Vol. 6, Special Issue (Emerging Trends in Engineering Technology) Mar. 2018, PP

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1 Jonal of Engnng chnology ol. 6 Scal Iss Emgng ns n Engnng chnology Ma lss sto vson fo an omnctonal obot Han- Zhang Zh-Rn sa hn-ng Ln 345 Insttt of Elctcal ontol Engnng Datmnt of Elctcal an omt Engnng Natonal hao ng Unvsty Hsnch awan. Datmnt of omt Scnc & Infomaton Engnng Asa Unvsty awan. Datmnt of Mcal Rsach hna Mcal Unvsty Hostal hna Mcal Unvsty achng awan. 3 Ban Rsach nt Natonal hao ng Unvsty Hsnch awan. 4 Insttt of Elctcal ontol Engnng Datmnt of Elctcal an omt Engnng Natonal hao ng Unvsty Hsnch awan. 5 nt fo Atfcal Intllgnc School of Softwa Faclty of Engnng & I Unvsty of chnology Syny Boaway 007 Nw Soth als Astala. Abstact Intocton: Imag ocssng has bn mlmnt fo nmos alcatons bt s yt to b obstly an actcally al fo th contol of omnctonal obots. hs alcaton nqly qs a vsal svo fncton an a mol-f sgn; sto vson whch nvolvs xtactng th-mnsonal nfomaton fom mags fom mltl vwonts can b s to mt ths qmnts. Mthos: H w oos a ototy of a two-cama systm to nabl wlss sto vson. hs systm ss a contoll to locat lght-mttng o mas lac on an omnctonal obot as a obst tagt to g th obot thogh vaos obstacls. hs wlss systm ncls a contol systm that lvags atfcal ntllgnc to cognz tslf va mot sto vson an aat to ts nvonmnt accongly. Howv ths scnao ntocs many contol oblms nclng tm-vayng lay nonlnaty an nctanty. Hnc gvn th samlng o of ths contol systm a mol-f mtho s oos. A vsal-lay svo s s to g th obot an an aatv cton-contol law s mlmnt va an slan-ty nal ntwo. Moov th samlng tm s accont fo n th contnos-tm systm to sgn th gtal contoll. Rslts: h oos systm s tst fo gng a obot nto a gaag. h xmntal slts show that th oos atonomos navgaton sto vson svo an IE-Lab colo tansfomaton nabl a a an accat os acqston fo ths obot. Moov th oos tchnq ovs btt fomanc coma to tatonal mthos. onclson: hs slts monstat th otntal of ths systm whch os not ly on hyscal mols to b s fo a w ang of alcatons n th ft. Kywos: lss sto vson; sal-lay svo; LED-bas ma; IE-Lab; Islan-ty nal ntwo. # Atho to whom all cosonnc shol b ass E-mal: n@asa..tw ; zhntsa@gmal.com. 8

2 Jonal of Engnng chnology olm 6 Scal Iss Emgng ns n Engnng chnology Mach Intocton Imag-ocssng tchnqs [-5] hav bn al n vaos fls nclng taffc safty obot vson an Halth. Howv th tatonal mtho bas on th al nmatcs mol [6 7] to contol th shang of obots on ocy oas os not cons th molng os cas by fo xaml nnown ayloas consmton of batty ow obstacl avoanc an fcton on th oa. Moov th gtal contoll fo ths mol facs a contnos-tm mchatoncs systm bt obstnss has not bn cons n ts sgn. On mtho [8] has bn oos to mov ts obstnss bt t s too comlx to b mlmnt n an omnctonal obot wthot th s of a hyscal mol. Hnc a vsal svo fncton an a mol-f sgn a n. On aoach to mt ths qmnts s th s of wlss sto vson whch can b actcally mlmnt sng lght-mttng os LEDs as mas. aos tchnqs fo mag sgmntaton [9] hav bn snt n th ltat. Howv most mag-cognton systms sch as machn vson [0] focs on ocssng mags wthot lght stbancs an a not ffctv whn th nt mags contan ynamc lght stbancs. h ocssng bcoms mo ffclt whn th colo ma s stb by lght. In ths sty th IE-Lab scto [5] of th colo mas whch a smla to th two ba lghts of a ca [] s s to ovcom ths stbanc. hs smlfs th ma tcton an allows th systm to oat n th a. h mas a cons th gon of ntst ROI [] an th ostons latv to th mag aa a ntf va a sgmntaton ocss n o to accatly calclat th os of th obot. Fst th systm s tan to cognz th ma colos an th ma s classf bas on th -tan tmlat colo. Nxt Lab tansfomaton s al to ach fam mag an th two LEDs a locat n ach mag. h ma s cstomz to c th ROI. Fthmo a nal ntwo s s to ct th sto-vson-bas nfomaton fo th ft os of th obot an ths nfomaton s nt to th aatv ctv contoll. h ntal aamts of th nal contoll a otmz sng an slan-ty nal ntwo INN. Its wghts an bass a ct by onln bac-oagaton B [3] to ct th os of th obot an al to g th obot sch as movng nto a gaag. hs gtal contoll s a Nonlna Ato Rgssv movng avag Xognos NARX nal ntwo [3] an ncls ta lays to lan th contnos-tm bhavo of th obot st th lmt gtal cson. h slan gntc algothm o aalll gntc algothm GA s n th INN has many slans that sha gns o olatons of oth slans thogh a common ool of chomosoms N by th mgaton of ach slan. homosom N snts th ntal wghts an bass of th nal ntwo an s convg by B. hs soltons gt off th local otmm by th th bg-bang mtho o -ntalzaton. Hn w scb th sgn of th wlss sto vson systm an ts mlmntaton n an omnctonal obot. fth tst th systm fo a scfc alcaton of navgatng th obot nto a gaag. Fnally th oos mtho s coma wth oth mthos to monstat ts nq avantags fo ths alcaton.. Mthos. oblm fomlaton an contoll sgn h s an ght-bt zo-o-hol ZOH mcocontoll n th lag-scal systm comos thogh th ZOH mtho of nts of : x t f x t t f x t t w t wh J j j j t s th contnos-tm vson of th -th sb-contoll s n whch s s th samlng j 83

