Effect of surface lay in the surface roughness evaluation using machine vision

This work explores the influence of orientation of surface lay pattern of the machined components, while quantifying the surface roughness using machine vision approach. The surface images are captured from milled low carbon steel specimens with different roughness values using a vision system with coaxial lighting arrangement at different angular orientations of the work pieces (0°, 30°, 45°, 60°, 90°, 120°, 135°, 150°, and 180°). The captured images are subjected to preprocessing in order to retain the frequency components that attribute to roughness using a Gaussian filter by adapting the filtering procedures specified in ISO 4288. Numerous image based parameters such as gray level average (G_a), gray level co-occurrence matrix based image quantification parameters namely contrast, correlation, energy or uniformity, maximum probability and differential box courting based fractal dimension are computed from the surface images captured at different angular positions of the work piece. The computed vision based parameters are compared and correlated with the roughness average (R_a) obtained using a stylus instrument and the results are analyzed. The results clearly indicated that it is important to consider the orientation of the work piece when the machine vision approach is used to quantify the surface texture parameters.     

基于OpenCV的嵌入式自动捡乒乓球系统设计

为了解决在乒乓球比赛和训练中人工手动捡球的问题,从机器视觉的角度出发,综合嵌入式、图像处理和测量控制等技术,基于第三方库OpenCV设计了一种自动捡乒乓球系统。系统是以Contex-A8平台为控制核心,首先通过对云台和USB摄像头的控制获取视频信号;然后通过霍夫圆变换和SVM分类器算法识别出视频中的乒乓球,并根据质心计算出其与系统的相对位置;最后将视频信号中抽象出的位置信息传递给机械运动控制终端,控制小车和机械手将乒乓球捡起,并送到指定位置。实验结果表明本系统能够正确的检测和识别乒乓球,并对其进行定位捡取,效果良好,提高了拾取乒乓球的效率,减轻工作人员的负担。     

基于旋转式反射镜的飞行视觉系统设计

在MEMS麦克风贴片工艺中,真空吸嘴吸取MEMS芯片以后需要进行芯片位姿的精确校正。为实现高速高精度贴片功能,提出了一种基于旋转式反射镜的飞行视觉系统,该方案利用齿轮齿条将吸嘴的升降运动转化为反射镜的旋转运动,通过设计齿轮参数,实现反射镜不干涉吸嘴的拾放功能。当反射镜旋转到与水平位置夹角呈45°时,视觉系统可以获得MEMS芯片的静止的清晰图像,CCD相机采集一幅图像后,在贴片头飞行的过程中,控制系统完成MEMS芯片的位置和角度的校正。实验结果表明,该系统可以获取高质量MEMS芯片图像。该系统结构简单紧凑,成像无失真,不限制贴片头的运动轨迹,显著提高了MEMS芯片的贴片质量和贴片效率,可广泛地应用于贴片机系统中。     

自适应环境的机器人视觉伺服控制方法

机器人和机器视觉的迅速发展,使得基于视觉的智能机器人得到更加广泛的应用。机器视觉提高了机器人控制系统对环境的适应程度,但其适应程度也受到周围环境对机器视觉算法的影响。针对这一情况,本文对机器人视觉伺服控制系统中的机器视觉算法进行了改进,提出了一种基于帧间差分法的自适应环境的机器人视觉伺服控制方法,从而提高了控制系统对环境的自适应程度,提高了对机器人控制的精确度,实验和理论分析证明,该方法具有较大的应用前景和实用价值。     

基于通用运动控制器的磁场点测台控制系统

磁场点测台是加速器领域测量磁铁和波荡器等磁元件的主要设备之一, 其需要在快速精确的控制系统支持下工作。中国工程物理研究院应用电子学研究所近期搭建了一套磁场点测台, 并基于通用运动控制器(UMAC), 设计开发了该磁场点测台的控制系统。系统采用了上位机工控机和下位机UMAC两级计算机控制的层级结构, 可以充分发挥其各自优势: 下位机UMAC可以快速、精确地控制电机动作, 因此下位机程序负责控制六轴运动平台以go-stop模式运动; 上位机工控机数据处理和存储能力强, 因此上位机人机交互界面负责收集、记录和显示磁场数据, 并负责设定磁场测量参数和监控运行状态。两级计算机动作的同时性通过触发信号来保证。     

