subject:(Visual servo)

NSYSU

1. Jiang, Bor-tung. Visual Servo of Underwater Pipeline Following.

Degree: Master, Mechanical and Electro-Mechanical Engineering, 2008, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0714108-125934

► This thesis describes a vision-based method for ROVâs underwater pipeline recognition task. In this research, we tried to overcome the poor image quality of the… (more)

Subjects/Keywords: ROV; underwater pipeline; visual servo

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Jiang, B. (2008). Visual Servo of Underwater Pipeline Following. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0714108-125934

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Jiang, Bor-tung. “Visual Servo of Underwater Pipeline Following.” 2008. Thesis, NSYSU. Accessed March 07, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0714108-125934.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Jiang, Bor-tung. “Visual Servo of Underwater Pipeline Following.” 2008. Web. 07 Mar 2021.

Vancouver:

Jiang B. Visual Servo of Underwater Pipeline Following. [Internet] [Thesis]. NSYSU; 2008. [cited 2021 Mar 07]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0714108-125934.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Jiang B. Visual Servo of Underwater Pipeline Following. [Thesis]. NSYSU; 2008. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0714108-125934

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

NSYSU

2. Lu, Tsan-Chu. Uncalibrated Visual Servo for the Remotely Operated Vehicle.

Degree: Master, Mechanical and Electro-Mechanical Engineering, 2010, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0716110-134851

► In this thesis, an image-based uncalibrated visual servo is proposed for image tracking tasks in highly disturbed environment, such as a remotely operated vehicle performing… (more)

Subjects/Keywords: uncalibrated visual servo; adaptive control; SIFT

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APA (6^th Edition):

Lu, T. (2010). Uncalibrated Visual Servo for the Remotely Operated Vehicle. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0716110-134851

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Lu, Tsan-Chu. “Uncalibrated Visual Servo for the Remotely Operated Vehicle.” 2010. Thesis, NSYSU. Accessed March 07, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0716110-134851.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Lu, Tsan-Chu. “Uncalibrated Visual Servo for the Remotely Operated Vehicle.” 2010. Web. 07 Mar 2021.

Vancouver:

Lu T. Uncalibrated Visual Servo for the Remotely Operated Vehicle. [Internet] [Thesis]. NSYSU; 2010. [cited 2021 Mar 07]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0716110-134851.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Lu T. Uncalibrated Visual Servo for the Remotely Operated Vehicle. [Thesis]. NSYSU; 2010. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0716110-134851

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

3. Kikuchi, Davi Yoshinobu. Sistema de controle servo visual de uma câmera pan-tilt com rastreamento de uma região de referência.

Degree: Mestrado, Engenharia de Controle e Automação Mecânica, 2007, University of São Paulo

URL: http://www.teses.usp.br/teses/disponiveis/3/3152/tde-27072007-163810/ ;

►

Uma câmera pan-tilt é capaz de se movimentar em torno de dois eixos de rotação (pan e tilt), permitindo que sua lente possa ser apontada… (more)

▼

Uma câmera pan-tilt é capaz de se movimentar em torno de dois eixos de rotação (pan e tilt), permitindo que sua lente possa ser apontada para um ponto qualquer no espaço. Uma aplicação possível dessa câmera é mantê-la apontada para um determinado alvo em movimento, através de posicionamentos angulares pan e tilt adequados. Este trabalho apresenta uma técnica de controle servo visual, em que, inicialmente, as imagens capturadas pela câmera são utilizadas para determinar a posição do alvo. Em seguida, calculam-se as rotações necessárias para manter a projeção do alvo no centro da imagem, em um sistema em tempo real e malha fechada. A técnica de rastreamento visual desenvolvida se baseia em comparação de uma região de referência, utilizando a soma dos quadrados das diferenças (SSD) como critério de correspondência. Sobre essa técnica, é adicionada uma extensão baseada no princípio de estimação incremental e, em seguida, o algoritmo é mais uma vez modificado através do princípio de estimação em multiresolução. Para cada uma das três configurações, são realizados testes para comparar suas performances. O sistema é modelado através do princípio de fluxo óptico e dois controladores são apresentados para realimentar o sistema: um proporcional integral (PI) e um proporcional com estimação de perturbações externas através de um filtro de Kalman (LQG). Ambos são calculados utilizando um critério linear quadrático e os desempenhos deles também são analisados comparativamente.

A pan-tilt camera can move around two rotational axes (pan and tilt), allowing its lens to be pointed to any point in space. A possible application of the camera is to keep it pointed to a certain moving target, through appropriate angular pan-tilt positioning. This work presents a visual servoing technique, which uses first the images captured by the camera to determinate the target position. Then the method calculates the proper rotations to keep the target position in image center, establishing a real-time and closed-loop system. The developed visual tracking technique is based on template region matching, and makes use of the sum of squared differences (SSD) as similarity criterion. An extension based on incremental estimation principle is added to the technique, and then the algorithm is modified again by multiresolution estimation method. Experimental results allow a performance comparison between the three configurations. The system is modeled through optical flow principle and this work presents two controllers to accomplish the system feedback: a proportional integral (PI) and a proportional with external disturbances estimation by a Kalman filter (LQG). Both are determined using a linear quadratic method and their performances are also analyzed comparatively.

Advisors/Committee Members: Moscato, Lucas Antonio.

Subjects/Keywords: Controle linear quadrático; Controle servo visual; Linear quadratic control; Rastreamento visual; Visual servoing; Visual tracking

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Kikuchi, D. Y. (2007). Sistema de controle servo visual de uma câmera pan-tilt com rastreamento de uma região de referência. (Masters Thesis). University of São Paulo. Retrieved from http://www.teses.usp.br/teses/disponiveis/3/3152/tde-27072007-163810/ ;

Chicago Manual of Style (16^th Edition):

Kikuchi, Davi Yoshinobu. “Sistema de controle servo visual de uma câmera pan-tilt com rastreamento de uma região de referência.” 2007. Masters Thesis, University of São Paulo. Accessed March 07, 2021. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-27072007-163810/ ;.

MLA Handbook (7^th Edition):

Kikuchi, Davi Yoshinobu. “Sistema de controle servo visual de uma câmera pan-tilt com rastreamento de uma região de referência.” 2007. Web. 07 Mar 2021.

Vancouver:

Kikuchi DY. Sistema de controle servo visual de uma câmera pan-tilt com rastreamento de uma região de referência. [Internet] [Masters thesis]. University of São Paulo; 2007. [cited 2021 Mar 07]. Available from: http://www.teses.usp.br/teses/disponiveis/3/3152/tde-27072007-163810/ ;.

Council of Science Editors:

Kikuchi DY. Sistema de controle servo visual de uma câmera pan-tilt com rastreamento de uma região de referência. [Masters Thesis]. University of São Paulo; 2007. Available from: http://www.teses.usp.br/teses/disponiveis/3/3152/tde-27072007-163810/ ;

Georgia Tech

4. Mehmood, Areeb. Balancing and grasping from visual feedback for an unstable wheeled humanoid.

Degree: MS, Mechanical Engineering, 2019, Georgia Tech

URL: http://hdl.handle.net/1853/62289

► Krang is a Wheeled Inverted Pendulum Humanoid, designed to accomplish strenuous tasks quicker, and with more strength, than the average human being. Weighing over 300lbs,… (more)

Subjects/Keywords: Visual feedback; Localization; Balancing; Humanoid; Robot; Visual-servo; Grasping

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Mehmood, A. (2019). Balancing and grasping from visual feedback for an unstable wheeled humanoid. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62289

Chicago Manual of Style (16^th Edition):

Mehmood, Areeb. “Balancing and grasping from visual feedback for an unstable wheeled humanoid.” 2019. Masters Thesis, Georgia Tech. Accessed March 07, 2021. http://hdl.handle.net/1853/62289.

MLA Handbook (7^th Edition):

Mehmood, Areeb. “Balancing and grasping from visual feedback for an unstable wheeled humanoid.” 2019. Web. 07 Mar 2021.

Vancouver:

Mehmood A. Balancing and grasping from visual feedback for an unstable wheeled humanoid. [Internet] [Masters thesis]. Georgia Tech; 2019. [cited 2021 Mar 07]. Available from: http://hdl.handle.net/1853/62289.

