Mechatronics and Machine Vision in Practice 3 (eBook)

John Billingsley, Peter Brett (Herausgeber)

eBook Download: PDF

2018 | 1st ed. 2018
IX, 272 Seiten
Springer International Publishing (Verlag)
978-3-319-76947-9 (ISBN)

Infos

In contrast with previous books on mechatronics and machine vision in practice, a significant number of chapters focus on systems designed for human interaction and deciphering human motion. Examples illustrate assistive actuation of hip joints, the augmentation of touch sense in artificial hand prostheses and helping stroke survivors in repetitive motion therapy. Interactive mechatronics and the experience of developing machine interfaces has enabled an examination of how we use mechatronics in the service of training, and even to consider why computer games perhaps appear to capture attention so much more readily than a human instructor!

 

Mechatronics continues to be an exciting and developing field.  It is now an essential part of our world and living experience. This and the previous books in this series illustrate the journey in developing the use of mechatronics so far. We anticipate that you will find the chapters here an equal source of inspiration for new devices to solve the challenges of new applications, and of course as a resource for teaching and inspiring the new generation of mechatronics engineers.

 

Inhalt

Preface 5
Contents 7
Mechatronics Serving Complex Applications in Practice 10
1 3D Shape Sensing of Elongated Objects Using Fibre Bragg Gratings 11
Abstract 11
1 Introduction 11
2 Sensing Concept 12
3 Simulations 13
3.1 Static Model and Simulations 13
3.2 Dynamic Model and Simulations 14
3.3 Initial Discussion 16
4 Sensor Wand Performance 17
4.1 Testing 17
4.2 Algorithm 17
4.3 Initial Results 18
5 Discussion 21
References 22
2 A Drilling Technology Sensing Interaction with Cut Mediums to Discriminate Behaviour and Properties of Mediums Ahead on the Tool Path 23
Abstract 23
1 Introduction 23
2 Application to Surgery 24
3 Drilling in Other Applications 27
3.1 Metallic Mediums 28
3.2 Ceramic Mediums 28
4 Conclusion 29
References 29
3 Schematic Design of an X-ray Based Robotic Welding Inspection System 31
Abstract 31
1 Introduction 31
2 Configuration the X-ray Based Welding Inspecting Robots 33
3 Visual Tracking of Welding Lines 35
4 Synchronous Positioning and Control 37
5 Some Initial Experiments 38
6 Initial Conclusions and Discussions 40
Acknowledgements 40
References 40
4 Low Cost Cascade Controllers for Non Linear Hydraulically Driven Joints 43
Abstract 43
1 Introduction 43
2 The Problem 44
2.1 Valve Nonlinearities 46
2.2 Cylinder Nonlinearities 47
2.3 Valve Cylinder System 47
3 Cascade Controllers 49
3.1 Lower Controller 49
3.2 Upper Controller 50
4 Experimental Results 51
5 Conclusion 52
Acknowledgements 52
References 52
5 State of the Art and Key Technology of Soft-Bodied Robots 54
Abstract 54
1 Introduction 54
2 Review of Soft-Bodied Robots 56
2.1 Mobile Robots 56
2.2 Operation Robots 61
3 Key Technology of Soft-Bodied Robots 62
3.1 Actuators 62
3.2 Active Materials 68
3.3 Physical Modeling 68
3.4 Control Strategies 69
3.5 Manufacture Processes 70
4 Future Research 71
5 Conclusion 72
Acknowledgements 73
References 73
Advanced Machine Vision Applications in Practice 77
6 Single Player Tracking in Multiple Sports Videos 78
Abstract 78
1 Introduction 78
2 System Architecture and Implementation 79
2.1 System Setup 79
2.2 Architectural Design 79
3 Player Tracking 80
3.1 Object Tracking 82
3.2 Location Estimation 83
4 Results and Analysis 85
4.1 Object Tracking 85
4.2 Location Estimation 89
5 Conclusion 93
Acknowledgements 94
References 94
7 iXray: A Machine Learning-Based Digital Radiograph Pattern Recognition System for Lung Pathology Detection 95
Abstract 95
1 Introduction 95
2 Data and Conceptual Framework 97
3 System Design and Methodology 99
4 Results and Analysis 104
5 Conclusion and Future Work 110
Acknowledgements 112
References 112
8 Real-Time 3D Mapping of Biopsy Fiducial Points Using Two Infrared Cameras 113
Abstract 113
1 Introduction 113
2 Infrared Camera Interfacing 114
2.1 Camera Interfacing 114
2.2 Camera Calibration 115
3 Mapping Algorithm 116
4 Results 117
5 Conclusion and Future Work 119
References 120
9 Towards an Automated, High-Throughput Identification of the Greenness and Biomass of Rice Crops 121
Abstract 121
1 Introduction 122
2 Related Works 122
2.1 Related Works on Automated Phenotyping Systems 122
2.2 Related Works on Image Processing Pipelines 123
3 Luntian 124
3.1 System Functions 125
4 Results 128
4.1 Testing Methodology 128
4.2 Greenness 129
4.3 Biomass 131
5 Conclusion 133
Acknowledgements 133
References 134
10 Maturity Analysis and Monitoring System for Sugarcane Crops 135
Abstract 135
1 Inroduction 135
2 Methods 136
2.1 System Set up 136
2.2 Database 137
2.3 Pre-processing 137