Development of a body motion interactive system with a weight voting mechanism and computer vision technology

This study develops a body motion interactive system with computer vision technology. This application combines interactive games, art performing, and exercise training system. Multiple image processing and computer vision technologies are used in this study. The system can calculate the characteristics of an object color, and then perform color segmentation. When there is a wrong action judgment, the system will avoid the error with a weight voting mechanism, which can set the condition score and weight value for the action judgment, and choose the best action judgment from the weight voting mechanism. Finally, this study estimated the reliability of the system in order to make improvements.The results showed that, this method has good effect on accuracy and stability during operations of the human–machine interface of the sports training system.     

A novel device for head gesture measurement system in combination with eye-controlled human–machine interface

This study describes the design and combination of an eye-controlled and a head-controlled human–machine interface system. This system is a highly effective human–machine interface, detecting head movement by changing positions and numbers of light sources on the head. When the users utilize the head-mounted display to browse a computer screen, the system will catch the images of the user's eyes with CCD cameras, which can also measure the angle and position of the light sources. In the eye-tracking system, the program in the computer will locate each center point of the pupils in the images, and record the information on moving traces and pupil diameters. In the head gesture measurement system, the user wears a double-source eyeglass frame, so the system catches images of the user's head by using a CCD camera in front of the user. The computer program will locate the center point of the head, transferring it to the screen coordinates, and then the user can control the cursor by head motions. We combine the eye-controlled and head-controlled human–machine interface system for the virtual reality applications.     

Talker-identification training using simulations of binaurally combined electric and acoustic hearing: generalization to speech and emotion recognition

Understanding speech in background noise, talker identification, and vocal emotion recognition are challenging for cochlear implant (CI) users due to poor spectral resolution and limited pitch cues with the CI. Recent studies have shown that bimodal CI users, that is, those CI users who wear a hearing aid (HA) in their non-implanted ear, receive benefit for understanding speech both in quiet and in noise. This study compared the efficacy of talker-identification training in two groups of young normal-hearing adults, listening to either acoustic simulations of unilateral CI or bimodal (CI+HA) hearing. Training resulted in improved identification of talkers for both groups with better overall performance for simulated bimodal hearing. Generalization of learning to sentence and emotion recognition also was assessed in both subject groups. Sentence recognition in quiet and in noise improved for both groups, no matter if the talkers had been heard during training or not. Generalization to improvements in emotion recognition for two unfamiliar talkers also was noted for both groups with the simulated bimodal-hearing group showing better overall emotion-recognition performance. Improvements in sentence recognition were retained a month after training in both groups. These results have potential implications for aural rehabilitation of conventional and bimodal CI users.     

基于多模板子空间的支持向量机多类自然形状识别

自然物体的检测与识别是机器视觉以及模式识别的重要任务。由于自然物体形状的多样性与柔性以及视觉判别的复杂性,使基于计算机的自然形状物体的准确检测与识别变得比较困难。提出了基于多模板子空间的支持向量机(SVM)多类自然形状识别方法。利用广义Hough变换表示自然形状物体轮廓,针对每个类别通过训练得到多个匹配模板;检测时利用多模板最近邻相关匹配进行粗检测,使用支持向量机进行分类。在相关匹配限定的子空间内收集训练样本,有效地降低了训练样本数目。实验结果证明所提出的自然形状检测与识别方法是十分有效的,大大改进了经典检测算法的检测效果以及自动化程度。     

Exploring Neurofeedback Training for BMI Power Augmentation of Upper Limbs: A Pilot Study