Council of Science Editors:

Mehmood A. Balancing and grasping from visual feedback for an unstable wheeled humanoid. [Masters Thesis]. Georgia Tech; 2019. Available from: http://hdl.handle.net/1853/62289

NSYSU

5. Lin, Chia-wei. Application of Mean Shift to Real-Time Visual Tracking for a Deformable Object.

Degree: Master, Mechanical and Electro-Mechanical Engineering, 2009, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0717109-174103

► This thesis presents a robust real-time active tracking system with a pan-tilt camera. The proposed visual servo framework is able to track a deformed object… (more)

Subjects/Keywords: deformed object; visual servo; mean shift; real-time

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APA (6^th Edition):

Lin, C. (2009). Application of Mean Shift to Real-Time Visual Tracking for a Deformable Object. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0717109-174103

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Lin, Chia-wei. “Application of Mean Shift to Real-Time Visual Tracking for a Deformable Object.” 2009. Thesis, NSYSU. Accessed March 07, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0717109-174103.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Lin, Chia-wei. “Application of Mean Shift to Real-Time Visual Tracking for a Deformable Object.” 2009. Web. 07 Mar 2021.

Vancouver:

Lin C. Application of Mean Shift to Real-Time Visual Tracking for a Deformable Object. [Internet] [Thesis]. NSYSU; 2009. [cited 2021 Mar 07]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0717109-174103.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Lin C. Application of Mean Shift to Real-Time Visual Tracking for a Deformable Object. [Thesis]. NSYSU; 2009. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0717109-174103

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

NSYSU

6. Tsai, Yi-lun. Optical Flow in the Hexagonal Image Framework.

Degree: Master, Mechanical and Electro-Mechanical Engineering, 2009, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0902109-170432

► The optical flow has been one of the common approaches for image tracking. Its advantage is that no prior knowledge for image features is required.… (more)

Subjects/Keywords: Hexagonal image; Compound eye; Optical flow; Visual servo

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Tsai, Y. (2009). Optical Flow in the Hexagonal Image Framework. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0902109-170432

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Tsai, Yi-lun. “Optical Flow in the Hexagonal Image Framework.” 2009. Thesis, NSYSU. Accessed March 07, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0902109-170432.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Tsai, Yi-lun. “Optical Flow in the Hexagonal Image Framework.” 2009. Web. 07 Mar 2021.

Vancouver:

Tsai Y. Optical Flow in the Hexagonal Image Framework. [Internet] [Thesis]. NSYSU; 2009. [cited 2021 Mar 07]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0902109-170432.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Tsai Y. Optical Flow in the Hexagonal Image Framework. [Thesis]. NSYSU; 2009. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0902109-170432

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

NSYSU

7. Chou, Chin-Chuan. Visual Servo Control and Path Planning of Ball and Plate System.

Degree: Master, Mechanical and Electro-Mechanical Engineering, 2009, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0902109-183744

► This thesis presents a visual servo control scheme for a ball-and-plate system with a maze. The maze built on the plate forms obstacles for the… (more)

Subjects/Keywords: ball and plate system; fuzzy control; visual servo control; path planning

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APA (6^th Edition):

Chou, C. (2009). Visual Servo Control and Path Planning of Ball and Plate System. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0902109-183744

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Chou, Chin-Chuan. “Visual Servo Control and Path Planning of Ball and Plate System.” 2009. Thesis, NSYSU. Accessed March 07, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0902109-183744.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Chou, Chin-Chuan. “Visual Servo Control and Path Planning of Ball and Plate System.” 2009. Web. 07 Mar 2021.

Vancouver:

Chou C. Visual Servo Control and Path Planning of Ball and Plate System. [Internet] [Thesis]. NSYSU; 2009. [cited 2021 Mar 07]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0902109-183744.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Chou C. Visual Servo Control and Path Planning of Ball and Plate System. [Thesis]. NSYSU; 2009. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0902109-183744

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

8. Tao, Zui. Visual Servoing for a Non-Reactive Industrial Manipulator.

Degree: MS, Electrical Engineering, 2015, Vanderbilt University

URL: http://hdl.handle.net/1803/13653

► This paper describes an inexpensive stereo visual servoing system for a commercial 6-axis industrial robot manipulator arm and its standard industrial controller. Visual servoing is… (more)

Subjects/Keywords: visual servo control; industrial manipulator; stereo webcams; kinematics

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APA (6^th Edition):

Tao, Z. (2015). Visual Servoing for a Non-Reactive Industrial Manipulator. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13653

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Tao, Zui. “Visual Servoing for a Non-Reactive Industrial Manipulator.” 2015. Thesis, Vanderbilt University. Accessed March 07, 2021. http://hdl.handle.net/1803/13653.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Tao, Zui. “Visual Servoing for a Non-Reactive Industrial Manipulator.” 2015. Web. 07 Mar 2021.

Vancouver:

Tao Z. Visual Servoing for a Non-Reactive Industrial Manipulator. [Internet] [Thesis]. Vanderbilt University; 2015. [cited 2021 Mar 07]. Available from: http://hdl.handle.net/1803/13653.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Tao Z. Visual Servoing for a Non-Reactive Industrial Manipulator. [Thesis]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/13653

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Toronto

9. Leung, Clement. Robotic Single Cell Manipulation for Biological and Clinical Applications.

Degree: 2011, University of Toronto

URL: http://hdl.handle.net/1807/31325

►

Single cell manipulation techniques have important applications in laboratory and clinical procedures such as intracytoplasmic sperm injection (ICSI) and polar body biopsy for preimplantation genetic… (more)

Subjects/Keywords: robotics; micromanipulation; automation; cellular imaging; computer vision microscopy; visual servo; 0541; 0548; 0544

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Leung, C. (2011). Robotic Single Cell Manipulation for Biological and Clinical Applications. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/31325

Chicago Manual of Style (16^th Edition):

Leung, Clement. “Robotic Single Cell Manipulation for Biological and Clinical Applications.” 2011. Masters Thesis, University of Toronto. Accessed March 07, 2021. http://hdl.handle.net/1807/31325.

MLA Handbook (7^th Edition):

Leung, Clement. “Robotic Single Cell Manipulation for Biological and Clinical Applications.” 2011. Web. 07 Mar 2021.

Vancouver:

Leung C. Robotic Single Cell Manipulation for Biological and Clinical Applications. [Internet] [Masters thesis]. University of Toronto; 2011. [cited 2021 Mar 07]. Available from: http://hdl.handle.net/1807/31325.

Council of Science Editors:

Leung C. Robotic Single Cell Manipulation for Biological and Clinical Applications. [Masters Thesis]. University of Toronto; 2011. Available from: http://hdl.handle.net/1807/31325

University of Toronto

10. Sidhu, Simarjot Singh. Automated Blastomere Segmentation for Visual Servo on Early-stage Embryo.

Degree: 2019, University of Toronto

URL: http://hdl.handle.net/1807/98360

►

Automation of single biological cell surgery requires the location of organelles and cell structures to be determined to permit automated processing carried out in the… (more)

Subjects/Keywords: blastomere; early stage embryo; microrobotics; segmentation; single cell surgery; visual servo; 0548

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Sidhu, S. S. (2019). Automated Blastomere Segmentation for Visual Servo on Early-stage Embryo. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/98360

Chicago Manual of Style (16^th Edition):

Sidhu, Simarjot Singh. “Automated Blastomere Segmentation for Visual Servo on Early-stage Embryo.” 2019. Masters Thesis, University of Toronto. Accessed March 07, 2021. http://hdl.handle.net/1807/98360.

MLA Handbook (7^th Edition):

Sidhu, Simarjot Singh. “Automated Blastomere Segmentation for Visual Servo on Early-stage Embryo.” 2019. Web. 07 Mar 2021.

Vancouver:

Sidhu SS. Automated Blastomere Segmentation for Visual Servo on Early-stage Embryo. [Internet] [Masters thesis]. University of Toronto; 2019. [cited 2021 Mar 07]. Available from: http://hdl.handle.net/1807/98360.

