Search results for " Vision"

Fuzzy predictive controller design using ant colony optimization algorithm

2014

In this paper, an approach for designing an adaptive fuzzy model predictive control (AFMPC) based on the Ant Colony Optimization (ACO) is studied. On-line adaptive fuzzy identification is used to identify the system parameters. These parameters are used to calculate the objective function based on predictive approach and structure of RST control. The optimization problem is solved based on an ACO algorithm, used at the optimization process in AFMPC to calculate a sequence of future RST control actions. The obtained simulation results show that proposed approach provides better results compared with Proportional Integral-Ant Colony Optimization (PI-ACO) controller and adaptive fuzzy model pr…

A Random Dot Stereoacuity Test based on 3D Technology

2014

This paper presents a novel stereo acuity test that is realized by a software program on a PC with 3D capabilities. The 3D technology is used to provide two separate images to the two eyes. The test is a classical random dot test, but differently to other test printed on paper, the images shown to the patient can vary and there is no monocular clue. These features allow to deliver the test also in groups (instead of individuals) like school classes, and to increase the sensitivity. The system can be easily used also by not specialized personnel and this may further increase the cost efficiency of the test. Experiments carried on with a large set of children of age between five and seven yea…

Linear parameter‐varying modelling and control of an offshore wind turbine with constrained information

2014

This study deals with linear parameter-varying modelling and output-feedback H ∞ control design for an offshore wind turbine. The controller is designed with consideration that not all the information in the feedback loop will be used. This constraint is incorporated into the design procedure. Constrained information means that a special zero-non-zero pattern is forced upon the gain matrix. The constrained controller is obtained based on parameter-dependent Lyapunov functions and formulated in terms of linear-matrix inequalities. Since the functions are dependent on the wind speed and accurate wind speed measurements are rarely available in practice, an extended Kalman filter is used to est…

Vibration control for adjacent structures using local state information

2014

In this paper, a novel strategy for structural vibration control of multi-structure systems is presented. This strategy pays particular attention to mitigating negative interstructure interactions. Moreover, it is based on recent advances in static output–feedback control, which make possible the efficient computation of decentralized velocity-feedback controllers by solving a single-step optimization problem with Linear Matrix Inequality constraints. To illustrate the main ideas, a local velocity-feedback energy-to-peak controller is designed for the seismic protection of a two-building system. This controller is remarkably effective and extremely simple. Moreover, it can also be implement…

ARIANNA: a smartphone-based navigation system with human in the loop

2014

In this paper we present a low cost navigation system, called ARIANNA, primarily designed for visually impaired people. ARIANNA (pAth Recognition for Indoor Assisted NavigatioN with Augmented perception) permits to find some points of interests in an indoor environment by following a path painted or sticked on the floor. The path is detected by the camera of the smartphone which also generates a vibration signal providing a feedback to the user for correcting his/her direction. Some special landmarks can be deployed along the path for coding additional information detectable by the camera. In order to study the practical feasibility of the ARIANNA system for human users that want to follow …

2014

A 3D imaging technique using a high speed binocular stereovision system was developed in combination with corresponding image processing algorithms for accurate determination of the parameters of particles leaving the spinning disks of centrifugal fertilizer spreaders. Validation of the stereo-matching algorithm using a virtual 3D stereovision simulator indicated an error of less than 2 pixels for 90% of the particles. The setup was validated using the cylindrical spread pattern of an experimental spreader. A 2D correlation coefficient of 90% and a Relative Error of 27% was found between the experimental results and the (simulated) spread pattern obtained with the developed setup. In combin…

Pseudoisochromatic test plate colour representation dependence on printing technology

2012

The aim of the study is to determine best printing technology for creation of colour vision deficiency tests. Valid tests for protanopia and deuteranopia were created from perceived colour matching experiments from printed colour samples by colour deficient individuals. Calibrated EpsonStylus Pro 7800 printer for ink prints and Noritsu HD 3701 digital printer for photographic prints were used. Multispectral imagery (by tunable liquid crystal filters system CRI Nuance Vis 07) data analysis show that in case of ink prints, the measured pixel colour coordinate dispersion (in the CIExy colour diagram) of similar colour arrays is smaller than in case of photographic printing. The print quality i…

Three dimensional reconstruction of intracoronary ultrasound images: roadmapping with simultaneously digitised coronary angiograms

2002

Three dimensional reconstruction of intracoronary ultrasound images offers a better appreciation of the axial relationship of vessel features and permits volumetric assessment, both of which depend critically on the spatial accuracy of the technique. This in turn is dependent on precise longitudinal orientation of the transducer in the vessel. The authors have developed a system which utilises simultaneously digitised fluoroscopic tracking of the radio-opaque transducer to orient the corresponding 2D ICUS images. This system may offer improved spatial accuracy of the three dimensional reconstruction and a means of precise identification of the 2D ICUS image which corresponds with a selected…

Multimedia applications in industrial networks: integration of image processing in profibus

2003

This paper analyzes the transmission of images through Profibus for applications concerned with the processing of images integrated in control systems, by means of a detailed study of two real cases with different bandwidth requirements. We analyze the special features of an artificial vision system making use of Profibus as a transport system, the scheduling of the traffic in order to guarantee the delivery of the images and the control traffic before their deadlines, the protocol used, and the compression techniques usable in this kind of system, which enable us to reduce the necessary bandwidth for the applications without degrading the operation of the image processing application. We p…

Increasing the accuracy of untaught robot positions by means of a multi-camera system

2010

We aim to improve the absolute in line positional accuracy of a robot-guided effector to better than 1 mm. We do so using photogrammetric techniques and by relying heavily on simulations to fine tune each parameter and avoid weak configurations. We also use simulations to design an LED calibration object adapted to this application. A test procedure enables us to validate both the simulated results as well as the calibration procedure. The test results exceed expectations by improving the absolute positioning of a robot effector by a factor of 20.