Vladislav Maxim

Embedded vision equipment of industrial robot for inline detection of product errors by clustering–classification algorithms:

The article deals with the design of embedded vision equipment of industrial robots for inline diagnosis of product error during manipulation process. The vision equipment can be attached to the end effector of robots or manipulators, and it provides an image snapshot of part surface before grasp, searches for error during manipulation, and separates products with error from the next operation of manufacturing. The new approach is a methodology based on machine teaching for the automated identification, localization, and diagnosis of systematic errors in products of high-volume production. To achieve this, we used two main data mining algorithms: clustering for accumulation of similar errors and classification methods for the prediction of any new error to proposed class. The presented methodology consists of three separate processing levels: image acquisition for fail parameterization, data clustering for categorizing errors to separate classes, and new pattern prediction with a proposed class model. We choose main representatives of clustering algorithms, for example, K-mean from quantization of vectors, fast library for approximate nearest neighbor from hierarchical clustering, and density-based spatial clustering of applications with noise from algorithm based on the density of the data. For machine learning, we selected six major algorithms of classification: support vector machines, normal Bayesian classifier, K-nearest neighbor, gradient boosted trees, random trees, and neural networks. The selected algorithms were compared for speed and reliability and tested on two platforms: desktop-based computer system and embedded system based on System on Chip (SoC) with vision equipment.

Management of linear quadratic regulator optimal control with full-vehicle control case study

Linear quadratic regulator is a powerful technique for dealing with the control design of any linear and nonlinear system after linearization of the system around an operating point. For small systems, which have fewer state variables, the transformation of the performance index from scalar to matrix form can be straightforward. On the other hand, as the system becomes large with many state variables and controllers, appropriate design and notations should be defined to make it easy to automatically implement the technique for any large system without the need to redesign from scratch every time one requires a new system. The main aim of this article was to deal with this issue. This article shows how to automatically obtain the matrix form of the performance index matrices from the scalar version of the performance index. Control of a full-vehicle in cornering was taken as a case study in this article.

Puck Collecting Robot

The paper deals with design of robot for puck collecting. Puck collecting is a competition category at RobotChallenge. The aim of this competition is to find and collect pucks with defined color (blue or red) and place them to home position with the same color. The robot has a two-wheeled undercarriage with differentially driven wheels. The robot works as an autonomous system and it has two microcontrollers for parallel controlling of processes. The robot is able to find and recognize the puck and place it to home position defined with the same color. The designed robot Tukebot attended the competition RobotChallenge 2012.

Diagnostics of Errors at Component Surface by Vision Recognition in Production Systems

The article deals with the diagnostics of components surface after painting by camera system in real-time. This solution is especially suitable for implementation to automatized production line above the conveyor belt. The faults on the part surface can be detected as scratches, imperfect surface coverage and dirt stuck to the surface. The scratch detection is based on edge detectors, imperfect coverage are checked by histogram comparison and all other errors are detected by counter detectors. The developed software uses open source library OpenCV and is written in C++ language. The software solution is platform independent. Final algorithm is implemented to embedded device based on SoC.

Uncertainty of Dust Mass Concentration Measurement

Paper deals with dust mass concentration measurement in working environment. The measurement is focused to respirable dust fraction, which is dangerous for people. Light scattering principle of dust mass concentration measurement is used for this purpose. Also cyclone as mechanical way of separation of respirable fraction can be used for this purpose. Next problem is determination of uncertainty of this measurement.

Design of Control of DC Motor

In current practice the use of mathematical models is substantially widespread, reason being the recent increase in development of programs for this purpose, with the option of model simulation in a virtual environment, proportional to the evolving computer technology. The article contains a mathematical model created using Matlab program. The simulation results are compared with scientific literature that addresses DC motors and evaluated. For simplicity, a graphical interface was created.