JACAR April 2018

JACAR April 2018 Research Articles

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    Research on Dynamic Multi-Object Recognition based on Machine Vision

    $15.00

    Abstract: Dynamic multi-object recognition based on machine vision is a very important research direction in the field of pattern recognition. In this paper, the multi-object identification of robotic fishes in water is studied and A HSV color space model is proposed. By re-modeling the original color space, the main light interference in the image can be effectively removed, and the shadow of the robotic fish can be removed, making the background segmentation more accurate. The improved algorithm has stronger robustness than the original matching tracking algorithm

    Keywords: Robotic fish, target recognition, machine vision, HSV, deep learning


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    Fabrication and Evaluation of the Inshore Fishing UAV Gripper

    $15.00

    Abstract: UAV is defined as Unmanned Aerial Vehicle with some greater or lesser degree of ‘automatic intelligence’ part of an unmanned aircraft systems. Although all UAV systems have many elements other than the air vehicles, UAVs are usually categorized by the capability or size of the air vehicle that is required to carry out the mission. However, it is possible that one system may employ more than one type of air vehicle to cover different types of missions, and that may pose a problem in its designation. However, these definitions are constantly being changed as technology advances, allowing a smaller system to take on the roles of the one above. The boundaries, therefore, are often blurred so that the following definitions can only be approximate and subject to change. The main challenge in design and making any system for integration into the main research system, such as robot or UAV, requires careful attention on the interaction of each electric and electrical unit or component on the circuit board. This paper highlights the fabrication and the evaluation of the Inshore Fishing UAV gripper, the acrylic board, and the wireless communication module. The communication transmission distance between the UAV on shore and UAV over the sea is about 1 kilometer with stable flight.

    Keywords: UAV; UAS; Gripper; Drone; Seashore; twe-litle.


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    A laser scanner based in-process inspection approach of thru-hole for drilling robotic system

    $15.00

    Abstract: An in-process hole inspection subsystem was integrated with the drilling robotic system, which is based on the line laser scanner installed near the end-effector. The proposed inspection approach is based on the image processing of 3D (three dimension) point cloud obtained from laser scanner driven by the robotic manipulator. The normal of measuring surface was detected from the 3D point data on the hole edge, which determines the feedback signal to the hardware to adjust the direction of laser beam. By normal adjusting algorithm, the laser scanner is driven by the robotic manipulator to achieve the normal direction of the measuring hole. Then, based on 2D (two dimension) point data, the least square ellipse fitting method was applied to compute the hole parameters, such as diameter, circularity and positioning of the hole. The designed approach was tested for its accuracy and robust in an example of through hole automatic inspection

    Keywords: line laser scanner, drilling robot, hole inspection, normal adjusting


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    The Design of Intelligent Vehicle System Based on STM32

    $15.00

    Abstract: This paper design a new vehicle system that has a function of storing path data. The main control chip of the intelligent vehicles system is STM32F103ZET6. The current position and direction of the vehicle are determined by means of path memory and position recognition. This system is rarely affected by the ground condition, so there is no need for any ground signs.

    Keywords: intellectual vehicles system, path memory, position recognition, STM32F103ZET6


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    Design and Experiments of Distributed Compliant Actuator for Industrial Robots

    $15.00

    Abstract: In order to reduce the torsional moment of the motor in Axis-2, the drive compensation devices can be used for the joint of industrial robots. The static balance compensation range of conventional balance cylinders is limited. Since of lacking in autonomy, continuity, and dynamics, balance cylinders cannot be used for compensation when load is various. The dynamic cylinder based on series elastic actuator (SEA) devices is designed to realize the automatic response of industrial robots when load is various, to obtain continuous dynamic compensation of the inertia moment and to achieve the optimum balance. Because SEA devices have features of dynamic adjustment and energy amplification, they can be used to realize balance compensation and reduce effectively the power requirement for the joint drive motor or even replace a motor of Axis-2. Thus, a new kind of flexible balance-drive device is constructed. In this paper, theoretical and experimental analyses of the dynamic model are conducted. The experimental results prove that the devices combine the effects of balancing cylinders and motors of Axis-2, as well as increasing load capacity and flexibility.

    Keywords: Industrial robot; Balance mechanism; Series elastic actuator; Distributed actuator