基于OMRON视觉的工业机器人分拣控制系统设计

工业机器人在分拣过程中,目标物体可能存在各种形状、尺寸和外观变化,同时还可能受到遮挡和光照条件的影响,使得目标的检测和识别复杂,导致分拣控制功能和应用性能差。为此,设计了基于OMRON视觉的工业机器人分拣控制系统。采用OMRON视觉传感器、机器人分拣控制器和驱动器,完成分拣控制硬件系统设计。利用OMRON视觉,采集工业机器人分拣目标图像,通过直方图均衡化和滤波去噪,完成初始分拣目标图像的预处理。提取工业机器人分拣目标的轮廓特征,通过特征匹配确定分拣目标类型,得出位置、几何结构等空间参数的检测结果。最终通过控制参数计算、工业机器人位姿识别以及控制量求解等步骤,实现系统的分拣控制功能。通过系统测试实验表明,设计系统的抓取位置控制误差、分拣目标位置控制误差和分拣对象表面磨损量较小,具有较好的分拣控制功能和应用性能。     

基于轮廓基元的目标表示及检测方法

为了从复杂真实的场景中提取筛选出目标本质特征,训练目标模型,进行有效的目标检测,提出了一种基于轮廓基元的目标表示及检测方法。采用轮廓基元进行部件建模,提出了从复杂真实场景中进行特征筛选的基本准则,无需对训练图像进行分割,使用外观聚类、位置聚类、AdaBoost三层筛选框架,建立部件模型并学习获得集成分类器。实验结果表明,该方法对复杂背景、局部遮挡和姿态变化具有较强的鲁棒性,对尺度变化具有不变性。     

卷烟条盒包装质量检测机器视觉系统设计

为了避免人眼对产品外观质量检测时,人眼视觉疲劳所产生的产品错检、漏检,提出了基于机器视觉的烟支条盒包装质量检测系统的设计。该系统由光源、相机、图像采集卡和工业控制计算机组成视觉系统处理单元,应用定位配准、边缘检测和斑点分析等图像处理算法完成对产品缺陷的检测。该视觉检测系统已经在烟厂得到了实际应用,对今后开发类似的基于机器视觉的产品外观质量检测系统具有一定的参考价值和指导意义。     

基于视觉组织的封闭轮廓编组模型研究

模拟视觉组织获取轮廓的研究多基于局部视觉编组线索,使得编组线索在视觉上缺乏完整性.为此提出一种具有全局约束的层次编组模型.首先,自适应尺度小波检测图像边缘,显著性重要边缘作为轮廓编组候选集.其次,根据视觉编组规则特性提出层次编组模型 ,用格式塔规则如对称性和平行性作为全局线索指导格式塔规则如接近性、连续性、共线性及共曲线性等编组线索完成轮廓编组,获取符合视觉特性的轮廓.实验表明该模型在不损失视觉合理性的同时减少了编组的二义性,增强了算法的效率和健壮性.     

基于特征融合与边界修正显著性目标检测

显著性目标检测旨在寻找图像中的视觉显著区域。现有的显著性目标检测方法已经展现出强大的优势，但依然在尺度感知和边界预测方面具有局限性。首先，各类场景中的显著目标存在诸多尺度，使算法难以适应不同尺度变化。其次，显著目标往往具有复杂的轮廓，这使边界像素点的检测变得更为困难。针对以上问题，文中提出了基于特征融合与边界修正的显著性目标检测网络，该网络基于特征金字塔，提取了不同层次显著特征。首先针对目标的尺度多样性设计了由多尺度特征解码模块组成的特征融合解码器，通过逐层融合相邻层特征，提高了网络对目标尺度的感知能力。同时设计了边界修正模块学习显著目标的轮廓特征，以生成边界清晰的高质量显著图。在5个常用显著性目标检测数据集上进行实验，结果表明所提算法在平均绝对误差、F指标和S指标3项定量指标上均能取得较优的结果。     

