High-speed batting using a multi-jointed manipulator

Senoo, Taku; Namiki, Akio; Ishikawa, Masatoshi

doi:10.1109/robot.2004.1307986

Cited by 76 publications

(32 citation statements)

References 8 publications

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“…A device called a programmable digital vision chip [7] adopts this moment extraction architecture and obtains moments from an input image even at frame rates as high as 1 kHz. This device has been successfully applied to robot control [8,9], microscope observation [10,11], inspection, and so on.…”

Section: Approachmentioning

confidence: 99%

Parallel Extraction Architecture for Information of Numerous Particles in Real-Time Image Measurement

Watanabe

Komuro²,

Kagami³

et al. 2005

J. Robot. Mechatron.

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In this paper, we propose a new architecture that can extract information of numerous particles in an image at high-speed. Particle information means various characteristics obtained from image moments. The proposed architecture simultaneously extracts moments of multiple particles in parallel. This parallel extraction enables a significant reduction in the amount of calculation required. In addition, asynchronous operation allows fast processing. We believe that this architecture can obtain more information in real-time even at high frame rates than conventional processing, providing advantages in a wide range of applications, mainly for image measurement. This paper details our proposed architecture and reviews some results of its implementation in FPGA.

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Section: Approachmentioning

confidence: 99%

Parallel Extraction Architecture for Information of Numerous Particles in Real-Time Image Measurement

Watanabe

Komuro²,

Kagami³

et al. 2005

J. Robot. Mechatron.

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“…Recently, real-time HFR vision systems operating at higher frame rates than conventional video cameras (e.g., NTSC 30 fps or PAL 25 fps) have been developed by implementing various types of image processing algorithms with hardware logic on a dedicated FPGA (Field-Programmable Gate Array) board [11]- [13]. The effectiveness of real-time HFR vision has been demonstrated in many studies using high-speed visual feedback robotic control, for example, for target tracking [14]- [16], robot manipulation [17], [18], virtual stillness for beatingheart surgery [19], and microscopic microbe tracking [20]. If we could implement a real-time function to control the exposure time by calculating the brightness histogram of an image on such an HFR vision platform, it would beCopyright c 2014 The Institute of Electronics, Information and Communication Engineers come possible to obtain much better-qualified HFR images without over-and under-exposure for real-time and robust HFR image processing in various applications, even when high-speed phenomena are being observed under suddenly changing lighting conditions such as lamps flickering at 100 Hz, corresponding to an AC power supply at 50 Hz, which is too fast for the human eye to see.…”

Section: Introductionmentioning

confidence: 99%

A High-Frame-Rate Vision System with Automatic Exposure Control

Noman

Aoyama

et al. 2014

IEICE Trans. Inf. & Syst.

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Qingyi GU†a) , Abdullah AL NOMAN †b) , Tadayoshi AOYAMA †c) , Takeshi TAKAKI †d) , Nonmembers, and Idaku ISHII †e) , Member SUMMARYIn this paper, we present a high frame rate (HFR) vision system that can automatically control its exposure time by executing brightness histogram-based image processing in real time at a high frame rate. Our aim is to obtain high-quality HFR images for robust image processing of high-speed phenomena even under dynamically changing illumination, such as lamps flickering at 100 Hz, corresponding to an AC power supply at 50 / 60 Hz. Our vision system can simultaneously calculate a 256-bin brightness histogram for an 8-bit gray image of 512×512 pixels at 2000 fps by implementing a brightness histogram calculation circuit module as parallel hardware logic on an FPGA-based high-speed vision platform. Based on the HFR brightness histogram calculation, our method realizes automatic exposure (AE) control of 512×512 images at 2000 fps using our proposed AE algorithm. The proposed AE algorithm can maximize the number of pixels in the effective range of the brightness histogram, thus excluding much darker and brighter pixels, to improve the dynamic range of the captured image without over-and under-exposure. The effectiveness of our HFR system with AE control is evaluated according to experimental results for several scenes with illumination flickering at 100 Hz, which is too fast for the human eye to see. key words: automatic exposure control, high-frame-rate vision system, hardware implementation

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“…Integration of visual systems and robots in dynamic tasks presents several unsolved issues that have been an object of research in important investigation centers [1,2]. Those issues include the design of control strategies of robotic high speed visual tracking tasks, such as in the Tokyo University ( [3,4] and more recently [5]), where fast tracking (up to ʹ ݉ ‫ݏ‬ ⁄ ) strategies in visual servoing have been developed. In order to study and implement different strategies of visual control, the Computer Vision Group at the Polytechnic University of Madrid decided to design and implement the Robotenis system.…”

Section: Introductionmentioning

confidence: 99%

Visual servoing for the Robotenis system: A strategy for a 3 DOF parallel robot to hit a Ping-Pong ball

Traslosheros

Sebastián

Ángel

et al. 2011

IEEE Conference on Decision and Control and European Control Conference

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Abstract-This article describes a new visual servo control and strategies that are used to carry out dynamic tasks by the Robotenis platform. This platform is basically a parallel robot that is equipped with an acquisition and processing system of visual information, its main feature is that it has a completely open architecture control, and planned in order to design, implement, test and compare control strategies and algorithms (visual and actuated joint controllers). Following sections describe a new visual control strategy specially designed to track and intercept objects in 3D space. The results are compared with a controller shown in previous woks, where the end effector of the robot keeps a constant distance from the tracked object. In this work, the controller is specially designed in order to allow changes in the tracking reference. Changes in the tracking reference can be used to grip an object that is under movement, or as in this case, hitting a hanging PingPong ball. Lyapunov stability is taken into account in the controller design.

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High-speed batting using a multi-jointed manipulator

Cited by 76 publications

References 8 publications

Parallel Extraction Architecture for Information of Numerous Particles in Real-Time Image Measurement

Parallel Extraction Architecture for Information of Numerous Particles in Real-Time Image Measurement

A High-Frame-Rate Vision System with Automatic Exposure Control

Visual servoing for the Robotenis system: A strategy for a 3 DOF parallel robot to hit a Ping-Pong ball

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