Electroencephalography neurofeedback (EEG-NFB) training can induce changes in the power of targeted EEG bands. The objective of this study is to enhance and evaluate the specific changes of EEG power spectral density that the brain-machine interface (BMI) users can reliably generate for power augmentation through EEG-NFB training. First, we constructed an EEG-NFB training system for power augmentation. Then, three subjects were assigned to three NFB training stages, based on a 6-day consecutive training session as one stage. The subjects received real-time feedback from their EEG signals by a robotic arm while conducting flexion and extension movement with their elbow and shoulder joints, respectively. EEG signals were compared with each NFB training stage. The training results showed that EEG beta (12–40 Hz) power increased after the NFB training for both the elbow and the shoulder joints’ movements. EEG beta power showed sustained improvements during the 3-stage training, which revealed that even the short-term training could improve EEG signals significantly. Moreover, the training effect of the shoulder joints was more obvious than that of the elbow joints. These results suggest that NFB training can improve EEG signals and clarify the specific EEG changes during the movement. Our results may even provide insights into how the neural effects of NFB can be better applied to the BMI power augmentation system and improve the performance of healthy individuals.     

Change in motor cortex activation for muscle release by motor learning

For central nervous system disorders'' rehabilitation, it is important to accurately understand motor control and implement an appropriate motor learning process to induce neuroplastic changes. The neurophysiological studies have revealed that neural control mechanisms are crucial during both the onset of muscular activities and muscle release after contraction. When performing various movements during daily activities, muscle relaxation control enables precise force output and timing control. Moreover, surround inhibition is a functional mechanism in the motor system. Surround inhibition of the motor system may be involved in the selective execution of desired movements. This review demonstrates cortical excitability resulting from motor learning, movement control mechanisms including muscle relaxation and the suppression of nontarget muscle groups, and the voluntary drive''s importance that is required for movement.     

低畸变宽工作距机器视觉镜头光学设计

机器视觉镜头参数要求有别于其他镜头，为了保证测量精度，要求镜头的光学畸变很小甚至接近零，有的工作场合还要求有很宽的工作距等。设计一种机器视觉镜头，使用8枚球面镜片，采用固定后组，移动前组的调焦结构，实现了在空间频率120 lp/mm处，工作距从无穷远到超近摄0.1 m时，镜头畸变小于0.1%，MTF全视场大于0.4的性能要求。光学系统后组使用了两枚镜片，与后组只有一枚镜片的架构不同，不仅提升了光学性能，还有利于系统的平衡及稳定。整个光学系统没有非球面，也没有高折射率或高阿贝数的特殊玻璃，均为常见的冕牌玻璃和火石玻璃，降低了镜头成本,镜片加工及组装公差范围内量产优良率达90%以上。该镜头光学系统可广泛应用于机器视觉尤其是智能机器视觉行业。     

3-D vision and range finding techniques

The introduction of third generation robots in automated systems is impeded by the absence of 3-D sensors collecting panoramic range data at medium distance (0–10 meters) in a large volume (up to 100 m³). The work described in the present paper offers a certain number of solutions to this general problem. Our system is built around a 2-D passive machine vision connected to various cameras (VIDICON and CCD). The host computer (HP 1000) pilots numerous sorts of range finders (acoustic and optical).

The concept of multisensory range finders is introduced to allow the best use of each type (active methods). This 3-D vision has been tested in two fields of application:

• -in robotics for the absolute of a mobile robot;

• -in audiovisual for fixing objects or actors in a 3-D synthetic scene.

In some cases the absolute location problem is solved with an opto-electronic remote tracking measurement system. It is the last part of our 3-D machine vision.     

高精度机器视觉对准系统的研究与设计

针对高精度自动贴片机,重点介绍了高精度机器视觉自动对准系统的结构和设计;介绍了相关的计算机控制软件系统的模块设计和开发。提出了模式匹配算法及相关的图像处理算法。仿真结果表明,该系统能够有效地完成自动对准的任务。     