3 Jonal of Engnng chnology olm 6 Scal Iss Emgng ns n Engnng chnology Mach tm. hs ZOH mcocontoll contols th th motos of th obot s whls. h wghts an bass B B of th nal ntwo contolls shown n Fgs. an n to b tan to contol. h Lyanov mtho of consng th molng o s al to ov stablty to g th obot. h cntalz contoll of s comos of J gtal nal sb-contolls t s [ J ]. h sct-tm vsons of th contnos-tm stats x x an x of th sb-systms a x y an sctvly; t fthmo t 3 t x ] s s s t [ x x x3. h nctants of a { t t... J t} t an ts nconstan xtnal stbancs a w t w t... wj t} w. In aton f j snts th { t ntconncton btwn th -th an j -th sb-systms. h collct nt/ott ata of wll b tan to ts nal sb-mols {... J }. h oos lag-scal contol statgy wll swtch on of th th sb-contolls nto bas on th contons that al wth th molng oblm of th nnown systm. h oos two-stag offln an onln stags statgy fo tanng th nal sb-mol an ts sb-contoll ovs two avantags: th n to bl a comlx hyscal mol s avo an th cton ablty of th nal ntwo to comnsat fo th lay n contollng th motons of th obot s nhanc. h motons of ths obot a hghly smlf nto th actons: otaton s shftng an 3 fowa movmnt along a staght ln. Hnc th ntconnct ffct f of s lmnat sng th swtchng contons shown n Fg. n o to gaant goo contol j fomanc. If th oos mag ocssng s obst thn th ganc of th obot wll b stabl. Fg. shows a ototy of th omnctonal obot whch ncls th motos vng ts th whls an a ynamcally changng ayloa; t can b cons a vsal-lay nnown an hghly nonlna mchatoncs systm. hs obot facs vaabl fcton on th oa. lss sto vson s s to saml th os of th obot. h tm-vayng lay s cas by th comtng tm of th mag ocssng an th wlss commncaton. hs ths hyscal mol cannot b thooghly scb mathmatcally. Hnc th NARX contoll n Fg. whch s comos of th sb-contolls s oos as a lag-scal contoll to achv a mol-f constant. Fg. Stct of th aatv ctv nal contoll. 84

4 Jonal of Engnng chnology olm 6 Scal Iss Emgng ns n Engnng chnology Mach Fg. Dgtal contol stct fo th lay contnos-tm nonlna lant wth nctanty.. Sto vson masmnts Bas on th aoach scb n [5] fst th xls wthn th colo ang of th oos ma a ntf as shown n Fg. 3. h nos s flt by sachng fo th lagst aa of xls n o to c th ROI n th mag. hn fzzy -mans [4] clstng sgmntaton s s to tct th latv oston of th cnt of th ccl cosonng to ach LED on a gayscal mag comnsatng th mag stoton bas on th ntnsc aamts of th camas. Nxt th stocnt of ach LED s calclat n th wol coonat systm by sto vson [5] n o to comt th obot s os fo th svo. Fnally th nxt ROI s ct by th Kalman cto [6]. Fg 3. Exmntal sts of mag cognton of th LEDs: a colo cognton b ROI ntfcaton c sgmntaton of ccls an tcton of th cnts of th two ccls not by + an *. Algothm : h cnt of ach ccl s tct as follows: St : ocss th two LED blbs n th RGB mags fom th lft an ght wlss camas to two smla ccls of gayscal an bnay mags; ths s f to as th ma gon. St : alclat all gant vctos 3 n ths ma gon. St 3: Fn th vcto as an that satsfy th followng contons: onton : h angl btwn an s onton : If th ostons of an a fn as an sctvly th angl btwn 85

