- Email: [email protected]
Development of camera tracking system using STR in visual feedback scheme
Engineering Information Abstracts (Part I) and system which can be implemented in embedded controllers. One of the methods considered is serial debugging which can overcome the problems inherent in monitor-based debugging and in-circuit emulation. The recent developments in serial debugging and its various alternatives are discussed, including a description of the M68HC12 single wire debug interface. In English EI Order Number: 98024091255 Keywords: Interfaces Žcomputer.; Computer debugging; Random access storage; Microprocessor chips; Standards; Integrated circuit layout; Integrated circuit testing; Cost effectiveness; Distributed computer systems
2.4. Miscellaneous Title: EXPERIENCE IN DESIGNING A TCPr r IP BASED VOD SYSTEM OVER A DEDICATED NETWORK Author(s): Lu, Der-Jen; Wang, Yu-Chung; Ho, Jan-Ming; Ko, Ming-Tat; Chen, Meng-Chang Source: Proceedings of the 1997 IEEE International Symposium on Consumer Electronics, ISCE’97 Dec 2-4 1997 Singapore. Sponsored by: IEEE Piscataway NJ USA. p 262-266 CODEN: 002828 Publication Year: 1997 Abstract: In this paper, we address the problem of designing a TCPrIP based VOD system over a dedicated network. Despite of the general belief that TCPrIP is not suitable for real-time multimedia applications, after testing in laboratory environment for one year, we are confident in announcing that our prototype is both efficient and reliable. This success depends on several important factors. First of all, the system operates on a dedicated network in which there exists no other traffic except a small amount of background traffic generated by the Ether Switch, the major network component used by our prototype. Second, system overhead due to the VOD server and the network adaptor card is minimized. Third, we maximize disk bandwidth by implementing a proprietary disk file system. Our experiment shows that it requires only about 330 KBytes at the client buffer to smooth packet delay jitters. In English ŽAuthor abstract . 11 Refs. EI Order Number: 98044152214 Keywords: Video signal processing; Computer networks; Network protocols; Packet networks; Telecommunication traffic; Bandwidth; Interfaces Žcomputer.; Buffer storage Title: MODULAR RE-CONFIGURABLE APPROACH TO THE CREATION OF FLEXIBLE MANUFACTURING CELLS FOR EDUCATIONAL PURPOSES Author(s): Owen, S.; Bonney, M.C.; Denford, A.systems; Interfaces Žcomputer.; Engineering education Source: Proceedings of the 1997 IEEErRSJ International Conference on Intelligent Robot and Systems. Part 3 Žof 3. Sep 7-11 1997 v 3 Grenoble, Fr. Sponsored by: IEEE Piscataway NJ USA. p 1369-1374 CODEN: 85RBAH Publication Year: 1997 Abstract: This paper describes a project designing modular software which greatly assists the creation of FMS for educa-
433
tional purposes. A three level hierarchical control system was specified: at the highest level, or system control level, is the host computer; at the intermediate or supervisory control level, are the cell controllers; at the third level, device drivers provide an interface and control for each element i.e. machines such as lathes, milling machines, robots, storage systems, transport systems, measuring systems etc. The final report was assessed as a highly significant contribution to the field for technological merit. The paper outlines the development of the system and discusses the facilities available and how these may be combined to move towards an integrated system. Specifically an indication is given of the particular needs of educational establishments. In English ŽAuthor abstract. 2 Refs. EI Order Number: 98034132539 Keywords: Flexible manufacturing systems; Computer software; Hierarchical systems; SCADA
Title: HIDDEN ROBOT CONCEPT - HIGH LEVEL ABSTRACTION TELEOPERATION Author(s): Kheddar, A.; Tzafestas, C.; Coiffet, P. Source: Proceedings of the 1997 IEEErRSJ International Conference on Intelligent Robot and Systems. Part 3 Žof 3. Sep 7-11 1997 v 3 Grenoble, Fr. Sponsored by: IEEE Piscataway NJ USA. p 1818-1824 CODEN: 85RBAH Publication Year: 1997 Abstract: This paper discusses the development of new teleoperator systems. While many innovations during the last decade made teleoperation technology progress, some severe well known lacks that we enumerate still persist. With respect to some attractive solutions proposed for coping with these problems, we designed a bilateral control scheme based on what we called the hidden robot concept. The teleoperator achieves tasks manually in a natural way within a virtual environment ŽVE.. Thanks to suitable bilateral transformations, the virtual tasks are being reproduced by any slave robot within the remote site. Mainly task based, our approach is not considered like a high level task knowledge based control. Rather, we consider it like a more refined shared autonomy control with a high level abstraction interface. Three main components are developed Ži. supervision loop Žii. bilateral transformation layer Žiii. execution loop. The approach has been validated experimentally and preliminary results as well as further work are discussed. In English ŽAuthor abstract . 31 Refs. EI Order Number: 98034132605 Keywords: Robotics; Knowledge based systems; Mathematical transformations; Virtual reality; Interfaces Žcomputer.