新一代DCS中智能温度监控系统设计与实现

传统的分布式温度监控方法存在费时费力、不便应用在特殊环境、不便用于多点融合监控等弊端,设计并实现了新一代DCS智能温度监控系统,通过核心为ARM7LPC2292芯片的下位机及时调整全部温控点的温度,自主设置温度、显示实际温度与报警;采用核心为89C51微处理器模块,将上、下位机的信息互相传递,确保上位机随时查询温度信息;通过CC2530终端节点实时采集测温终端的温度数据,将温度数据无线发送给CC2530协调器节点,不在采用传统的中转服务器方式,而是采用协调器节点通过串口与上位机进行通信,并在上位机中进行温度数据的处理和存储。软件设计过程中,对系统监控过程中上位机和下位机间的主从通信方式进行详细分析,并给出了系统温度监控数据通信传输的流程图,分析了系统实现温度监控的数据库访问代码以及温控曲线显示代码的设计。实验结果说明,所设计系统性能好、操作简单、控制准确率高。     

基于机器视觉的刀具轮廓在线检测方法的研究

超精密单点金刚石车削过程中需要对刀具参数进行检测。基于机器视觉原理,采用新型的机械结构设计了新型刀具在线检测系统。通过垂直放置的两组由同轴远心镜头和CMOS相机组成的光学系统来获取车刀刀尖正面及侧面的图像,再经图像处理系统来获取刀具的轮廓及位置信息,完成对刀具轮廓及位置的在线检测,实验验证可实现测量的重复性定位精度达1μm。在线检测的方式借助了超精密车床自身的高精度和运动机构,可以保证相机焦点和机床主轴之间的相对位置关系,弥补了目前刀具检测系统稳定性差和重复性精度低的不足,提高了加工的整体效率。     

基于Channel Archiver的加速器数据采集系统

 采用Channel Archiver从加速器控制系统底层输入输出控制器获取和存储数据, 通过开发WEB人机界面和软件接口及客户端向计算机用户提供数据在线或离线的智能检索。该系统操作灵活,信息检索方便,目前已经对合肥光源做了长时间的稳定采集、存档和检索。可以帮助研究人员快捷高效地获得过程运行数据,很好地满足了对合肥光源机器运行和机器研究的需要。     

Development and calibration of acoustic video camera system for moving vehicles

In this paper, a new acoustic video camera system is developed and its calibration method is established. This system is built based on binocular vision and acoustical holography technology. With binocular vision method, the spatial distance between the microphone array and the moving vehicles is obtained, and the sound reconstruction plane can be established closely to the moving vehicle surface automatically. Then the sound video is regenerated closely to the moving vehicles accurately by acoustic holography method. With this system, the moving and stationary sound sources are treated differently and automatically, which makes the sound visualization of moving vehicles much quicker, more intuitively, and accurately. To verify this system, experiments for a stationary speaker and a non-stationary speaker are carried out. Further verification experiments for outdoor moving vehicle are also conducted. Successful video visualization results not only confirm the validity of the system but also suggest that this system can be a potential useful tool in vehicle's noise identification because it allows the users to find out the noise sources by the videos easily. We believe the newly developed system will be of great potential in moving vehicles' noise identification and control.     

基于图像处理的钢坯侧面形状检测系统

基于机器视觉的钢坯侧面形状检测系统是由面阵CCD、激光发射器、激光接收器以及工控计算机等组成。通过面阵CCD拍摄到钢坯侧面图像,经过工业控制计算机进行数字图像处理分析和计算,提取钢坯侧面边缘高度和厚度,进而通过专用软件分析出钢坯头部和尾部的形状信息,从而有效地对入口钢坯翘头扣尾的异常状态发出报警信号。将异常信号传送给外围控制系统,以实现对钢坯的控制。     

Improve a 3D distance measurement accuracy in stereo vision systems using optimization methods’ approach

This paper presents a 3D distance measurement accuracy improvement for stereo vision systems using optimization methods A Stereo Vision system is developed and tested to identify common uncertainty sources. As the optimization methods are used to train a neural network, the resulting equation can be implemented in real time stereo vision systems. Computational experiments and a comparative analysis are conducted to identify a training function with a minimal error performance for such method. The offered method provides a general purpose modelling technique, attending diverse problems that affect stereo vision systems. Finally, the proposed method is applied in the developed stereo vision system and a statistical analysis is performed to validate the obtained improvements.