Analyses about Trackability of Hand-Eye-Vergence Visual Servoing in Lateral Direction

2015 ◽  
Vol 772 ◽  
pp. 512-517 ◽  
Author(s):  
Yu Cui ◽  
Kenta Nishimura ◽  
Yusuke Sunami ◽  
Mamoru Minami ◽  
Takayuki Matsuno ◽  
...  
Keyword(s):  
Frequency Response ◽  
Visual Servoing ◽  
Target Object ◽  
Moving Target ◽  
Lateral Direction ◽  
Nonlinear Dynamical ◽  
Pose Tracking ◽  
Tracking Ability ◽  
The One

Visual Servoing to Moving Target with Fixed Hand-Eye Cameras Mounted at Hand of Robot is Inevitably Be Affected by Hand Dynamical Oscillations, then it is Hard to Keep Target at the Centre of Camera’s Image, since Nonlinear Dynamical Effects of Whole Manipulator Stand against Tracking Ability. in Order to Solve this Problem, an Eye-Vergence System, where the Visual Servoing Controller of Hand and Eye-Vergence is Controlled Independently, so that the Cameras can Observe the Target Object at the Center of the Camera Images through Eye-Vergence Functions. the Eyes with Light Mass Make the Cameras’ Eye-Sight Direction Rotate Quickly, so the Track Ability of the Eye-Vergence Motion is Superior to the One of Fixed Hand-Eye Configuration. in this Report Merits of Eye-Vengence Visual Servoing for Pose Tracking Have been Confirmed through Frequency Response Experiments.

Visual Servoing for Underwater Vehicle Using Dual-Eyes Evolutionary Real-Time Pose Tracking

2016 ◽  
Vol 28 (4) ◽  
pp. 543-558 ◽  
Author(s):  
Myo Myint ◽  
◽  
Kenta Yonemori ◽  
Akira Yanou ◽  
Khin Nwe Lwin ◽  
...  
Keyword(s):  
Real Time ◽  
Visual Servoing ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Target Object ◽  
Test Bed ◽  
Remotely Operated Vehicle ◽  
Pose Tracking ◽  
Partially Occluded ◽  
Recursive Evaluation

[abstFig src='/00280004/12.jpg' width='300' text='ROV with dual-eyes cameras and 3D marker' ] Recently, a number of researches related to underwater vehicle has been conducted worldwide with the huge demand in different applications. In this paper, we propose visual servoing for underwater vehicle using dual-eyes cameras. A new method of pose estimation scheme that is based on 3D model-based recognition is proposed for real-time pose tracking to be applied in Autonomous Underwater Vehicle (AUV). In this method, we use 3D marker as a passive target that is simple but enough rich of information. 1-step Genetic Algorithm (GA) is utilized in searching process of pose in term of optimization, because of its effectiveness, simplicity and promising performance of recursive evaluation, for real-time pose tracking performance. The proposed system is implemented as software implementation and Remotely Operated Vehicle (ROV) is used as a test-bed. In simulated experiment, the ROV recognizes the target, estimates the relative pose of vehicle with respect to the target and controls the vehicle to be regulated in desired pose. PID control concept is adapted for proper regulation function. Finally, the robustness of the proposed system is verified in the case when there is physical disturbance and in the case when the target object is partially occluded. Experiments are conducted in indoor pool. Experimental results show recognition accuracy and regulating performance with errors kept in centimeter level.

Effects of nonlinear interactions of flexural modes on the performance of a beam autoparametric vibration absorber

2019 ◽  
Vol 26 (7-8) ◽  
pp. 459-474
Author(s):  
Saeed Mahmoudkhani ◽  
Hodjat Soleymani Meymand
Keyword(s):  
Frequency Response ◽  
Internal Resonance ◽  
Continuation Method ◽  
Harmonic Balance Method ◽  
Vibration Absorber ◽  
Primary System ◽  
Lumped Mass ◽  
Response Curves ◽  
Internal Resonances ◽  
The One

The performance of the cantilever beam autoparametric vibration absorber with a lumped mass attached at an arbitrary point on the beam span is investigated. The absorber would have a distinct feature that in addition to the two-to-one internal resonance, the one-to-three and one-to-five internal resonances would also occur between flexural modes of the beam by tuning the mass and position of the lumped mass. Special attention is paid on studying the effect of these resonances on increasing the effectiveness and extending the range of excitation amplitudes at which the autoparametric vibration absorber remains effective. The problem is formulated based on the third-order nonlinear Euler–Bernoulli beam theory, where the assumed-mode method is used for deriving the discretized equations of motion. The numerical continuation method is then applied to obtain the frequency response curves and detect the bifurcation points. The harmonic balance method is also employed for detecting the type of internal resonances between flexural modes by inspecting the frequency response curves corresponding to different harmonics of the response. Parametric studies on the performance of the absorber are conducted by varying the position and mass of the lumped mass, while the frequency ratio of the primary system to the first mode of the beam is kept equal to two. Results indicated that the one-to-five internal resonance is especially responsible for the considerable enhancement of the performance.

