Applied Mechanics and Materials Vol. 389

Abstract: The drive behind this research is to devise an autonomous method for dynamically detecting a movable coloured object within ambiguous environments. Based on a study of different methods of automation using image processing techniques, those with the highest potential of operating effectively and efficiently in a complex environment of varying light intensity were identified. A hybrid system has been developed which utilises the selected image processing algorithms and fuzzified readings from distance sensors, to extract an identifiable colour area in the acquired image frames. Subsequently the identified colour is used to recognise the blob area within the frame containing the moving object to be tracked. Based on the location and area of this blob, the hybrid system will dynamically identify the exact location of the target mobile object. This system mounted on an autonomous mobile robot constantly monitors the detected object.

Abstract: The motive behind this research project is to devise a method for overcoming some of the challenges faced by fire fighters in Egypt while accomplishing their duties. This is achieved by utilizing robot vision technology as one of the approaches used for task automation. Based on a study of different methods of automation in human tracking and fire fighting applications, image processing techniques with the highest potential in a fire fighting environment were identified. A system has been developed which fusses the selected image processing algorithms with fuzzified readings from distance sensors, to extract the major blue areas in acquired images that is more likely to correspond to the uniform worn by fire fighters in Egypt. Subsequently the extracted blue area is used to identify a region of interest within the image in order to reduce the computations. The feature detection process constrains its search for a feature found on the back of the target fire fighter to the identified region of interest. Based on the location and area of this feature, the system will calculate the required velocity components to control the motion of the robot and the camera pan and tilt mechanism, in order to continue tracking the target along its path. The system has been validated by conducting an experiment which simulates the key influential factors in a fire fighting environment.

Abstract: Robots are required to operate in different environmental conditions facing varieties of end-effector to perform the workspace interactions. This paper deals with integrated CAD/CAE/CAM system for SCORBOT-ER Vu plus Industrial robot manipulator. The DH (DenavitHartenberg) coordinate transformation method was used to perform the robot position analysis. The robot manipulator parametric solid models were constructed using Pro/ENGINEER (Pro/E). Pro/Mechanica was used to simulate the dynamic simulation and working space, CATIA was used to implement the cutting simulation, and the prototype was manufactured using a CNC milling machine. Finally, a CAD/CAE/CAM integrated system for a robot manipulator was developed. This integrated system not only promotes automation capabilities for robot manipulator production, but also simplifies the CAD/CAE/CAM process for a robot manipulator.

Abstract: An accurate and automatic weighting method was used to satisfy the command. The system consisted a hopper, a vibration propellant delivering equipment, a particle separation equipment and control system. The main controller and the programmed logic controller were used to control the system to make sure the high precision of particles weighting as host computer and slave computer respectively. The result shows that the method can solve the key technology of the automatic weighting of the small-bore experimental cartridge and offers significance for the automatic weighting of standard particles.

Abstract: To improve the navigation precision of autonomous underwater vehicles, a terrain-aided strapdown inertial navigation based on Improved Unscented Kalman Filter (IUKF) is proposed in this paper. The characteristics of strapdown inertial navigation system and terrain-aided navigation system are described in this paper, and improved UKF method is applied to the information fusion. Simulation experiments of novel integrated navigation system proposed in the paper were carried out comparing to the traditional Kalman filtering methods. The experiment results suggest that the IUKF method is able to greatly improve the long-time navigation precision, relative to the traditional information fusion method.

Abstract: A control mathematical model in pitch and yaw direction is presented to apply on missiles controlled by double-channel with style canard. Based on the mathematical model, the influence of deflection angle measurement error and actuator performance on actuator control is analyzed. The results show that the measure error of lean angle and actuator delay will produce control coupling in pitch and yaw direction and that will reduce control efficiency.

Abstract: This paper is mainly talking about processing, analysis and understanding of video signal in intelligent video surveillance, and we designed an efficient target detection and recognition model. Through the model to detect the target object in motion and then track the detected target. Eventually we achieved real-time monitoring of the unguarded areas. The focus of this article is about how to achieve the moving target tracking in OpenCV (Open Source Computer Vision Library) environment.

Abstract: In order to improve the diagnosis performance of the types of Loss of Coolant Accident (LOCA), A diagnose model based on manifold Learning is built. As the manifold learning method using to reduce the observed parameters of reactors dimensions, the ANN is used to get dimension reducing mapping and modes classifying method. This method improves the ability of the model to identify as well as the robustness of it. The experiment results show that the systems diagnosis precision is high and the key parameters are analyzed efficiently.

Abstract: This paper presents some techniques for constructing panoramic image stitching from sequences of images captured by cameras from different angle in garment defects detecting area. The image stitching representation associates a transformation matrix with each input image. In this paper, we formulate stitching as a multi-image matching problem, and use invariant local features to find matches between all of the images. Our method is insensitive to the ordering, orientation, scale and illumination of the input images. It is also insensitive to noise images that are not part of a panorama, and can recognise multiple panoramas in an unordered image dataset. An improved SIFT(Scale Invariant Feature Transform) algorithm was used to locate the feature points in the scanned images targeting at the problem of automatically stitching of textile images which were scanned in divided pieces. RANSAC (random sample consensus) method is proposed to to estimate image transformation parameters and to find a solution that has the best consensus with the data. Techniques for estimating and rening camera focal lengths are also presented. In order to reduce accumulated registration errors, we apply global alignment (block adjustment) to the whole sequence of images, which results in an optimally registered image stitching. A local alignment technique is also developed which warps each image based on the results of pairwise local image registrations to compensate for small amounts of motion parallax introduced by translations of the camera and other unmodeled distortions.

Abstract: In order to make the peristaltic pipeline robot go through elbow quickly and efficiently, a multi-sensor information fusion algorithm based on relation matrix and fuzzy logic control is proposed. In this method, relation matrix is adopted to fuse the information from ultrasonic sensors and infrared sensors, while fuzzy neural network is employed to make walking strategy and remove obstructions. Simulation and platform testing are designed to verify the effectiveness of this method. The test results show that this method can significantly improve distance measuring accuracy and walking efficiency.