基于特征融合的多尺度窗口产品外观检测方法

为提高产品外观质量的检测精度和实时性,提出一种基于特征融合的多尺度滑动窗口机器视觉检测方法;在训练阶段,首先提取图像的HOG特征和Lab颜色特征,并采用典型相关分析法(CCA)进行特征融合;接下来,采用支持向量机(SVM)对融合的特征进行训练,生成分类器;在检测阶段,产品外观不同区域对精度的要求不同,为提高检测效率,生成不同尺度的滑动窗口,在每个窗口中都进行图像的特征提取与特征融合;最后,对采集的图像序列进行匹配,实现产品外观划痕的实时检测;实验中,选取不同的特征提取方法进行对比,并分别生成大小不同的滑动窗口,通过分析实验结果,结合检测时间与精度,确定各个区域的窗口尺度;实验表明,与传统的检测方法相比,所提方法在检测精度和实时性上具有显著提高。     

楚漆器内部不同尺度纵向裂痕视觉检测仿真

针对传统漆器内部裂痕检测方法没有获取图像轮廓尺度,导致方法存在检测准确度差、效率低的问题,提出一种楚漆器内部不同尺度纵向裂痕视觉检测方法.对二元高斯函数的梯度灰度图像实施卷积运算,利用迟滞阈值实现二值化操作,得到漆器图像轮廓尺度,对漆器图像采取映射变换处理,通过邻域平均法完成漆器图像的平滑滤波操作,采用灰度阈值分割处理...     

Snake模型及其在药片包装在线检测系统中的应用

Snake模型是数字图像处理和计算机视觉中用于实现对象的边缘检测或轮廓提取的有效方法.结合包装生产的实际环境,采用Snake模型,完成了药片包装在线检测系统的软硬件设计,该系统能够较为准确地对药片包装过程中出现的漏装、装错、缺损等质量问题进行检测并自动剔除问题产品.     

融合颜色特征的核相关滤波器目标长期跟踪算法

为了解决基于相关滤波器的跟踪方法在长期遮挡或尺度变化情况下跟踪性能降低,对核相关滤波器目标跟踪方法提出了改进.首先将目标区域的方向梯度直方图、颜色名特征进行融合,对目标外观进行建模;然后对目标构建尺度金字塔,求取尺度的最大响应.最后,引入再检测机制,只有当目标的置信度小于阈值时,才利用在线随机蕨分类器重新扫描窗口,获取检测结果.实验结果表明,该文提出的改进算法在目标发生快速运动、遮挡和尺度变化等复杂场景下有较强的鲁棒性.     

基于机器视觉的轴承防尘盖检测算法

为实现工业现场对轴承防尘盖的自动检测,对机器视觉检测的关键技术进行了研究,提出一套基于机器视觉对轴承防尘盖的检测,针对轴承图像的特点,采用了一种最小二乘法进行圆拟合圆检测算法,完成了轴承防尘盖区域的提取,对连通区域的特征进行了分析,再进行量化处理和判断.实验结果表明,该方法实时性好,准确率高,可以满足工业检测需求.     

Only connect: teaching, technology and telesis

Abstract This paper describes an approach to the design of interactive multimedia materials being developed in a European Community project. The developmental process is seen as a dialogue between technologists and teachers. This dialogue is often problematic because of the differences in training, experience and culture between them. Conditions needed for fruitful dialogue are described and the generic model for learning design used in the project is explained.     

European Community policy and the market

Abstract This paper starts with some reflections on the policy considerations and priorities which are shaping European Commission (EC) research programmes. Then it attempts to position the current projects which seek to capitalise on information and communications technologies for learning in relation to these priorities and the apparent realities of the marketplace. It concludes that while there are grounds to be optimistic about the contribution EC programmes can make to the efficiency and standard of education and training, they are still too technology driven.     

一种自适应子融合集成多分类器方法

融合集成方法已经广泛应用在模式识别领域,然而一些基分类器实时性能稳定性较差,导致多分类器融合性能差,针对上述问题本文提出了一种新的基于多分类器的子融合集成分类器系统。该方法考虑在度量层融合层次之上通过对各类基多分类器进行动态选择,票数最多的类别作为融合系统中对特征向量识别的类别,构成一种新的自适应子融合集成分类器方法。实验表明,该方法比传统的分类器以及分类融合方法识别准确率明显更高,具有更好的鲁棒性。     

Avoiding semantic and temporal gaps in developing software intensive systems

Development of software intensive systems (systems) in practice involves a series of self-contained phases for the lifecycle of a system. Semantic and temporal gaps, which occur among phases and among developer disciplines within and across phases, hinder the ongoing development of a system because of the interdependencies among phases and among disciplines. Such gaps are magnified among systems that are developed at different times by different development teams, which may limit reuse of artifacts of systems development and interoperability among the systems. This article discusses such gaps and a systems development process for avoiding them.     