Council of Science Editors:

Sidhu SS. Automated Blastomere Segmentation for Visual Servo on Early-stage Embryo. [Masters Thesis]. University of Toronto; 2019. Available from: http://hdl.handle.net/1807/98360

11. MOK HENG CHONG. Visual servoing.

Degree: 2004, National University of Singapore

URL: http://scholarbank.nus.edu.sg/handle/10635/13615

Subjects/Keywords: Vision; Visual; Servo; Servoing; Tracking; Control

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APA (6^th Edition):

CHONG, M. H. (2004). Visual servoing. (Thesis). National University of Singapore. Retrieved from http://scholarbank.nus.edu.sg/handle/10635/13615

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

CHONG, MOK HENG. “Visual servoing.” 2004. Thesis, National University of Singapore. Accessed March 07, 2021. http://scholarbank.nus.edu.sg/handle/10635/13615.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

CHONG, MOK HENG. “Visual servoing.” 2004. Web. 07 Mar 2021.

Vancouver:

CHONG MH. Visual servoing. [Internet] [Thesis]. National University of Singapore; 2004. [cited 2021 Mar 07]. Available from: http://scholarbank.nus.edu.sg/handle/10635/13615.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

CHONG MH. Visual servoing. [Thesis]. National University of Singapore; 2004. Available from: http://scholarbank.nus.edu.sg/handle/10635/13615

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

12. Grassi Júnior, Valdir. Sistema de visão omnidirecional aplicado no controle de robôs móveis.

Degree: Mestrado, Engenharia Mecânica, 2002, University of São Paulo

URL: http://www.teses.usp.br/teses/disponiveis/3/3132/tde-01082002-150320/ ;

►

Sistemas de visão omnidirecional produzem imagens de 360º do ambiente podendo ser utilizados em navegação, tele-operação e controle servo visual de robôs. Este tipo de… (more)

▼

Sistemas de visão omnidirecional produzem imagens de 360º do ambiente podendo ser utilizados em navegação, tele-operação e controle servo visual de robôs. Este tipo de sistema dispensa o movimento da câmera para determinada direção de atenção mas requer processamento não convencional da imagem, uma vez que a imagem adquirida se encontra mapeada em coordenadas polares não lineares. Uma maneira efetiva de se obter uma imagem em um sistema omnidirecional é com o uso combinado de lentes e espelhos. Várias formas de espelhos convexos podem ser utilizadas montando-se uma câmera com o seu eixo óptico alinhado com o centro do espelho. Dentre as formas usadas, tem-se os cônicos, parabólicos, hiperbólicos e esféricos. Neste trabalho foi implementado um sistema de visão omnidirecional utilizando um espelho hiperbólico. Este sistema de visão desenvolvido é embarcado em um robô móvel e aplicado em uma tarefa de controle. A tarefa de controle de interesse neste trabalho é a de fazer com que o robô mantenha uma distância constante de um determinado alvo móvel. Esta tarefa é realizada com a realimentação em tempo real de informações visuais do alvo obtidas pelo sistema de visão para controle do robô utilizando uma abordagem de controle servo visual.

Omnidirectional vision systems can get images with a 360-degree of field of view. This type of system is very well suited for tasks such as robotic navigation, tele-operation and visual servoing. Such systems do not require the movement of the camera to the direction of attention of the robot. On the other hand, it requires a non-conventional image processing as the image captured by this vision system is mapped on a non-linear polar coordinate system. One effective way to obtain an image in an omnidirectional system is through the use of lenses and mirrors. Several different shapes of convex mirrors can be used, mounting the center of the mirror aligned with the camera optical axis. The most commonly used mirror shapes are conic, parabolic, hyperbolic and spherical. In this work a hyperbolical mirror was used to build an omnidirectional vision system. This system was mounted on a mobile robot and used in a control task. The task of interest here is the tracking in real time of a moving target keeping the distance between the robot and the target constant. This task is accomplished with data acquisition from the omnidirectional vision system, that is used as feedback to control the mobile robot in a visual servo approach.

Advisors/Committee Members: Okamoto Junior, Jun.

Subjects/Keywords: controle servo visual; omnidirectional vision; rastreamento visual; visão omnidirecional; visual servo control; visual tracking

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Grassi Júnior, V. (2002). Sistema de visão omnidirecional aplicado no controle de robôs móveis. (Masters Thesis). University of São Paulo. Retrieved from http://www.teses.usp.br/teses/disponiveis/3/3132/tde-01082002-150320/ ;

Chicago Manual of Style (16^th Edition):

Grassi Júnior, Valdir. “Sistema de visão omnidirecional aplicado no controle de robôs móveis.” 2002. Masters Thesis, University of São Paulo. Accessed March 07, 2021. http://www.teses.usp.br/teses/disponiveis/3/3132/tde-01082002-150320/ ;.

MLA Handbook (7^th Edition):

Grassi Júnior, Valdir. “Sistema de visão omnidirecional aplicado no controle de robôs móveis.” 2002. Web. 07 Mar 2021.

Vancouver:

Grassi Júnior V. Sistema de visão omnidirecional aplicado no controle de robôs móveis. [Internet] [Masters thesis]. University of São Paulo; 2002. [cited 2021 Mar 07]. Available from: http://www.teses.usp.br/teses/disponiveis/3/3132/tde-01082002-150320/ ;.

Council of Science Editors:

Grassi Júnior V. Sistema de visão omnidirecional aplicado no controle de robôs móveis. [Masters Thesis]. University of São Paulo; 2002. Available from: http://www.teses.usp.br/teses/disponiveis/3/3132/tde-01082002-150320/ ;

NSYSU

13. Ho, Kun-Shen. Image Tracking Using Optical Flow Approach.

Degree: Master, Mechanical Engineering, 2001, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0627101-125159

► Optical flow, caused by relative motion of the object and the viewer, is the distribution of apparent velocities of brightness pattern in an image. The… (more)

Subjects/Keywords: 3D Image tracking; Optical flow; Visual servo

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Ho, K. (2001). Image Tracking Using Optical Flow Approach. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0627101-125159

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ho, Kun-Shen. “Image Tracking Using Optical Flow Approach.” 2001. Thesis, NSYSU. Accessed March 07, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0627101-125159.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ho, Kun-Shen. “Image Tracking Using Optical Flow Approach.” 2001. Web. 07 Mar 2021.

Vancouver:

Ho K. Image Tracking Using Optical Flow Approach. [Internet] [Thesis]. NSYSU; 2001. [cited 2021 Mar 07]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0627101-125159.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ho K. Image Tracking Using Optical Flow Approach. [Thesis]. NSYSU; 2001. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0627101-125159

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

NSYSU

14. Ho, Chung-Hsing. A Servo Tracking System for Translating Images.

Degree: Master, Mechanical and Electro-Mechanical Engineering, 2003, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0626103-134751

► The brightness variance, caused by relative velocity of the camera and environment in a sequence of images, is called optical flow. The advantage of the… (more)

Subjects/Keywords: Visual servo; Image pyramid; Sliding-mode control; Optical flow

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Ho, C. (2003). A Servo Tracking System for Translating Images. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0626103-134751

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ho, Chung-Hsing. “A Servo Tracking System for Translating Images.” 2003. Thesis, NSYSU. Accessed March 07, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0626103-134751.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ho, Chung-Hsing. “A Servo Tracking System for Translating Images.” 2003. Web. 07 Mar 2021.

Vancouver:

Ho C. A Servo Tracking System for Translating Images. [Internet] [Thesis]. NSYSU; 2003. [cited 2021 Mar 07]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0626103-134751.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ho C. A Servo Tracking System for Translating Images. [Thesis]. NSYSU; 2003. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0626103-134751

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

NSYSU

15. Lin, Ssu-yin. Servo Tracking with Divergent Trinocular Cameras.

Degree: Master, Mechanical and Electro-Mechanical Engineering, 2006, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0713106-112234

► The study and application of machine vision in early years mostly focus on a single camera. However, the trend of research on multiple cameras has… (more)

Subjects/Keywords: Compound-like eye; Trinocular cameras; Visual servo

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Lin, S. (2006). Servo Tracking with Divergent Trinocular Cameras. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0713106-112234

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Lin, Ssu-yin. “Servo Tracking with Divergent Trinocular Cameras.” 2006. Thesis, NSYSU. Accessed March 07, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0713106-112234.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Lin, Ssu-yin. “Servo Tracking with Divergent Trinocular Cameras.” 2006. Web. 07 Mar 2021.