scholarly journals Dynamic Computation Offloading Scheme for Drone-Based Surveillance Systems

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2982 ◽  
Author(s):  
Bongjae Kim ◽  
Hong Min ◽  
Junyoung Heo ◽  
Jinman Jung
Keyword(s):  
Response Time ◽  
Target Object ◽  
Computation Offloading ◽  
Moving Target ◽  
Surveillance Systems ◽  
Network Failure ◽  
Dynamic Computation ◽  
Tracking Time ◽  
Time Required ◽  
Time Critical

Recently, various technologies for utilizing unmanned aerial vehicles have been studied. Drones are a kind of unmanned aerial vehicle. Drone-based mobile surveillance systems can be applied for various purposes such as object recognition or object tracking. In this paper, we propose a mobility-aware dynamic computation offloading scheme, which can be used for tracking and recognizing a moving object on the drone. The purpose of the proposed scheme is to reduce the time required for recognizing and tracking a moving target object. Reducing recognition and tracking time is a very important issue because it is a very time critical job. Our dynamic computation offloading scheme considers both the dwell time of the moving target object and the network failure rate to estimate the response time accurately. Based on the simulation results, our dynamic computation offloading scheme can reduce the response time required for tracking the moving target object efficiently.

scholarly journals Hybrid Multi-camera Visual Servoing to Moving Target

2018 ◽  
Author(s):  
Hanz Cuevas-Velasquez ◽  
Nanbo Li ◽  
Radim Tylecek ◽  
Marcelo Saval-Calvo ◽  
Robert B. Fisher
Keyword(s):  
Visual Servoing ◽  
Moving Target

Mobile Robot Regulation With Image Based Visual Servoing

2018 ◽  
Author(s):  
Aaron Hao Tan ◽  
Abdulrahman Al-Shanoon ◽  
Haoxiang Lang ◽  
Moustafa El-Gindy
Keyword(s):  
Visual Servoing ◽  
Target Object ◽  
Feature Points ◽  
Matlab Simulation ◽  
The Past ◽  
Vision Sensors ◽  
Servo Controller ◽  
Differential Drive Robot ◽  
Proportional Controller ◽  
Mobile Base

The development of image processing algorithms grew exponentially over the past few decades with improvements in vision sensors and computational power. In this paper, a visual servo controller is designed and developed using the image-based method for a differential drive robot. The objective is to reach a desired pose relative to a target object placed in the world frame with four feature points. A full system model that includes the mobile base and camera is presented along with the design of a proportional controller. The system is implemented in the Husky A200 Robot by Clearpath Robotics. MATLAB Simulation and experimental results are analyzed and discussed with conclusion and future works recommendation in the end.

Implementation of a real-time moving object tracking system using visual servoing

Robotica ◽  
2003 ◽  
Vol 21 (6) ◽  
pp. 615-625 ◽  
Author(s):  
M-C. Tsai ◽  
K-Y. Chen ◽  
M-Y. Cheng ◽  
K.C. Lin
Keyword(s):  
Real Time ◽  
Visual Servoing ◽  
Tracking System ◽  
Moving Target ◽  
Tracking Accuracy ◽  
Security Systems ◽  
Detection Techniques ◽  
Control Scheme ◽  
High System ◽  
Automatically Tracking

Due to the increasing popularity of surveillance and security systems, the problem of automatically tracking a moving target by visual servoing has become a research topic deserving more investigation. Nonetheless, the success of tracking a moving target in real-time primarily depends on the performance of the motion detection techniques employed. This paper addresses visual tracking control of an unknown target that could be motional arbitrarily in the scene. A pan-tilt mechanism is used to gain the flexibility of tracking, and the so-called region-based matching method and motion energy method are modified and proposed in this study to detect a moving target based on the consecutive images acquired. A visual servo control scheme that adopts proportional control in the visual loop for reducing the servo lagging is proposed using output disturbance feedforward compensation. Experimental results show the superiority of the proposed method in achieving high system bandwidth and tracking accuracy.

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