Machine Vision and Mechatronics in Practice (eBook)

Introduction 5
Contents 7
Control of Automated Mining Machinery Using Aided Inertial Navigation 10
1 Introduction 10
1.1 Continuous Miners 10
1.2 Remotely Supervised CM 11
2 Inertial Navigation 11
2.1 Strapdown Navigation Concepts 11
2.2 Non Contact VMS Sensing 13
2.3 Doppler Radar 13
3 Experimental Trials 13
3.1 Phoenix Test Platform 14
3.2 Design of System Validation Campaigns 15
4 Analysis of Results 16
5 Discussion 17
6 Summary 18
References 18
Scanning Radar System for Machine Guidance 19
1 Radar Sensor Selection and Development 19
2 Application 21
3 Data Acquisition 22
4 Data Processing 24
5 Conclusions and Future Work 28
References 29
Comparison of Scanning Laser Range-Findersand Millimeter-Wave Radarfor Creating a Digital Terrain Map 30
1 Introduction 30
2 Background 31
2.1 Sensor Performance Characteristics 32
3 Field Testing on Mining Equipment 33
3.1 Sensors Performance Characteristics 34
3.2 System Performance for Creating Digital Model 39
3.3 System Performance for Pose Estimation of Waiting Haul Truck 42
4 Conclusions 43
References 44
Distributed Collaborative Immersive Virtual Reality Framework for the Mining Industry 46
1 Introduction 46
2 Human-Computer System for Collaborative Environments 48
2.1 User Interfaces, Gestures and Feedback 49
2.2 Virtual and Augmented Realities, Computer Vision 50
2.3 Knowledge Base 52
2.4 Logical Flow Chart of the System 52
3 Experiment 53
4 Summary 54
References 55
Longwall Shearer Automation: From Research to Reality 56
1 Introduction 56
2 The Longwall Mining Process and the Need for Automation 57
3 New Enabling Technologies for Underground MiningAutomation 58
4 Technology Uptake and Commercial Reality 63
5 Summary 64
References 64
Robotic Orthopaedic Surgery:From Research to Spin-Off to Acquisition 65
1 Introduction 65
2 The Acrobot Robot 66
3 The Acrobot System 68
4 The Procedure 69
5 Spin-Off 69
6 Acquisition 70
7 Conclusions 71
References 72
Innovative Mechatronic Techniquesfor Contrasting Pressure Disturbancesin the Closed Space of Cochlea 73
1 Introduction 73
1.1 Description of the Cochlea 74
1.2 Creation of Membrane Windows Using the Mechatronic Drilling Technique 74
2 Experimental Measurement of Membrane Motion 77
3 Results 78
3.1 Cochlear Dynamic Behaviour 78
3.2 Manual and Robotic Cochleostomy 79
3.3 Electrode Insertion 80
4 Conclusion 81
References 81
A QBall UAV and Open TLD Integrationfor Autonomous Recognitionof Stationary and Moving Targets 83
1 Introduction 83
2 Test Equipment and System Integration 84
2.1 Quadrotor System and Its Dynamics 84
2.2 Control System 89
2.3 Wireless Video Acquisition System 89
2.4 OpenCV Based Recognition System 90
3 First Experiment: Aerial Surveillance of a Stationary Target 91
4 Second Experiment: Aerial Surveillance of a Moving Target 92
5 Conclusions 93
References 94
Disturbance Rejection Controlof a Quadrotor Equipped with a 2 DOF Manipulator 96
1 Introduction 96
2 Modelling of the System 97
3 Controller Design 101
4 Experiment Setup 102
5 Simulation 103
6 Conclusions and Future Works 107
References 107
Experimental Investigation of a Magneto-RheologicalFluid Damper with Permanent Magnetfor Haptic Finger Grasping 109
1 Introduction 109
2 Experimental Setup 110
3 Experimental Results 111
4 Conclusion 115
References 115