Vancouver:

Lin S. Servo Tracking with Divergent Trinocular Cameras. [Internet] [Thesis]. NSYSU; 2006. [cited 2021 Mar 07]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0713106-112234.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Lin S. Servo Tracking with Divergent Trinocular Cameras. [Thesis]. NSYSU; 2006. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0713106-112234

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

NSYSU

16. Chung, Wen-Feng. Internet-Based Remote Visual Monitoring Systems.

Degree: Master, Mechanical and Electro-Mechanical Engineering, 2002, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0708102-094953

► Abstract According to the development of industry, conventional surveillance system has not already satisfied by the demand today. The combination application of the CCD camera… (more)

Subjects/Keywords: image servo module; Internet-based remote visual monitoring systems

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Chung, W. (2002). Internet-Based Remote Visual Monitoring Systems. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0708102-094953

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Chung, Wen-Feng. “Internet-Based Remote Visual Monitoring Systems.” 2002. Thesis, NSYSU. Accessed March 07, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0708102-094953.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Chung, Wen-Feng. “Internet-Based Remote Visual Monitoring Systems.” 2002. Web. 07 Mar 2021.

Vancouver:

Chung W. Internet-Based Remote Visual Monitoring Systems. [Internet] [Thesis]. NSYSU; 2002. [cited 2021 Mar 07]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0708102-094953.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Chung W. Internet-Based Remote Visual Monitoring Systems. [Thesis]. NSYSU; 2002. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0708102-094953

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

17. Allan Aminadab André Freire Soares. Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador.

Degree: 2005, Universidade Federal do Rio Grande do Norte

URL: http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=612

►

Este trabalho propõe um esquema de controle cinemático, utilizando realimentação visual para um braço robótico com cinco graus de liberdade. Foi desenvolvido um método que… (more)

▼

Este trabalho propõe um esquema de controle cinemático, utilizando realimentação visual para um braço robótico com cinco graus de liberdade. Foi desenvolvido um método que utiliza técnicas de visão computacional, para a determinação da posição e orientação cartesiana tridimensional (pose) do braço robótico a partir da imagem do mesmo fornecida por uma câmera. Um rótulo triangular colorido é disposto sobre a garra do manipulador robótico e regras heurísticas eficientes são utilizadas para obter os vértices desse rótulo na imagem. Métodos numéricos são usados para recuperação da pose da garra a partir desses vértices. Um esquema de calibração de cores fundamentado no algoritmo K-means foi implementado de modo a garantir a robustez do sistema de visão na presença de variações na iluminação. Os parâmetros extrínsecos da câmera são calibrados usando-se quatro pontos coplanares extraídos da imagem, cujas posições no plano cartesiano em relação a um referencial fixo são conhecidas. Para duas poses distintas da garra, inicial e final, adquiridas através da imagem, interpola-se uma trajetória de referência em espaço cartesiano. O esquema de controle proposto possui como sinal de erro a diferença entre a pose de referência e a pose atual da garra. Após a aplicação de ganhos, o sinal de erro é mapeado em incrementos de junta utilizando-se a pseudoinversa do jacobiano do manipulador. Esses incrementos são aplicados às juntas do manipulador, deslocando a garra para a pose de referência

This work proposes a kinematic control scheme, using visual feedback for a robot arm with five degrees of freedom. Using computational vision techniques, a method was developed to determine the cartesian 3d position and orientation of the robot arm (pose) using a robot image obtained through a camera. A colored triangular label is disposed on the robot manipulator tool and efficient heuristic rules are used to obtain the vertexes of that label in the image. The tool pose is obtained from those vertexes through numerical methods. A color calibration scheme based in the K-means algorithm was implemented to guarantee the robustness of the vision system in the presence of light variations. The extrinsic camera parameters are computed from the image of four coplanar points whose cartesian 3d coordinates, related to a fixed frame, are known. Two distinct poses of the tool, initial and final, obtained from image, are interpolated to generate a desired trajectory in cartesian space. The error signal in the proposed control scheme consists in the difference between the desired tool pose and the actual tool pose. Gains are applied at the error signal and the signal resulting is mapped in joint incrementals using the pseudoinverse of the manipulator jacobian matrix. These incrementals are applied to the manipulator joints moving the tool to the desired pose

Advisors/Committee Members: Luiz Marcos Garcia Gonçalves, Adelardo Adelino Dantas de Medeiros, Pablo Javier Alsina, Jés de Jesus Fiais Cerqueira.

Subjects/Keywords: Controle Mão-Olho; ENGENHARIA ELETRICA; Braço Robótico; Servo Visão; Robot Arm; Visual-Servoing; Hand-Eye Control

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Soares, A. A. A. F. (2005). Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador. (Thesis). Universidade Federal do Rio Grande do Norte. Retrieved from http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=612

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Soares, Allan Aminadab André Freire. “Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador.” 2005. Thesis, Universidade Federal do Rio Grande do Norte. Accessed March 07, 2021. http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=612.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Soares, Allan Aminadab André Freire. “Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador.” 2005. Web. 07 Mar 2021.

Vancouver:

Soares AAAF. Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador. [Internet] [Thesis]. Universidade Federal do Rio Grande do Norte; 2005. [cited 2021 Mar 07]. Available from: http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=612.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Soares AAAF. Desenvolvimento de esquema de controle com realimentação visual para um robô manipulador. [Thesis]. Universidade Federal do Rio Grande do Norte; 2005. Available from: http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=612

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Universidade de Brasília

18. Mariana Costa Bernardes. Controle servo-visual para aproximação de portas por robôs móveis equipados com duas câmeras.

Degree: 2009, Universidade de Brasília

URL: http://bdtd.bce.unb.br/tedesimplificado/tde_busca/arquivo.php?codArquivo=5146

►

Classicamente, o controle servo visual é aplicado em abordagens determinísticas que fazem uso direto dos parâmetros extraídos da imagem ou que os utilizam para determinar… (more)

▼

Classicamente, o controle servo visual é aplicado em abordagens determinísticas que fazem uso direto dos parâmetros extraídos da imagem ou que os utilizam para determinar a posição do robô no plano cartesiano e com isso calcular a ação de controle. Tais métodos, no entanto, são bastante susceptíveis a ruídos de medição e pouco tolerantes a falhas como obstrução ou perda do rastreamento das características visuais. Estes problemas poderiam ser minimizados com uma abordagem estocástica, fazendo-se uso do modelo de evolução das características visuais e de informação sensorial adicional para estimar os valores de tais parâmetros. Este trabalho busca obter uma abordagem de controle servo visual baseado em retas combinado a um processo simultâneo de reconstrução tridimensional por Filtro de Kalman Estendido. Propõe-se então um controlador para robôs móveis omnidirecionais, que utiliza um sistema binocular de câmeras como principal fonte de informação, associado a medidas de odometria fornecidas pelo robô para estimar o modelo das retas no espaço 3D. As estimativas obtidas são utilizadas no cálculo da ação de controle servo visual e com isso busca-se atenuar os problemas apresentados acima, presentes nas abordagens usuais. O método proposto é validado sobre um robô móvel omnidirecional numa tarefa de aproximação de portas e seu desempenho é comparado ao de um controlador cujas características são extraídas diretamente das imagens.

Classically, visual servoing is applied in deterministic approaches that use parameters extracted directly from images or that use these parameters to calculate the robots position in cartesian plane to define control action. However, these methods are very sensitive to measurement noise and not tolerant to fail situations like lost of tracking or obstruction of visual features. Such problems could be minimized with a stochastic approach, using the evolution model of image features and additional sensor information to estimate the parameters. This work purposes a line based visual servoing approach combined with a simultaneous tridimensional reconstruction process with Extended Kalman Filter. We propose a controller for omnidirectional mobile robots that use a binocular camera system as the main information source, combined with odometry measurements provided by the robot to estimate the 3D line model. The control signal is calculated with the obtained estimates in order to attenuate the problems presented above, observed in usual visual servoing approaches. The proposed method is evaluated on an omnidirectional mobile robot in a docking task and its performance is compared to a controller whose visual features are extracted directly from images.

Advisors/Committee Members: João Yoshiyuki Ishihara, Geraldo Figueiredo da Silveira Filho, Geovany Araujo Borges.