Title: DEVELOPMENT OF CAMERA TRACKING SYSTEM USING STR IN VISUAL FEEDBACK SCHEME Author(s): Sugimori, S.; Odajima, H.; Hashimoto, H.; Higashiguchi, M. Source: Proceedings of the 1997 1st IEEErASME International Conference on Advanced Intelligent Mechatronics, AIM’97 Jun 16-20 1997 Tokyo, Jpn. Sponsored by: IEEE Piscataway NJ USA. p 52 CODEN: 002803 Publication Year: 1997
434
Engineering Information Abstracts (Part I)
Abstract: In this paper, we describe the development and experimentation of a visual tracking system for moving target on two-dimensional plane, using the sequence of images from a CCD camera, mounted on mechanical equipment, its line of sight ŽLOS. has two rotational degrees of freedom Žpitching and yawing.. We develop this system with a personal computer ŽPC. including peripheral component interconnect ŽPCI. bus. The problems of this system are uncertainty of camera parameters, nonlinearity of target motion and mechanical assembly, and also time-varying transformation of perspective projection. A self tuning regulator ŽSTR. adjusts automatically the parameters of the controller for absorbing variation of the system characteristics without identifying the system parameters. Thus, to overcome the problems, STR is applied to visual tracking system so as to enhance the robustness to those. To reduce the processing time of generating the control input, the minimum variance control as the law of STR is adopted, and the controller parameters are directly on-line adjusted by adaptive algorithm. From the experimental results, it is confirmed that the problems are compensated by adaptive law and yields tracking performance even in the face of poor prior knowledge of the circumstance. Two experimental results of real-time tracking during sufficient fast sampling time Ž0.13 wsecx sampling rate. are shown. In English ŽAuthor abstract . EI Order Number: 98034105078 Keywords: Computer vision; Pattern recognition systems; Cameras; Self tuning control systems; Feedback control; Interfaces Žcomputer.; Adaptive algorithms; Personal computers; Charge coupled devices
Title: ANALYSIS OF CLOCK-JITTER ON AN ANALOGTO-DIGITAL CONVERTER USING THE SIGNAL PROCESSING WORKSYSTEM (SPW) ENVIRONMENT Author(s): Williams, Shonda L. Source: Proceedings of the 1997 ASEE Annual Conference Jun 15-18 1997 Milwaukee, WI, USA. ASEE Washington DC USA. 5p ISSN: 0190-1052 CODEN: ACOPDW Publication Year: 1997 Abstract: A sound fundamental understanding of electronic circuits and devices can be used as a basis to formulate an understanding of ADC computer interface devices. However, secondary effects such as offset, drift, clock-jitter, etc. may represent critical characteristics that must be understood and dealt with. The author presents an analysis of an Analog-toDigital Converter ŽADC. simulation that includes the jitter present in real ADC clock-circuitry. The paper exemplifies the in-depth analysis needed to understand some of the secondary nonlinear physical properties of electronic devices as they relate to ADC devices. In English ŽAuthor abstract . EI Order Number: 98034100671 Keywords: Analog to digital conversion; Digital signal processing; User interfaces; Mathematical models; Computer simulation
Title: IMPLEMENTATION OF A LABORATORY LEARNING MODULE FOR PROCESS MONITORING AND CONTROL Author(s): Aldana, Carlos; Erevelles, Winston F. Source: Proceedings of the 1997 ASEE Annual Conference Jun 15-18 1997 Milwaukee, WI, USA. ASEE Washington DC USA. 8p ISSN: 0190-1052 CODEN: ACOPDW Publication Year: 1997 Abstract: This paper describes the development of a laboratory module in automation that presents students with an experience in sensors, data collection and system control. The module features an Allen Bradley Programmable Logic Controller ŽPLC., a pick and place device with two degrees of freedom and two set point control modules mounted on the gripper and the rotary axis of the pick and place device, a chute and escapement for accurate part feeding and sensors for part-size detection, and the detection of the limits of travel of the pick and place device. The system is