Lower Velocity ◽  
Human System

AbstractVirtual Glove (VG) is a low-cost computer vision system that utilizes two orthogonal LEAP motion sensors to provide detailed 4D hand tracking in real–time. VG can find many applications in the field of human-system interaction, such as remote control of machines or tele-rehabilitation. An innovative and efficient data-integration strategy, based on the velocity calculation, for selecting data from one of the LEAPs at each time, is proposed for VG. The position of each joint of the hand model, when obscured to a LEAP, is guessed and tends to flicker. Since VG uses two LEAP sensors, two spatial representations are available each moment for each joint: the method consists of the selection of the one with the lower velocity at each time instant. Choosing the smoother trajectory leads to VG stabilization and precision optimization, reduces occlusions (parts of the hand or handling objects obscuring other hand parts) and/or, when both sensors are seeing the same joint, reduces the number of outliers produced by hardware instabilities. The strategy is experimentally evaluated, in terms of reduction of outliers with respect to a previously used data selection strategy on VG, and results are reported and discussed. In the future, an objective test set has to be imagined, designed, and realized, also with the help of an external precise positioning equipment, to allow also quantitative and objective evaluation of the gain in precision and, maybe, of the intrinsic limitations of the proposed strategy. Moreover, advanced Artificial Intelligence-based (AI-based) real-time data integration strategies, specific for VG, will be designed and tested on the resulting dataset.

scholarly journals A real-time machine-vision system for monitoring the textile raising process

2005 ◽  
Vol 56 (8-9) ◽  
pp. 831-842 ◽  
Author(s):  
Monica Carfagni ◽  
Rocco Furferi ◽  
Lapo Governi
Keyword(s):  
Machine Vision ◽  
Real Time ◽  
Vision System ◽  
Machine Vision System ◽  
Time Machine

Real-time Wearable Computer Vision System for Improved Museum Experience

2016 ◽  
Author(s):  
Giovanni Taverriti ◽  
Stefano Lombini ◽  
Lorenzo Seidenari ◽  
Marco Bertini ◽  
Alberto Del Bimbo
Keyword(s):  
Computer Vision ◽  
Real Time ◽  
Vision System ◽  
Wearable Computer ◽  
Computer Vision System ◽  
Museum Experience

Real time command control architecture for an ITER relevant inspection robot in operation on Tore Supra

2009 ◽  
Vol 84 (2-6) ◽  
pp. 1015-1019 ◽  
Author(s):  
Delphine Keller ◽  
P. Bayetti ◽  
J. Bonnemason ◽  
V. Bruno ◽  
P. Chambaud ◽  
...  
Keyword(s):  
Real Time ◽  
Control Architecture ◽  
Inspection Robot
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