Subjects/Keywords: estimação de retas tridimensionais; robótica móvel; controle servo-visual; visão binocular; AUTOMACAO ELETRONICA DE PROCESSOS ELETRICOS E INDUSTRIAIS

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Bernardes, M. C. (2009). Controle servo-visual para aproximação de portas por robôs móveis equipados com duas câmeras. (Thesis). Universidade de Brasília. Retrieved from http://bdtd.bce.unb.br/tedesimplificado/tde_busca/arquivo.php?codArquivo=5146

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Bernardes, Mariana Costa. “Controle servo-visual para aproximação de portas por robôs móveis equipados com duas câmeras.” 2009. Thesis, Universidade de Brasília. Accessed March 07, 2021. http://bdtd.bce.unb.br/tedesimplificado/tde_busca/arquivo.php?codArquivo=5146.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Bernardes, Mariana Costa. “Controle servo-visual para aproximação de portas por robôs móveis equipados com duas câmeras.” 2009. Web. 07 Mar 2021.

Vancouver:

Bernardes MC. Controle servo-visual para aproximação de portas por robôs móveis equipados com duas câmeras. [Internet] [Thesis]. Universidade de Brasília; 2009. [cited 2021 Mar 07]. Available from: http://bdtd.bce.unb.br/tedesimplificado/tde_busca/arquivo.php?codArquivo=5146.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Bernardes MC. Controle servo-visual para aproximação de portas por robôs móveis equipados com duas câmeras. [Thesis]. Universidade de Brasília; 2009. Available from: http://bdtd.bce.unb.br/tedesimplificado/tde_busca/arquivo.php?codArquivo=5146

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

19. Anfranserai Morais Dias. Controle de Manipulador Redundante Utilizando Realimentação Visual.

Degree: 2002, Universidade Federal do Rio Grande do Norte

URL: http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=637

►

No controle convencional de manipuladores robóticos, a trajetória desejada é especificada em espaço cartesiano e mapeada para espaço de juntas através do modelo cinemático inverso… (more)

▼

No controle convencional de manipuladores robóticos, a trajetória desejada é especificada em espaço cartesiano e mapeada para espaço de juntas através do modelo cinemático inverso do manipulador. As novas referências assim geradas são utilizadas para fins de controle dinâmico em espaço de juntas, desde modo a posição da garra é controlada efetivamente em malha aberta e a precisão do controle depende diretamente da precisão do modelo cinemático disponível. Esta dissertação apresenta um novo algoritmo de controle cinemático para braços redundantes baseado em realimentação visual. No sistema proposto, a imagem do robô é captada por uma câmera e processada, para obter a posição e orientação de cada um dos elos do robô. A trajetória do robô é especificada na forma de uma seqüência temporal de imagens de referência do braço robótico. Assim, ambas as poses, a medida e a de referência são especificadas no mesmo espaço de imagem e a sua diferença é utilizada para gerar um erro em espaço cartesiano para propósitos de controle cinemático. O esquema de controle proposto foi aplicado a um manipulador redundante planar de quatro graus de liberdade, resultados experimentais são apresentados

In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references generated by this mapping are utilized for dynamic control in joint space. Thus, the end-effector position is, in fact, controlled indirectly, in open-loop, and the accuracy of grip position control directly depends on the accuracy of the available kinematic model. In this report, a new scheme for redundant manipulator kinematic control, based on visual servoing is proposed. In the proposed system, a robot image acquired through a CCD camera is processed in order to compute the position and orientation of each link of the robot arm. The robot task is specified as a temporal sequence of reference images of the robot arm. Thus, both the measured pose and the reference pose are specified in the same image space, and its difference is utilized to generate a cartesian space error for kinematic control purposes. The proposed control scheme was applied in a four degree-of-freedom planar redundant robot arm, experimental results are shown

Advisors/Committee Members: Adelardo Adelino Dantas de Medeiros, Adrião Duarte Dória Neto, Pablo Javier Alsina.

Subjects/Keywords: Control; Servo-visão; Controle; Realimentação Visual; Manipulador Redundante; ENGENHARIA ELETRICA; Visual Feedback; Redundant Manipulator; Servo-vision

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Dias, A. M. (2002). Controle de Manipulador Redundante Utilizando Realimentação Visual. (Thesis). Universidade Federal do Rio Grande do Norte. Retrieved from http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=637

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Dias, Anfranserai Morais. “Controle de Manipulador Redundante Utilizando Realimentação Visual.” 2002. Thesis, Universidade Federal do Rio Grande do Norte. Accessed March 07, 2021. http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=637.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Dias, Anfranserai Morais. “Controle de Manipulador Redundante Utilizando Realimentação Visual.” 2002. Web. 07 Mar 2021.

Vancouver:

Dias AM. Controle de Manipulador Redundante Utilizando Realimentação Visual. [Internet] [Thesis]. Universidade Federal do Rio Grande do Norte; 2002. [cited 2021 Mar 07]. Available from: http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=637.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Dias AM. Controle de Manipulador Redundante Utilizando Realimentação Visual. [Thesis]. Universidade Federal do Rio Grande do Norte; 2002. Available from: http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=637

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Universidade do Rio Grande do Norte

20. Dias, Anfranserai Morais. Controle de Manipulador Redundante Utilizando Realimentação Visual .

Degree: 2002, Universidade do Rio Grande do Norte

URL: http://repositorio.ufrn.br/handle/123456789/15426

► In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references… (more)

Subjects/Keywords: Manipulador Redundante; Realimentação Visual; Controle; Servo-visão; Redundant Manipulator; Visual Feedback; Control; Servo-vision

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Dias, A. M. (2002). Controle de Manipulador Redundante Utilizando Realimentação Visual . (Masters Thesis). Universidade do Rio Grande do Norte. Retrieved from http://repositorio.ufrn.br/handle/123456789/15426

Chicago Manual of Style (16^th Edition):

Dias, Anfranserai Morais. “Controle de Manipulador Redundante Utilizando Realimentação Visual .” 2002. Masters Thesis, Universidade do Rio Grande do Norte. Accessed March 07, 2021. http://repositorio.ufrn.br/handle/123456789/15426.

MLA Handbook (7^th Edition):

Dias, Anfranserai Morais. “Controle de Manipulador Redundante Utilizando Realimentação Visual .” 2002. Web. 07 Mar 2021.

Vancouver:

Dias AM. Controle de Manipulador Redundante Utilizando Realimentação Visual . [Internet] [Masters thesis]. Universidade do Rio Grande do Norte; 2002. [cited 2021 Mar 07]. Available from: http://repositorio.ufrn.br/handle/123456789/15426.

Council of Science Editors:

Dias AM. Controle de Manipulador Redundante Utilizando Realimentação Visual . [Masters Thesis]. Universidade do Rio Grande do Norte; 2002. Available from: http://repositorio.ufrn.br/handle/123456789/15426

Universidade do Rio Grande do Norte

21. Dias, Anfranserai Morais. Controle de Manipulador Redundante Utilizando Realimentação Visual .

Degree: 2002, Universidade do Rio Grande do Norte

URL: http://repositorio.ufrn.br/handle/123456789/15426

► In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references… (more)

Subjects/Keywords: Manipulador Redundante; Realimentação Visual; Controle; Servo-visão; Redundant Manipulator; Visual Feedback; Control; Servo-vision

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Dias, A. M. (2002). Controle de Manipulador Redundante Utilizando Realimentação Visual . (Thesis). Universidade do Rio Grande do Norte. Retrieved from http://repositorio.ufrn.br/handle/123456789/15426

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Dias, Anfranserai Morais. “Controle de Manipulador Redundante Utilizando Realimentação Visual .” 2002. Thesis, Universidade do Rio Grande do Norte. Accessed March 07, 2021. http://repositorio.ufrn.br/handle/123456789/15426.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Dias, Anfranserai Morais. “Controle de Manipulador Redundante Utilizando Realimentação Visual .” 2002. Web. 07 Mar 2021.