Designing economic np control charts: A programmed simulation approach

This paper presents control charts models and the necessary simulation software for the location of economic values of the control parameters. The simulation program is written in FORTRAN, requires only 10K of main storage, and can run on most mini and micro computers. Two models are presented - one describes the process when it is operating at full capacity and the other when the process is operating under capacity. The models allow the product quality to deteriorate to a further level before an existing out-of-control state is detected, and they can also be used in situations where no prior knowledge exists of the out-of-control causes and the resulting proportion defectives.     

The development of robot art

Going through a few examples of robot artists who are recognized worldwide, we try to analyze the deepest meaning of what is called “robot art” and the related art field definition. We also try to highlight its well-marked borders, such as kinetic sculptures, kinetic art, cyber art, and cyberpunk. A brief excursion into the importance of the context, the message, and its semiotics is also provided, case by case, together with a few hints on the history of this discipline in the light of an artistic perspective. Therefore, the aim of this article is to try to summarize the main characteristics that might classify robot art as a unique and innovative discipline, and to track down some of the principles by which a robotic artifact can or cannot be considered an art piece in terms of social, cultural, and strictly artistic interest. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Explanation and prediction: an architecture for default and abductive reasoning

Although there are many arguments that logic is an appropriate tool for artificial intelligence, there has been a perceived problem with the monotonicity of classical logic. This paper elaborates on the idea that reasoning should be viewed as theory formation where logic tells us the consequences of our assumptions. The two activities of predicting what is expected to be true and explaining observations are considered in a simple theory formation framework. Properties of each activity are discussed, along with a number of proposals as to what should be predicted or accepted as reasonable explanations. An architecture is proposed to combine explanation and prediction into one coherent framework. Algorithms used to implement the system as well as examples from a running implementation are given.     

Three Process Perspectives: Organizations, Teams, and People

This paper provides the author's personal views and perspectives on software process improvement. Starting with his first work on technology assessment in IBM over 20 years ago, Watts Humphrey describes the process improvement work he has been directly involved in. This includes the development of the early process assessment methods, the original design of the CMM, and the introduction of the Personal Software Process (PSP)^SM and Team Software Process (TSP){^SM}. In addition to describing the original motivation for this work, the author also reviews many of the problems he and his associates encountered and why they solved them the way they did. He also comments on the outstanding issues and likely directions for future work. Finally, this work has built on the experiences and contributions of many people. Mr. Humphrey only describes work that he was personally involved in and he names many of the key contributors. However, so many people have been involved in this work that a full list of the important participants would be impractical.     

基于复小波噪声方差显著修正的SAR图像去噪

提出了一种基于复小波域统计建模与噪声方差估计显著性修正相结合的合成孔径雷达(Synthetic Aperture Radar,SAR)图像斑点噪声滤波方法。该方法首先通过对数变换将乘性噪声模型转化为加性噪声模型,然后对变换后的图像进行双树复小波变换(Dualtree Complex Wavelet Transform,DCWT),并对复数小波系数的统计分布进行建模。在此先验分布的基础上,通过运用贝叶斯估计方法从含噪系数中恢复原始系数,达到滤除噪声的目的。实验结果表明该方法在去除噪声的同时保留了图像的细节信息,取得了很好的降噪效果。     

How do children do mathematics with LOGO?

Abstract  This paper considers some results of a study designed to investigate the kinds of mathematical activity undertaken by children (aged between 8 and 11) as they learned to program in LOGO. A model of learning modes is proposed, which attempts to describe the ways in which children used and acquired understanding of the programming/mathematical concepts involved. The remainder of the paper is concerned with discussing the validity and limitations of the model, and its implications for further research and curriculum development.