Game Development Tools for Simulating Robotsand Creating Interactive Learning Experiences 117
1 Brief History of 3D Gaming Graphics 117
2 Features of Modern Game Engines 119
3 Tools Used for Making 3D Games 124
4 Using Engineering CAD Tools to Create 3D Simulations 126
5 Example of 3D Simulation and Motion Control Code 128
6 Conclusions 135
References 136
A Mobile Manipulator Armfor Assisting the Frail Elderly and Infirm 139
1 Background 139
2 ESRA – Electric Scooter Robot Arm 141
3 Wrist Leveling Mechanism 144
4 Gripper Design 145
5 Stress and Deflection Analysis 146
6 Performance and Testing 148
7 Conclusions and Future Work 148
References 150
Dynamic Modeling and Control of a Novel ParallelManipulator Using Supervisory Approach 152
1 Introduction 152
2 Architecture Description 154
3 Dynamic Modeling 155
3.1 Simplification Hypothesis 155
3.2 Dynamic Modeling 156
4 The Control System Structure 157
4.1 Computed Torque Control via PD and PID Controller 157
4.2 Computed Torque Control via Fuzzy Supervisory Control 159
5 Simulation Results 161
6 Conclusions 165
References 165
Trajectory Control and Sway Suppressionof a Rotary Crane System 167
1 Introduction 167
2 The Rotary Crane System 168
3 Dynamic Modelling of the Rotary Crane 170
4 PD Control Scheme 171
5 Input Shaping Control Schemes 172
6 Implementation and Results 173
7 Conclusion 176
References 176
Holistic Control System Designfor Large Mobile Irrigation Machines 178
1 Introduction 178
2 Holistic Irrigation Control 180
3 Limited Applicability of Classical Control Approaches 181
3.1 Slow Speed of Crop Dynamics 181
3.2 In-Field Variability Sensing 182
3.3 Characteristics of the Irrigation Machine 182
3.4 Fundamental Resource Constraints 182
3.5 Unknown Process Dynamics 183
4 Practical Implementation 183
4.1 Adaptive Interpolation of System Inputs 184
4.2 Adaptive Spatially-Varied Identification 184
5 Conclusion 185
References 185
Controlled Damping of a 48-Metre Wide Spray Rig 186
1 Introduction 186
2 Background 186
3 Alternative Techniques 188
4 The Simple Concept 188
5 Practical Details 189
6 Spray Rig State Variables and Simulation 190
7 Experimental Measurement of the Parameters 191
8 Experimental Results 192
9 Simulation Code 194
10 Outline Strategy 195
11 Conclusions 196
References 196
Machine Vision Aided Locating for Microwave HeatingControl of the Asphalt Pavement Maintenance Vehicle 198
1 Introduction 198
2 Micro-Wave Heating Control System 199
3 Geometric Distortion Rectification of the Defects Image 201
3.1 Barrel Distortion Rectification 201
3.2 Oblique Distortion Rectification 202
3.3 Camera Calibration Tests and Results 202
4 Methods to Create Control Parameters 203
4.1 Automatic Defects Extraction by Computer 203
4.2 Manual Defects Extraction 206
5 The Driving Circuit Design 206
6 Conclusions 207
References 208
Design Concepts for an Energy-Efficient AmphibiousUnmanned Underwater Vehicle 209
1 Introduction 209
2 Advantages of Oscillating Foils over Rotary Propellers 211
3 Underwater Vehicles That Use Articulated Fins for Propulsion 212
4 Design of the Turtle UUV 216
5 Conclusions 222
References 223
Advanced Dynamic Path Controlof a 3-DOF Spatial Parallel RobotUsing Adaptive Neuro Fuzzy Inference System 224
1 Introduction 224
2 Kinematics Analysis 226
2.1 Architecture Description 226
2.2 Mobility of the Manipulator 227
2.3 Inverse Kinematics 227
