A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning...A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning level, a motion control level and a servo control level. The last three levels form a local real-time open robot controller, which realizes motion planning and motion control of a robot. A camera calibration method based on the relative movement of the end-effector connected to a robot is proposed and a method for tracking weld seam based on the structured light stereovision is provided. Combining the parameters of the cameras and laser plane, three groups of position values in Cartesian space are obtained for each feature point in a stripe projected on the weld seam. The accurate three-dimensional position of the edge points in the weld seam can be calculated from the obtained parameters with an information fusion algorithm. By calculating the weld seam parameter from position and image data, the movement parameters of the robot used for tracking can be determined. A swing welding experiment of type V groove weld is successfully conducted, the results of which show that the system has high resolution seam tracking in real-time, and works stably and efficiently.展开更多
A dual operational modes mobile robot system based on visual guiding and visual servo control is presented. This system consists of a mobile robot with a two-axis manipulator and a tele-operation station. In the visua...A dual operational modes mobile robot system based on visual guiding and visual servo control is presented. This system consists of a mobile robot with a two-axis manipulator and a tele-operation station. In the visual guiding mode, for the robot works in an open loop visual servo control mode, the manipulating burden of the operator is reduced largely. In the visual servo mode the robot can locate the position of the target assigned by the operator and pick it up by its manipulator. With the help of the operator, the diffieuh problems of finding and handling a target in a complicated environment by the robot can be solved easily.展开更多
In IBVS (image based visual servoing), the error signal in image space should be transformed into the control signal in the input space quickly. To avoid the iterative adjustment and complicated inverse solution of im...In IBVS (image based visual servoing), the error signal in image space should be transformed into the control signal in the input space quickly. To avoid the iterative adjustment and complicated inverse solution of image Jacobian, CMAC (cerebellar model articulation controller) neural network is inserted into visual servo control loop to implement the nonlinear mapping. Two control schemes are used. Simulation results on two schemes are provided, which show a better tracking precision and stability can be achieved using scheme 2.展开更多
A networked control and supervision system （NCSS） based on LonWorks fieldbus and lntranet/Intemet was designed, which was composed of the universal intelligent control nodes （ICNs）, the visual control and supervis...A networked control and supervision system （NCSS） based on LonWorks fieldbus and lntranet/Intemet was designed, which was composed of the universal intelligent control nodes （ICNs）, the visual control and supervision configuration platforms （VCCP and VSCP） and an Intranet/Internet-based remote supervision platform （RSP）. The ICNs were connected to field devices, such as sensors, actuators and controllers. The VCCP and VSCP were implemented by means of a graphical programming environment and network management so as to simplify the tasks of programming and maintaining the ICNs. The RSP was employed to perform the remote supervision function, which was based on a three-layer browser/server（B/S） structure mode. The validity of the NCSS was demonstrated by laboratory experiments.展开更多
An automated approach is proposed for a microassembly task, which is to insert a 10 μm diameter glass tube into a 12 μm diameter hole in a silicon substrate, and bond them together with ultraviolet （UV） curable ad...An automated approach is proposed for a microassembly task, which is to insert a 10 μm diameter glass tube into a 12 μm diameter hole in a silicon substrate, and bond them together with ultraviolet （UV） curable adhesive. Two three-degree-of-freedom micromanipulators axe used to move the glass tube and the dispensing needle, respectively. Visual feedback is provided by an optical microscope. The angle of the microscope axis is precisely calibrated using an autofocus strategy. Robust image segmentation method and feature extraction algorithm are developed to obtain the features of the hole, the glass tube and the dispensing needle. Visual servo control is employed to achieve accurate aligning for the tube and the hole. Automated adhesive dispensing is used to bond the glass tube and the silicon substrate together after the insertion. On-line monitoring ensures that the diameter of the adhesive spot is within a desired range. Experimental results demonstrate the effectiveness of the proposed strategy.展开更多
This article describes the development and implementations of a novel software platform that supports real-time, science-based policy making on air quality through a user-friendly interface. The software, RSM-VAT, use...This article describes the development and implementations of a novel software platform that supports real-time, science-based policy making on air quality through a user-friendly interface. The software, RSM-VAT, uses a response surface modeling（RSM） methodology and serves as a visualization and analysis tool（VAT） for three-dimensional air quality data obtained by atmospheric models. The software features a number of powerful and intuitive data visualization functions for illustrating the complex nonlinear relationship between emission reductions and air quality benefits. The case study of contiguous U.S.demonstrates that the enhanced RSM-VAT is capable of reproducing the air quality model results with Normalized Mean Bias 〈 2% and assisting in air quality policy making in near real time.展开更多
基金This work was supported by the National High Technology Research and Development Program of China under Grant 2002AA422160 by the National Key Fundamental Research and the Devel-opment Project of China (973) under Grant 2002CB312200.