Vancouver:

Dias AM. Controle de Manipulador Redundante Utilizando Realimentação Visual . [Internet] [Thesis]. Universidade do Rio Grande do Norte; 2002. [cited 2021 Mar 07]. Available from: http://repositorio.ufrn.br/handle/123456789/15426.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Dias AM. Controle de Manipulador Redundante Utilizando Realimentação Visual . [Thesis]. Universidade do Rio Grande do Norte; 2002. Available from: http://repositorio.ufrn.br/handle/123456789/15426

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

22. Jerebic, Luka. Regulacija sile na linearni hidravlični servo osi.

Degree: 2018, Univerza v Mariboru

URL: https://dk.um.si/IzpisGradiva.php?id=71777 ; https://dk.um.si/Dokument.php?id=130111&dn= ; https://plus.si.cobiss.net/opac7/bib/22268694?lang=sl

►

Magistrsko delo opisuje načrtovanje, izvedbo in delovanje linearne elektro-hidravlične enote za merjenje in regulacijo sile. Takšne sisteme pogosto najdemo v industriji, saj hidravlika omogoča velike… (more)

▼

Magistrsko delo opisuje načrtovanje, izvedbo in delovanje linearne elektro-hidravlične enote za merjenje in regulacijo sile. Takšne sisteme pogosto najdemo v industriji, saj hidravlika omogoča velike sile z relativno majhnimi stroji. Enota je sestavljena iz hidravličnih in električnih komponent. Prve skrbijo za prenos in pretvorbo energije, druge za napajanje, nadzor in varnost. V delu bodo opisane tri možnosti merjenja sile, in sicer: lasten senzor z merilnimi lističi, merilna celica sile in meritev sile s pomočjo razlike tlakov v komorah valja. Na ta način izmerjeno silo nato uporabimo pri povratni zanki regulacije sile. Regulacijo sile potrebujemo kasneje za avtomatizacijo preizkuševališča za določanje dinamične trdnosti materialov. Za krmiljenje komponent je vgrajen krmilnik proizvajalca Beckhoff tipa CX5140. Gre za zmogljiv večjedrni krmilnik, ki poganja operacijski sistem Windows Embedded Standard. Na njem se izvaja program zgrajen v programskem okolju Twincat 3. Za vmesnik človek-stroj smo izdelali še program v Visual Studio C# , ki poleg interakcije izvaja še nekatere druge funkcije.

The master thesis describes the design, implementation and operation of linear electro-hydraulic unit for force measurement and control. Such systems are often found in the industry, mostly because the usage of hydraulics enables production of large forces with relatively small machines. The unit consists of hydraulic and electrical components. First take care of the transmission and conversion of energy, the other for power supply, control and security. Three options for measuring force are described in the section: handmade sensor with strain gauges, load cell and force measurement with pressure difference in cylinder chambers. Measured force information enables implementation of closed loop force control, which is needed for the automation of a test station to determine the dynamic strength of the materials. PLC used to control components in test application is Beckhoff CX5140. It's a powerful multicore controller running Windows Embedded Standard. Control program for test station was written in Twincat 3 and is running on controller. We also developed a program for the human-machine interface, which was written in Visual Studio C# programming language. In addition to interaction, it also implements some other functions.

Advisors/Committee Members: Tič, Vito, Hercog, Darko.

Subjects/Keywords: hidravlična linearna servo os; regulacija sile; koncepti regulacije; večjedrni krmilnik Beckhoff; Visual Basic; C#; hydraulic linear servo axis; force control; control concepts; multi-core controller Beckhoff; Visual Basic; C#; info:eu-repo/classification/udc/629.064.3(043.2)

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Jerebic, L. (2018). Regulacija sile na linearni hidravlični servo osi. (Masters Thesis). Univerza v Mariboru. Retrieved from https://dk.um.si/IzpisGradiva.php?id=71777 ; https://dk.um.si/Dokument.php?id=130111&dn= ; https://plus.si.cobiss.net/opac7/bib/22268694?lang=sl

Chicago Manual of Style (16^th Edition):

Jerebic, Luka. “Regulacija sile na linearni hidravlični servo osi.” 2018. Masters Thesis, Univerza v Mariboru. Accessed March 07, 2021. https://dk.um.si/IzpisGradiva.php?id=71777 ; https://dk.um.si/Dokument.php?id=130111&dn= ; https://plus.si.cobiss.net/opac7/bib/22268694?lang=sl.

MLA Handbook (7^th Edition):

Jerebic, Luka. “Regulacija sile na linearni hidravlični servo osi.” 2018. Web. 07 Mar 2021.

Vancouver:

Jerebic L. Regulacija sile na linearni hidravlični servo osi. [Internet] [Masters thesis]. Univerza v Mariboru; 2018. [cited 2021 Mar 07]. Available from: https://dk.um.si/IzpisGradiva.php?id=71777 ; https://dk.um.si/Dokument.php?id=130111&dn= ; https://plus.si.cobiss.net/opac7/bib/22268694?lang=sl.

Council of Science Editors:

Jerebic L. Regulacija sile na linearni hidravlični servo osi. [Masters Thesis]. Univerza v Mariboru; 2018. Available from: https://dk.um.si/IzpisGradiva.php?id=71777 ; https://dk.um.si/Dokument.php?id=130111&dn= ; https://plus.si.cobiss.net/opac7/bib/22268694?lang=sl

University of Tennessee – Knoxville

23. Anderson, William Patrick. Dynamic In Vivo Skeletal Feature Tracking Via Fluoroscopy Using a Human Gait Model.

Degree: 2017, University of Tennessee – Knoxville

URL: https://trace.tennessee.edu/utk_graddiss/4730

► The Tracking Fluoroscope System II, a mobile robotic fluoroscopy platform, developed and built at the University of Tennessee, Knoxville, presently employs a pattern matching algorithm… (more)

▼ The Tracking Fluoroscope System II, a mobile robotic fluoroscopy platform, developed and built at the University of Tennessee, Knoxville, presently employs a pattern matching algorithm in order to identify and track a marker placed upon a subject’s knee joint of interest. The purpose of this research is to generate a new tracking algorithm based around the human gait cycle for prediction and improving the overall accuracy of joint tracking. This research centers around processing the acquired x-ray images of the desired knee joint obtained during standard clinical operation in order to identify and track directly through the acquired image. Due to the inability for tracking through x-ray imaging during knee crossovers (when both knees enter and align within the x-ray image), a form of prediction is developed around the kinematics of human gait motion. This gait model is designed to consider the natural swinging motion of the knee during walking in order to predict path for the x-ray system to follow when active tracking is not possible. During the later stages of research, modifications were made in the setup and testing in order to accommodate changes put in place upon the research environment. Individually, the processing of the x-ray images and the prediction ability of the gait model have shown decent success. The overall controlling algorithm which manages the tracking system has demonstrated some downfalls, however, which have been attributed to the modified setup of the testing. Therefore, while the final results of this research demonstrated some shortcomings, it has confirmed its usability in a real-time environment with the capability of tracking the complete joint implant, and the human gait model developed provides a means of accounting for the natural swing motion of the knee joints during leg motion. The end results provide evidence for a feasible system should it be possible to test and employ it in the scenario to which it was first intended, i.e. in conjunction with x-ray images.

Subjects/Keywords: Robotics; Medical Robotics; Robotics Controls; Visual Servo Tracking; Human Gait Modeling; Image Processing; Applied Mechanics; Biomechanical Engineering; Electro-Mechanical Systems; Mechanical Engineering; Robotics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Anderson, W. P. (2017). Dynamic In Vivo Skeletal Feature Tracking Via Fluoroscopy Using a Human Gait Model. (Doctoral Dissertation). University of Tennessee – Knoxville. Retrieved from https://trace.tennessee.edu/utk_graddiss/4730

Chicago Manual of Style (16^th Edition):

Anderson, William Patrick. “Dynamic In Vivo Skeletal Feature Tracking Via Fluoroscopy Using a Human Gait Model.” 2017. Doctoral Dissertation, University of Tennessee – Knoxville. Accessed March 07, 2021. https://trace.tennessee.edu/utk_graddiss/4730.

MLA Handbook (7^th Edition):

Anderson, William Patrick. “Dynamic In Vivo Skeletal Feature Tracking Via Fluoroscopy Using a Human Gait Model.” 2017. Web. 07 Mar 2021.

Vancouver:

Anderson WP. Dynamic In Vivo Skeletal Feature Tracking Via Fluoroscopy Using a Human Gait Model. [Internet] [Doctoral dissertation]. University of Tennessee – Knoxville; 2017. [cited 2021 Mar 07]. Available from: https://trace.tennessee.edu/utk_graddiss/4730.