2.4 Jacobian Matrix Generation 229
3 Dynamic Modeling 230
3.1 Dynamics Analysis 230
3.2 Simulation Study 231
4 Design of ANFIS Controller for TPM 233
5 Simulation Results 234
6 Conclusions 235
References 235
Low-Cost, Non-centralized, Vehicle CollisionPrevention System 237
1 Introduction 237
2 System Setup 239
3 Inertial Measurement Unit 240
4 GPS/INS Measurements Fusion Algorithm 243
5 Experimental Testing 244
6 Collision Forecasting 248
7 Conclusion 252
References 252
Encoding/Decoding Expressive EEG Signal VariabilityUsing IAF/ASDM Technique towards EEG-ControlledRobotic System Development 254
1 Introduction 254
2 EEG Signal Processing Model 255
3 Adaptive EEG Digital Decoding/Coding 256
3.1 EEG Signal Noise Modelling 257
3.2 EEG Spectral Analysis Structure 258
3.3 Parametric EEG Data Modelling 259
4 Methodology 259
4.1 Signal Acquisition 260
4.2 Pre-processing 260
4.3 Artefact Identification 260
4.4 Power Spectral Measures 260
6 Conclusion 263
References 264
Illumination Invariant Face RecognitionUsing Principal Component Analysis – An Overview 265
1 Introduction 265
2 Phases of a Typical Face Recognition 266
3 Illumination Normalization Methods for Face Recognition 267
3.1 The Single Scale Retinex Method 267
3.2 The Multi Scale Retinex Method 268
3.3 The Gradientfaces Normalization Method 268
3.5 The Single Scale Weberfaces Normalization Method 268
3.6 The Multi Scale Weberfaces Normalization Method 268
4 Face Recognition by Using Principal Component Analysis 268
5 Experimental Results 272
6 Conclusions 280
References 280
Developing the Creativity and Design Skillsof Mechatronic Engineering Studentswith Labs and Robot Competitions 282
1 Introduction 282
2 Problem Based Learning (PBL) Approach 284
3 Formative Laboratory Work 286
4 Assessments 287
5 Mobile Robot Racing Competition 288
6 Box Collecting Competition 290
7 Robot Wars or Robot Sumo Competition 293
8 Student Evaluations 297
9 Observations 297
10 Conclusions 300
References 301
An Open Architecture Control Systemfor Reconfigurable Numerically Controlled Machinery 303
1 Introduction 303
2 OAC Requirements and Recent Developments 304
3 OAC Development for the MRMT 306
3.1 System Overview 306
3.2 Distributed Axis and Spindle Modules 307
3.3 Buffer Layers 308
3.4 Multiple Microcontroller Implementation 309
4 Software Reference Architecture and Algorithms 309
5 Graphical User Interface 311
6 Testing and Results 312
7 Challenges 314
8 Discussion 314
9 Conclusion 315
References 315
Desktop Scanner Metrology 317
1 Introduction 317
1.1 Previous Applications of Flatbed Scanners 317
2 Initial Experiment and Methodology 318
2.1 Introduction 318
2.2 Image Processing Software 319
2.3 Variables Considered 319
2.4 Initial Experiment Results 322
2.5 Initial Experiment Comments 322
3 Second Stage Experiment 323
3.1 Lighting of the Component [L] 323
3.2 Other Factors 325
3.3 Experiment Plan and Results 325
4 Results and Discussion 326
4.1 Initial Experiment 326
4.2 Second Stage Experiment 327
5 Conclusions 328
References 328
A Soft Starting Applicationwith Fuzzy Type II for Hub Motors 330
1 Introduction 330
2 Closed Loop Soft Starting Method 331
3 Fuzzy Type II 331
4 Experimental Design 335
5 Experimental Results 337
5.1 No Load Experiments 337
5.2 50% Load Experiments 338
5.3 100% Load Experiments 339
6 Conclusion 340
References 340
Author Index 342