文摘A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning level, a motion control level and a servo control level. The last three levels form a local real-time open robot controller, which realizes motion planning and motion control of a robot. A camera calibration method based on the relative movement of the end-effector connected to a robot is proposed and a method for tracking weld seam based on the structured light stereovision is provided. Combining the parameters of the cameras and laser plane, three groups of position values in Cartesian space are obtained for each feature point in a stripe projected on the weld seam. The accurate three-dimensional position of the edge points in the weld seam can be calculated from the obtained parameters with an information fusion algorithm. By calculating the weld seam parameter from position and image data, the movement parameters of the robot used for tracking can be determined. A swing welding experiment of type V groove weld is successfully conducted, the results of which show that the system has high resolution seam tracking in real-time, and works stably and efficiently.
基金Supported by the National High Technology Research and Development Program of China （No. 2003AA421030） and the National Science Foundation of China （No. 60375026）.
文摘A dual operational modes mobile robot system based on visual guiding and visual servo control is presented. This system consists of a mobile robot with a two-axis manipulator and a tele-operation station. In the visual guiding mode, for the robot works in an open loop visual servo control mode, the manipulating burden of the operator is reduced largely. In the visual servo mode the robot can locate the position of the target assigned by the operator and pick it up by its manipulator. With the help of the operator, the diffieuh problems of finding and handling a target in a complicated environment by the robot can be solved easily.
基金This project is supported by National Natural Science Foundation of China (No.59990470).
文摘In IBVS (image based visual servoing), the error signal in image space should be transformed into the control signal in the input space quickly. To avoid the iterative adjustment and complicated inverse solution of image Jacobian, CMAC (cerebellar model articulation controller) neural network is inserted into visual servo control loop to implement the nonlinear mapping. Two control schemes are used. Simulation results on two schemes are provided, which show a better tracking precision and stability can be achieved using scheme 2.
基金Project (60425310) supported by the National Natural Science Foundation of ChinaProject(2006AA04Z172) supported by the High-TechResearch and Development Program of China
文摘A networked control and supervision system （NCSS） based on LonWorks fieldbus and lntranet/Intemet was designed, which was composed of the universal intelligent control nodes （ICNs）, the visual control and supervision configuration platforms （VCCP and VSCP） and an Intranet/Internet-based remote supervision platform （RSP）. The ICNs were connected to field devices, such as sensors, actuators and controllers. The VCCP and VSCP were implemented by means of a graphical programming environment and network management so as to simplify the tasks of programming and maintaining the ICNs. The RSP was employed to perform the remote supervision function, which was based on a three-layer browser/server（B/S） structure mode. The validity of the NCSS was demonstrated by laboratory experiments.
基金supported by National Natural Science Foundation of China under(Nos.61227804 and 61105036)
文摘An automated approach is proposed for a microassembly task, which is to insert a 10 μm diameter glass tube into a 12 μm diameter hole in a silicon substrate, and bond them together with ultraviolet （UV） curable adhesive. Two three-degree-of-freedom micromanipulators axe used to move the glass tube and the dispensing needle, respectively. Visual feedback is provided by an optical microscope. The angle of the microscope axis is precisely calibrated using an autofocus strategy. Robust image segmentation method and feature extraction algorithm are developed to obtain the features of the hole, the glass tube and the dispensing needle. Visual servo control is employed to achieve accurate aligning for the tube and the hole. Automated adhesive dispensing is used to bond the glass tube and the silicon substrate together after the insertion. On-line monitoring ensures that the diameter of the adhesive spot is within a desired range. Experimental results demonstrate the effectiveness of the proposed strategy.
基金Financial and data support for this work is provided by the U.S. Environmental Protection Agency (No. GS-10F-0205T)partly supported by the funding of Guangdong Provincial Key Laboratory of Atmospheric Environment and Pollution Control (No. h2xj D612004 Ш )+1 种基金the funding of State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex (No. SCAPC201308)the project of Atmospheric Haze Collaboration Control Technology Design (No. XDB05030400) from Chinese Academy of Sciences
文摘This article describes the development and implementations of a novel software platform that supports real-time, science-based policy making on air quality through a user-friendly interface. The software, RSM-VAT, uses a response surface modeling（RSM） methodology and serves as a visualization and analysis tool（VAT） for three-dimensional air quality data obtained by atmospheric models. The software features a number of powerful and intuitive data visualization functions for illustrating the complex nonlinear relationship between emission reductions and air quality benefits. The case study of contiguous U.S.demonstrates that the enhanced RSM-VAT is capable of reproducing the air quality model results with Normalized Mean Bias 〈 2% and assisting in air quality policy making in near real time.