Council of Science Editors:

Anderson WP. Dynamic In Vivo Skeletal Feature Tracking Via Fluoroscopy Using a Human Gait Model. [Doctoral Dissertation]. University of Tennessee – Knoxville; 2017. Available from: https://trace.tennessee.edu/utk_graddiss/4730

Ohio University

24. Wanichnukhrox, Nakrob. Real-time visual servo control of a planar robot.

Degree: MS, Mechanical Engineering (Engineering), 2003, Ohio University

URL: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1175714583

Real-time visual servo control of a planar robot. Advisors/Committee Members: Lew, Jae (Advisor).

Subjects/Keywords: Engineering, Mechanical; Real-Time Control; Visual Control; Servo Control; Planar Robot

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Wanichnukhrox, N. (2003). Real-time visual servo control of a planar robot. (Masters Thesis). Ohio University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1175714583

Chicago Manual of Style (16^th Edition):

Wanichnukhrox, Nakrob. “Real-time visual servo control of a planar robot.” 2003. Masters Thesis, Ohio University. Accessed March 07, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1175714583.

MLA Handbook (7^th Edition):

Wanichnukhrox, Nakrob. “Real-time visual servo control of a planar robot.” 2003. Web. 07 Mar 2021.

Vancouver:

Wanichnukhrox N. Real-time visual servo control of a planar robot. [Internet] [Masters thesis]. Ohio University; 2003. [cited 2021 Mar 07]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1175714583.

Council of Science Editors:

Wanichnukhrox N. Real-time visual servo control of a planar robot. [Masters Thesis]. Ohio University; 2003. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1175714583

York University

25. Dong, Gangqi. Autonomous Visual Servo Robotic Capture of Non-cooperative Target.

Degree: PhD, Earth & Space Science, 2017, York University

URL: http://hdl.handle.net/10315/33406

► This doctoral research develops and validates experimentally a vision-based control scheme for the autonomous capture of a non-cooperative target by robotic manipulators for active space… (more)

Subjects/Keywords: Engineering; Robotic manipulator; Visual servo; Non-cooperative target; Target estimation; Autonomous capture; Kinematics-based robotic control; Joint flexibility; On orbit servicing; Active debris removal

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Dong, G. (2017). Autonomous Visual Servo Robotic Capture of Non-cooperative Target. (Doctoral Dissertation). York University. Retrieved from http://hdl.handle.net/10315/33406

Chicago Manual of Style (16^th Edition):

Dong, Gangqi. “Autonomous Visual Servo Robotic Capture of Non-cooperative Target.” 2017. Doctoral Dissertation, York University. Accessed March 07, 2021. http://hdl.handle.net/10315/33406.

MLA Handbook (7^th Edition):

Dong, Gangqi. “Autonomous Visual Servo Robotic Capture of Non-cooperative Target.” 2017. Web. 07 Mar 2021.

Vancouver:

Dong G. Autonomous Visual Servo Robotic Capture of Non-cooperative Target. [Internet] [Doctoral dissertation]. York University; 2017. [cited 2021 Mar 07]. Available from: http://hdl.handle.net/10315/33406.

Council of Science Editors:

Dong G. Autonomous Visual Servo Robotic Capture of Non-cooperative Target. [Doctoral Dissertation]. York University; 2017. Available from: http://hdl.handle.net/10315/33406

Queensland University of Technology

26. Keeratipranon, Narongdech. Robot navigation in sensor space.

Degree: 2009, Queensland University of Technology

URL: https://eprints.qut.edu.au/29316/

► This thesis investigates the problem of robot navigation using only landmark bearings. The proposed system allows a robot to move to a ground target location… (more)

▼ This thesis investigates the problem of robot navigation using only landmark bearings. The proposed system allows a robot to move to a ground target location specified by the sensor values observed at this ground target posi- tion. The control actions are computed based on the difference between the current landmark bearings and the target landmark bearings. No Cartesian coordinates with respect to the ground are computed by the control system. The robot navigates using solely information from the bearing sensor space. Most existing robot navigation systems require a ground frame (2D Cartesian coordinate system) in order to navigate from a ground point A to a ground point B. The commonly used sensors such as laser range scanner, sonar, infrared, and vision do not directly provide the 2D ground coordi- nates of the robot. The existing systems use the sensor measurements to localise the robot with respect to a map, a set of 2D coordinates of the objects of interest. It is more natural to navigate between the points in the sensor space corresponding to A and B without requiring the Cartesian map and the localisation process. Research on animals has revealed how insects are able to exploit very limited computational and memory resources to successfully navigate to a desired destination without computing Cartesian positions. For example, a honeybee balances the left and right optical flows to navigate in a nar- row corridor. Unlike many other ants, Cataglyphis bicolor does not secrete pheromone trails in order to find its way home but instead uses the sun as a compass to keep track of its home direction vector. The home vector can be inaccurate, so the ant also uses landmark recognition. More precisely, it takes snapshots and compass headings of some landmarks. To return home, the ant tries to line up the landmarks exactly as they were before it started wandering. This thesis introduces a navigation method based on reflex actions in sensor space. The sensor vector is made of the bearings of some landmarks, and the reflex action is a gradient descent with respect to the distance in sensor space between the current sensor vector and the target sensor vec- tor. Our theoretical analysis shows that except for some fully characterized pathological cases, any point is reachable from any other point by reflex action in the bearing sensor space provided the environment contains three landmarks and is free of obstacles. The trajectories of a robot using reflex navigation, like other image- based visual control strategies, do not correspond necessarily to the shortest paths on the ground, because the sensor error is minimized, not the moving distance on the ground. However, we show that the use of a sequence of waypoints in sensor space can address this problem. In order to identify relevant waypoints, we train a Self Organising Map (SOM) from a set of observations uniformly distributed with respect to the ground. This SOM provides a sense of location to the robot, and allows a form of path planning in sensor space. The navigation…

Subjects/Keywords: mobile robots, navigation in sensor space, visual homing, dimensionality re- duction, gradient descend method, dissimilarity measurement, Mahalanobis distance, SOM, visual servo, vision-based navigation, bearing-only naviga- tion, omnidirectional vision; topological map, localisation, SLAM, Khep- era, Delaunay triangulation, artificial intelligence, colour segmentation, nor- malised RGB

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Keeratipranon, N. (2009). Robot navigation in sensor space. (Thesis). Queensland University of Technology. Retrieved from https://eprints.qut.edu.au/29316/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Keeratipranon, Narongdech. “Robot navigation in sensor space.” 2009. Thesis, Queensland University of Technology. Accessed March 07, 2021. https://eprints.qut.edu.au/29316/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Keeratipranon, Narongdech. “Robot navigation in sensor space.” 2009. Web. 07 Mar 2021.

Vancouver:

Keeratipranon N. Robot navigation in sensor space. [Internet] [Thesis]. Queensland University of Technology; 2009. [cited 2021 Mar 07]. Available from: https://eprints.qut.edu.au/29316/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Keeratipranon N. Robot navigation in sensor space. [Thesis]. Queensland University of Technology; 2009. Available from: https://eprints.qut.edu.au/29316/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

27. Sekirnik, Matija. Izvedba linearne podajalne osi s servo motorjem Beckhoff.

Degree: 2017, Univerza v Mariboru

URL: https://dk.um.si/IzpisGradiva.php?id=66312 ; https://dk.um.si/Dokument.php?id=113805&dn= ; https://plus.si.cobiss.net/opac7/bib/20859670?lang=sl

►

Namen magistrske naloge je izdelava linearne podajalne osi, ki deluje v realnem času (angl.: real–time) za potrebe izobraževanja na področju krmilne tehnike, avtomatizacije in regulacije.… (more)

▼

Namen magistrske naloge je izdelava linearne podajalne osi, ki deluje v realnem času (angl.: real–time) za potrebe izobraževanja na področju krmilne tehnike, avtomatizacije in regulacije. Linearna podajalna os je sestavljena iz linearne podajalne osi, koračnega motorja in servo motorja. Konstrukcija linearne osi omogoča, da je pogonski motor le eden izmed njiju. V magistrski nalogi bodo podrobneje opisani servo motor, krmilje, regulacija in izdelava HMI vizualizacijskega vmesnika v programskem okolju Visual Studio C#. S pomočjo uporabniškega vmesnika, ki smo ga izdelali, lahko izberemo motor, način vodenja in vrsto regulatorja. Uporabniški vmesnik ima možnost izrisa diagrama odzivov. Programska oprema in vse komponente, ki smo jih uporabili za izdelavo linearne podajalne osi, so popolnoma industrijska, to pomeni, da jih srečamo povsod v industriji. Tako uporabnik pridobi znanje, kako pravilno izbrati parametre regulatorja motorja ne glede na to ali je motor manjši ali mnogokrat močnejši.