2.4 Feature Extraction 138
2.5 Maturity Detection Comparison 143
3 Performance Analysis 144
3.1 Reference Image Set Verification 144
3.2 Hue Thresholding 145
3.3 HSV Experimentation 146
3.4 Machine Learning Verification Using WEKA 146
3.5 System Accuracy Verification for Maturity Analysis 151
3.6 System Benchmark 156
4 Conclusions 156
5 Recommendations 157
Acknowledgements 157
References 157
11 Towards an Automated Plant Height Measurement and Tiller Segmentation of Rice Crops using Image Processing 158
Abstract 158
1 Introduction 159
1.1 Rice Crop Tillers & Panicle
1.2 Automated Plant Phenotyping 160
1.3 Importance of the Research 162
2 Methodology 162
2.1 System Design 162
3 Seight 163
3.1 Experiment 1 164
3.2 Experiment 2 164
3.3 Experiment 3 165
3.4 Experiment 4 166
4 Results 168
5 Summary & Conclusion
References 171
Mechatronics in Human Interaction 172
12 The Use of Games Software to Enhance Educational Material 173
Abstract 173
1 Introduction 173
2 Why Are Students not Paying Attention? 174
3 Outdated and Inflexible Approaches to Teaching 175
4 Gardner’s ‘Theory of Multiple Intelligences’ 176
5 How Schools Have Failed Students 176
6 Education Tailored to the Individual Needs of Each Student 177
7 Popular Tools for Creating Computer Games 178
8 Current ‘State-of-the-Art’ in Edutainment 180
9 ‘Best Practice’ Principles for ‘Gamification’ 180
10 Conclusions 181
Acknowledgements 181
Appendix: A Game that Teaches First Year Dynamics Topics 181
References 182
13 Multi-channel Electro-tactile Feedback System for a Prosthetic Hand 183
Abstract 183
1 Introduction 184
2 Background 184
3 Prosthetic Hand and Electro-tactile Feedback 186
3.1 Overview 186
3.2 Robotic Hand and Tactile Sensors 187
3.3 Electro-tactile Feedback System 188
4 Experimental Results 190
5 Conclusion 193
References 194
14 Temporal Difference (TD) Based Critic-Actor Adaptive Control for a Fine Hand Motion Rehabilitation Robot 196
Abstract 196
1 Introduction 196
2 Control Strategy 198
2.1 Temporal-Difference (TD) Learning 199
2.2 Actor-Critic Algorithms 199
2.3 Actor–Critic NN Design 200
2.3.1 The Critic NN 200
2.3.2 The Actor NN 201
3 Online Learning 202
3.1 Variables Identification 202
3.2 Tuning and Convergence 203
4 Implementation Results 205
5 Conclusion and Future Work 207
References 208
15 A Mechatronic Solution for Stroke Rehabilitation in a Reaching Task 209
Abstract 209
1 Introduction 209
2 Methodology and Experimental Setup 210
3 Results 213
4 Conclusion 215
References 216
16 Fuzzy-CPG Hybrid Control of a Hip Joint Walking Assist Device Based on Soft Sensing of Muscle Forces 217
Abstract 217
1 Introduction 217
2 Soft Sensing of Thigh Muscle Forces 219
2.1 Airbag Based Soft Sensing of Muscle Force 219
2.2 Muscle Force Data Acquisition Experiment 219
2.3 Experiment Analysis 220
3 Fuzzy Control Algorithm 222
3.1 Fuzzy Controller 222
3.2 Fuzzy Rules 223
4 CPG Control Algorithm 225
4.1 Mathematic Model of CPG 225
4.2 Learning Algorithm of CPG 225
5 Hybrid Control Algorithm 228
6 Experiment Studies 228
6.1 Fuzzy Control Experiment 229
6.2 CPG Learning Experiment 229
6.3 Hybrid Control Experiment 230
7 Conclusions 232
References 232
17 Sign-Language Recognition Through Gesture & Movement Analysis (SIGMA)
1 Introduction 234
2 The SIGMA System 235
3 Performance 238
4 Feature Reduction 241
5 Summary and Future Work 243
Acknowledgements 244
References 244
18 Design and Experimental Demonstration of a Mechatronic Solution for Endovascular Catheters 245
Abstract 245
1 Introduction 246
2 Experimental System 247
3 Conclusion 249
References 250
19 Unsupervised Habitual Activity Detection in Accelerometer Data 251
Abstract 251
1 Introduction 252
2 Review of Related Literature 253
2.1 Supervised Learning 253
2.2 Unsupervised Learning 254
2.3 Time Series Motif Discovery 255
3 Experiment 255
3.1 Data Collection 255
3.2 Evaluation 256
4 Algorithm 257
4.1 Segmentation 257
4.2 Feature Extraction 258
4.3 Discretization 258
4.3.1 Subsequence Time Series (STS) Clustering 258
4.3.2 Semi-supervised Classification 259
4.3.3 Symbolic Aggregate Approximation (SAX) 260
4.4 Motif Discovery 260
4.4.1 Suffix Tree 261
4.4.2 Hierarchical Clustering 262
4.4.3 Motif Finding 262
5 Results 263
5.1 Semi-supervised Classification 263
5.2 SAX 264
5.3 Comparison of Different Discretization Techniques 266
5.4 Video Analysis 266
5.4.1 Observations 267
5.5 Benchmark 267
6 Conclusion 268
References 269

Produkt-Details

• Erscheint lt. Verlag: 4.4.2018
• Zusatzinfo: IX, 272 p. 161 illus., 135 illus. in color.
• Verlagsort: Cham
• Sprache: englisch
• Themenwelt: Mathematik / Informatik ► Informatik ► Grafik / Design
• Themenwelt: Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Schlagworte: M2VIP • Machine vision • Mechatronics • Mechatronics in Practice • Robotics
• ISBN-10: 3-319-76947-2 / 3319769472
• ISBN-13: 978-3-319-76947-9 / 9783319769479