designed to distinguish between and recirculate steel balls of three different sizes Ž7r32 inches, 1r4 inches, 9r32 inches.. Inputs and outputs of the system were examined and the appropriate ladder logic was developed. This ladder logic acts as the main control for the system, however the PLC features a data highway which was used to interface our pick and place device to a supervisory control and data acquisition ŽSCADA. software and develop a man-machine interface ŽMMI.. During the development of this module, students were exposed to a series of different fields, from the mechanical design of the system, wiring of the set-up, implementation of the ladder logic and development of the man-machine interface. In English ŽAuthor abstract . EI Order Number: 98034100718 Keywords: Engineering education; Mechanical engineering; Laboratories; Automation; SCADA systems; Programmable logic controllers; Grippers; Sensors; Ladder networks; Interfaces Žcomputer.; Computer software; Man machine systems; Process control
Title: DO AND UNDERSTAND APPROACH TO A NETWORKING COURSE Author(s): Molina, Domingo III Source: Proceedings of the 1997 ASEE Annual Conference Jun 15-18 1997 Milwaukee, WI, USA. ASEE Washington DC USA. 6p ISSN: 0190-1052 CODEN: ACOPDW Publication Year: 1997 Abstract: The nuts and bolts of how a senior level computer science networking course is being successfully taught to students without requiring them to have any prior experience in networking, are presented. The networking course requires the students to complete rigorous lab sessions leading to thorough understanding of the seven layers of IOS OSI model. Students are exposed to the practical aspects of networking. After learning how to set-up a network, students learn to install a network operating system, setup user accounts, pro-
2.4. Miscellaneous Title: EXPERIENCE IN DESIGNING A TCPr r IP BASED VOD SYSTEM OVER A DEDICATED NETWORK Author(s): Lu, Der-Jen; Wang, Yu-Chung; Ho, Jan-Ming; Ko, Ming-Tat; Chen, Meng-Chang Source: Proceedings of the 1997 IEEE International Symposium on Consumer Electronics, ISCE’97 Dec 2-4 1997 Singapore. Sponsored by: IEEE Piscataway NJ USA. p 262-266 CODEN: 002828 Publication Year: 1997 Abstract: In this paper, we address the problem of designing a TCPrIP based VOD system over a dedicated network. Despite of the general belief that TCPrIP is not suitable for real-time multimedia applications, after testing in laboratory environment for one year, we are confident in announcing that our prototype is both efficient and reliable. This success depends on several important factors. First of all, the system operates on a dedicated network in which there exists no other traffic except a small amount of background traffic generated by the Ether Switch, the major network component used by our prototype. Second, system overhead due to the VOD server and the network adaptor card is minimized. Third, we maximize disk bandwidth by implementing a proprietary disk file system. Our experiment shows that it requires only about 330 KBytes at the client buffer to smooth packet delay jitters. In English ŽAuthor abstract . 11 Refs. EI Order Number: 98044152214 Keywords: Video signal processing; Computer networks; Network protocols; Packet networks; Telecommunication traffic; Bandwidth; Interfaces Žcomputer.; Buffer storage Title: MODULAR RE-CONFIGURABLE APPROACH TO THE CREATION OF FLEXIBLE MANUFACTURING CELLS FOR EDUCATIONAL PURPOSES Author(s): Owen, S.; Bonney, M.C.; Denford, A.systems; Interfaces Žcomputer.; Engineering education Source: Proceedings of the 1997 IEEErRSJ International Conference on Intelligent Robot and Systems. Part 3 Žof 3. Sep 7-11 1997 v 3 Grenoble, Fr. Sponsored by: IEEE Piscataway NJ USA. p 1369-1374 CODEN: 85RBAH Publication Year: 1997 Abstract: This paper describes a project designing modular software which greatly assists the creation of FMS for educa-
433