The purpose of the master's thesis is to make a real time linear feed axis for the needs of education in the field of control engineering, automation, and control. The teaching aid is made up of a linear axis, stepper motor and servo motor. The construction of a linear axis enables only one of them to be the drive motor. With the use of the master's thesis, the servo motor, programmable controller, linear control (regulator) and composition of human–machine interface (HMI) development in environment to Visual Studio C# can now be further explained. Through the user interface that we've created, we can now select the motor, the method of management, and the type of regulator. It also has the option to display the diagram of responses. We intentionally used industrial software and components that are used in today's industry for the production of this real time teaching aid, as a principle for choosing the regulator’s control parameters properly. Regardless of whether the engine is small or many times stronger, they may still be programmable in the same manner.

Advisors/Committee Members: Tič, Vito, Šafarič, Riko.

Subjects/Keywords: linearna podajalna os; servo motor; absolutni dajalnik; Beckhoff; TwinCAT3; Visual Studio C#; zvezni regulatorji; regulacija; linear feed axis; servomotor; absolute encoder; Beckhoff; TwinCAT3; Visual Studio C#; continuous controllers; info:eu-repo/classification/udc/681.513.3(043.2)

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Sekirnik, M. (2017). Izvedba linearne podajalne osi s servo motorjem Beckhoff. (Masters Thesis). Univerza v Mariboru. Retrieved from https://dk.um.si/IzpisGradiva.php?id=66312 ; https://dk.um.si/Dokument.php?id=113805&dn= ; https://plus.si.cobiss.net/opac7/bib/20859670?lang=sl

Chicago Manual of Style (16^th Edition):

Sekirnik, Matija. “Izvedba linearne podajalne osi s servo motorjem Beckhoff.” 2017. Masters Thesis, Univerza v Mariboru. Accessed March 07, 2021. https://dk.um.si/IzpisGradiva.php?id=66312 ; https://dk.um.si/Dokument.php?id=113805&dn= ; https://plus.si.cobiss.net/opac7/bib/20859670?lang=sl.

MLA Handbook (7^th Edition):

Sekirnik, Matija. “Izvedba linearne podajalne osi s servo motorjem Beckhoff.” 2017. Web. 07 Mar 2021.

Vancouver:

Sekirnik M. Izvedba linearne podajalne osi s servo motorjem Beckhoff. [Internet] [Masters thesis]. Univerza v Mariboru; 2017. [cited 2021 Mar 07]. Available from: https://dk.um.si/IzpisGradiva.php?id=66312 ; https://dk.um.si/Dokument.php?id=113805&dn= ; https://plus.si.cobiss.net/opac7/bib/20859670?lang=sl.

Council of Science Editors:

Sekirnik M. Izvedba linearne podajalne osi s servo motorjem Beckhoff. [Masters Thesis]. Univerza v Mariboru; 2017. Available from: https://dk.um.si/IzpisGradiva.php?id=66312 ; https://dk.um.si/Dokument.php?id=113805&dn= ; https://plus.si.cobiss.net/opac7/bib/20859670?lang=sl

28. 塚本, 洋介. 自律型飛行船ロボットの目標物の追従に関する研究.

Degree: Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学

URL: http://hdl.handle.net/10119/378

Supervisor:藤波努

知識科学研究科

修士

Subjects/Keywords: 飛行船ロボット，自律型ロボット，追従，ビジュアルサーボ; airship robot, autonomous robot, object following, visual servo

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

塚本, �. (n.d.). 自律型飛行船ロボットの目標物の追従に関する研究. (Thesis). Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学. Retrieved from http://hdl.handle.net/10119/378

Note: this citation may be lacking information needed for this citation format:
No year of publication.
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

塚本, 洋介. “自律型飛行船ロボットの目標物の追従に関する研究.” Thesis, Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学. Accessed March 07, 2021. http://hdl.handle.net/10119/378.

Note: this citation may be lacking information needed for this citation format:
No year of publication.
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

塚本, 洋介. “自律型飛行船ロボットの目標物の追従に関する研究.” Web. 07 Mar 2021.

Note: this citation may be lacking information needed for this citation format:
No year of publication.

Vancouver:

塚本 �. 自律型飛行船ロボットの目標物の追従に関する研究. [Internet] [Thesis]. Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学; [cited 2021 Mar 07]. Available from: http://hdl.handle.net/10119/378.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
No year of publication.

Council of Science Editors:

塚本 �. 自律型飛行船ロボットの目標物の追従に関する研究. [Thesis]. Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学; Available from: http://hdl.handle.net/10119/378

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
No year of publication.

29. 置田, 宏幸. マニピュレータの動特性を考慮した視覚サーボに関する研究.

Degree: Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学

URL: http://hdl.handle.net/10119/1047

Supervisor:藤田政之

情報科学研究科

修士

Subjects/Keywords: 視覚サーボ, マニピュレータ, 動特性, 実験; Visual servo, robot manipulator, dynamics ,experim

Record Details Similar Records Cite « Share

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

置田, �. (n.d.). マニピュレータの動特性を考慮した視覚サーボに関する研究. (Thesis). Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学. Retrieved from http://hdl.handle.net/10119/1047

Note: this citation may be lacking information needed for this citation format:
No year of publication.
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

置田, 宏幸. “マニピュレータの動特性を考慮した視覚サーボに関する研究.” Thesis, Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学. Accessed March 07, 2021. http://hdl.handle.net/10119/1047.

Note: this citation may be lacking information needed for this citation format:
No year of publication.
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

置田, 宏幸. “マニピュレータの動特性を考慮した視覚サーボに関する研究.” Web. 07 Mar 2021.

Note: this citation may be lacking information needed for this citation format:
No year of publication.

Vancouver:

置田 �. マニピュレータの動特性を考慮した視覚サーボに関する研究. [Internet] [Thesis]. Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学; [cited 2021 Mar 07]. Available from: http://hdl.handle.net/10119/1047.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
No year of publication.

Council of Science Editors:

置田 �. マニピュレータの動特性を考慮した視覚サーボに関する研究. [Thesis]. Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学; Available from: http://hdl.handle.net/10119/1047

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
No year of publication.

30. 菅原, 健人. 移動機構を備えたマニピュレータのビジュアルサーボに関する研究.

Degree: Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学

URL: http://hdl.handle.net/10119/1062

Supervisor:藤田　政之

情報科学研究科

修士

Subjects/Keywords: 移動機構, マニピュレータ, ビジュアルサーボ, 特異姿勢回避; mobile robot, robot manipulator, visual servo, sin

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

菅原, �. (n.d.). 移動機構を備えたマニピュレータのビジュアルサーボに関する研究. (Thesis). Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学. Retrieved from http://hdl.handle.net/10119/1062

Note: this citation may be lacking information needed for this citation format:
No year of publication.
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

菅原, 健人. “移動機構を備えたマニピュレータのビジュアルサーボに関する研究.” Thesis, Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学. Accessed March 07, 2021. http://hdl.handle.net/10119/1062.

Note: this citation may be lacking information needed for this citation format:
No year of publication.
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

菅原, 健人. “移動機構を備えたマニピュレータのビジュアルサーボに関する研究.” Web. 07 Mar 2021.

Note: this citation may be lacking information needed for this citation format:
No year of publication.

Vancouver:

菅原 �. 移動機構を備えたマニピュレータのビジュアルサーボに関する研究. [Internet] [Thesis]. Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学; [cited 2021 Mar 07]. Available from: http://hdl.handle.net/10119/1062.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
No year of publication.

Council of Science Editors:

菅原 �. 移動機構を備えたマニピュレータのビジュアルサーボに関する研究. [Thesis]. Japan Advanced Institute of Science and Technology / 北陸先端科学技術大学院大学; Available from: http://hdl.handle.net/10119/1062

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
No year of publication.

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Open Access Theses and Dissertations