tional purposes. A three level hierarchical control system was specified: at the highest level, or system control level, is the host computer; at the intermediate or supervisory control level, are the cell controllers; at the third level, device drivers provide an interface and control for each element i.e. machines such as lathes, milling machines, robots, storage systems, transport systems, measuring systems etc. The final report was assessed as a highly significant contribution to the field for technological merit. The paper outlines the development of the system and discusses the facilities available and how these may be combined to move towards an integrated system. Specifically an indication is given of the particular needs of educational establishments. In English ŽAuthor abstract. 2 Refs. EI Order Number: 98034132539 Keywords: Flexible manufacturing systems; Computer software; Hierarchical systems; SCADA
Title: HIDDEN ROBOT CONCEPT - HIGH LEVEL ABSTRACTION TELEOPERATION Author(s): Kheddar, A.; Tzafestas, C.; Coiffet, P. Source: Proceedings of the 1997 IEEErRSJ International Conference on Intelligent Robot and Systems. Part 3 Žof 3. Sep 7-11 1997 v 3 Grenoble, Fr. Sponsored by: IEEE Piscataway NJ USA. p 1818-1824 CODEN: 85RBAH Publication Year: 1997 Abstract: This paper discusses the development of new teleoperator systems. While many innovations during the last decade made teleoperation technology progress, some severe well known lacks that we enumerate still persist. With respect to some attractive solutions proposed for coping with these problems, we designed a bilateral control scheme based on what we called the hidden robot concept. The teleoperator achieves tasks manually in a natural way within a virtual environment ŽVE.. Thanks to suitable bilateral transformations, the virtual tasks are being reproduced by any slave robot within the remote site. Mainly task based, our approach is not considered like a high level task knowledge based control. Rather, we consider it like a more refined shared autonomy control with a high level abstraction interface. Three main components are developed Ži. supervision loop Žii. bilateral transformation layer Žiii. execution loop. The approach has been validated experimentally and preliminary results as well as further work are discussed. In English ŽAuthor abstract . 31 Refs. EI Order Number: 98034132605 Keywords: Robotics; Knowledge based systems; Mathematical transformations; Virtual reality; Interfaces Žcomputer.
Title: DEVELOPMENT OF CAMERA TRACKING SYSTEM USING STR IN VISUAL FEEDBACK SCHEME Author(s): Sugimori, S.; Odajima, H.; Hashimoto, H.; Higashiguchi, M. Source: Proceedings of the 1997 1st IEEErASME International Conference on Advanced Intelligent Mechatronics, AIM’97 Jun 16-20 1997 Tokyo, Jpn. Sponsored by: IEEE Piscataway NJ USA. p 52 CODEN: 002803 Publication Year: 1997
434
Engineering Information Abstracts (Part I)
Abstract: In this paper, we describe the development and experimentation of a visual tracking system for moving target on two-dimensional plane, using the sequence of images from a CCD camera, mounted on mechanical equipment, its line of sight ŽLOS. has two rotational degrees of freedom Žpitching and yawing.. We develop this system with a personal computer ŽPC. including peripheral component interconnect ŽPCI. bus. The problems of this system are uncertainty of camera parameters, nonlinearity of target motion and mechanical assembly, and also time-varying transformation of perspective projection. A self tuning regulator ŽSTR. adjusts automatically the parameters of the controller for absorbing variation of the system characteristics without identifying the system parameters. Thus, to overcome the problems, STR is applied to visual tracking system so as to enhance the robustness to those. To reduce the processing time of generating the control input, the minimum variance control as the law of STR is adopted, and the controller parameters are directly on-line adjusted by adaptive algorithm. From the experimental results, it is confirmed that the problems are compensated by adaptive law and yields tracking performance even in the face of poor prior knowledge of the circumstance. Two experimental results of real-time tracking during sufficient fast sampling time Ž0.13 wsecx sampling rate. are shown. In English ŽAuthor abstract . EI Order Number: 98034105078 Keywords: Computer vision; Pattern recognition systems; Cameras; Self tuning control systems; Feedback control; Interfaces Žcomputer.; Adaptive algorithms; Personal computers; Charge coupled devices
Title: ANALYSIS OF CLOCK-JITTER ON AN ANALOGTO-DIGITAL CONVERTER USING THE SIGNAL PROCESSING WORKSYSTEM (SPW) ENVIRONMENT Author(s): Williams, Shonda L. Source: Proceedings of the 1997 ASEE Annual Conference Jun 15-18 1997 Milwaukee, WI, USA. ASEE Washington DC USA. 5p ISSN: 0190-1052 CODEN: ACOPDW Publication Year: 1997 Abstract: A sound fundamental understanding of electronic circuits and devices can be used as a basis to formulate an understanding of ADC computer interface devices. However, secondary effects such as offset, drift, clock-jitter, etc. may represent critical characteristics that must be understood and dealt with. The author presents an analysis of an Analog-toDigital Converter ŽADC. simulation that includes the jitter present in real ADC clock-circuitry. The paper exemplifies the in-depth analysis needed to understand some of the secondary nonlinear physical properties of electronic devices as they relate to ADC devices. In English ŽAuthor abstract . EI Order Number: 98034100671 Keywords: Analog to digital conversion; Digital signal processing; User interfaces; Mathematical models; Computer simulation
Title: IMPLEMENTATION OF A LABORATORY LEARNING MODULE FOR PROCESS MONITORING AND CONTROL Author(s): Aldana, Carlos; Erevelles, Winston F. Source: Proceedings of the 1997 ASEE Annual Conference Jun 15-18 1997 Milwaukee, WI, USA. ASEE Washington DC USA. 8p ISSN: 0190-1052 CODEN: ACOPDW Publication Year: 1997 Abstract: This paper describes the development of a laboratory module in automation that presents students with an experience in sensors, data collection and system control. The module features an Allen Bradley Programmable Logic Controller ŽPLC., a pick and place device with two degrees of freedom and two set point control modules mounted on the gripper and the rotary axis of the pick and place device, a chute and escapement for accurate part feeding and sensors for part-size detection, and the detection of the limits of travel of the pick and place device. The system is designed to distinguish between and recirculate steel balls of three different sizes Ž7r32 inches, 1r4 inches, 9r32 inches.. Inputs and outputs of the system were examined and the appropriate ladder logic was developed. This ladder logic acts as the main control for the system, however the PLC features a data highway which was used to interface our pick and place device to a supervisory control and data acquisition ŽSCADA. software and develop a man-machine interface ŽMMI.. During the development of this module, students were exposed to a series of different fields, from the mechanical design of the system, wiring of the set-up, implementation of the ladder logic and development of the man-machine interface. In English ŽAuthor abstract . EI Order Number: 98034100718 Keywords: Engineering education; Mechanical engineering; Laboratories; Automation; SCADA systems; Programmable logic controllers; Grippers; Sensors; Ladder networks; Interfaces Žcomputer.; Computer software; Man machine systems; Process control
Title: DO AND UNDERSTAND APPROACH TO A NETWORKING COURSE Author(s): Molina, Domingo III Source: Proceedings of the 1997 ASEE Annual Conference Jun 15-18 1997 Milwaukee, WI, USA. ASEE Washington DC USA. 6p ISSN: 0190-1052 CODEN: ACOPDW Publication Year: 1997 Abstract: The nuts and bolts of how a senior level computer science networking course is being successfully taught to students without requiring them to have any prior experience in networking, are presented. The networking course requires the students to complete rigorous lab sessions leading to thorough understanding of the seven layers of IOS OSI model. Students are exposed to the practical aspects of networking. After learning how to set-up a network, students learn to install a network operating system, setup user accounts, pro-