5 Jonal of Engnng chnology olm 6 Scal Iss Emgng ns n Engnng chnology Mach an s zo 0. St 4: h mont btwn an s a canat fo th ccl cnt an / s th as of ths ccl. omt all vcto as fom 3 n ths ma gon. St 5: Fn all canats fom all vcto as. h man of all canats s thn tan as th ccl cnt xy. Algothm : h os angl an ts o of th obot a calclat as follows: St : h s os vcto of th obot s v x y. Mas th ostons of th an low LED blbs x y x y an x y x y sng sto vson [5]. v St : alclat th cnt os vcto of th obot as x x y y an calclat v v. St 3: alclat th lngths of th two vctos v an v as l v an l v sctvly. h lag on that comts th slts of ths two vctos sng th coss oato s th angl 80 M 80 cos. hn calclat x x x x l l. St 4: If M 90 an x 0 thn 80 ; f M M 90 an x 0 thn M 80. Algothm 3: A lag-scal ctv contol bas on NARX comnsats fo th vsal lay. hs nal contoll ncls a csv stct bt s tan by th ffowa-stct B mtho to allow ts wghts an bass to convg. h s sgnal o ath of th obot s th al ath s ] [ x y wh s th actal ott an ] [ x y an s th s ott of th systm. Hnc th tanng ata { } of n Fg. a s fo wh m c a th amonts of th ta lays m c sctvly an th tacng o s. h matx s comos of th wghts an bass of. hs offln tanng ata a aang to avo th local otmal angs. A tanng-ata-shffl mtho s al to obtan th global otmal nal contoll by sng th oth ata tstng ata to vfy th local otmal angs. h absolt vals an of th tanng an tstng os sctvly a obtan by B to obtan th ftnss fncton 00/ an cost fncton wh [0 ]. Fnally th th nal ctv sb-contolls a obtan as follows: S... S c S... S c / S S... S c S... S c / S an 3 S33... S33 c3 S33... S33 c3/ S 3 3 wh th scal factos S S }{ S S }{ S S } lmt th nt angs of th nal contoll to [-0 { 3 3 0] an c c c c c c a th amonts of th ta lays of fo th th 3 3 sb-contolls sctvly. h two stags of ths ocss a as follows: Fst stag: Fst } a collct fo th offln tanng of th nal sb-mol: S { S S S an 3 3 S33 S3 wh 86

6 Jonal of Engnng chnology olm 6 Scal Iss Emgng ns n Engnng chnology Mach [ 3 ]. hn bas on th tanng ata { } ] can b obtan sng th INN wh [ 3 ] th offln contoll [ 3 an s th nx of th tm sqnc. h ftnss fncton fo ach aatv sb-contoll s sgn as follows: N Fst sb-contoll: 00 /... ; N N Scon sb-contoll: 00 /... ; an N N3 h sb-contoll: 00 / N 3 h tanng nt ata a mltl by S S }{ S S }{ S S } to gnat convgnc. { 3 3 Scon stag: Accong to homs fn as follows th wghts an bass of th sb-mols an sb-contolls a at onln bas on th ntal wghts an bass tmn offln n th fst stag. hom : If th nmb of csv ntwo nons s sffcnt an s aoat to ma th molng o acctabl thn th conton th fct ott of th nal mol s satsf. hs th tajctoy of bon UUB; n o wos / s 0 wh s s nfomly ltmatly has convg an th global otmal solton of th nal mol s obtan. A tal oof s shown n th Anx. h s a snstvty whch s lat to hom as follows. hom : If hom s satsf an th abov S / S X S s calclat to satsfy th conton 0 thn accong to th oos swtchng mtho ach sb-systm s UUB an t can b nf that th lag-scal systm s also UUB. Hnc cass th tacng os to also b UUB wh S s lat to { } { } an. In oth wos qs X to n thogh S to at ts contol { } aamts an S to b lat to ~ n Fg.. In ths way X can b stmat to obtan a shot-tm cton. h ntf solton of th INN can ach th global otmm systmatcally n two ways: th tanng ata a ch nogh o th two-stag tanng statgy s s. h oos swtchng statgy s ntoc to c th sgn comlxty of th contol systm as follows: onton fo 3 an 3 : h angl of th obot os s zo 0. onton fo an : h oston of th obot shfts to th tagt x x. onton 3 fo an : h stanc of th obot achs th s val y y..3 Alcaton h ots of th contons of th sb-systms a as follows: onton > onton > onton 3. 87

7 Jonal of Engnng chnology olm 6 Scal Iss Emgng ns n Engnng chnology Mach h statgy s as follows: St : As onton s th to oty a tolabl angl o c a tolabl shft o St : If St 3: If stanc o c a st. If y nto th obot n Fg. 4a by sb-contoll ntl x x x c n mm an x c x an a tolabl c n gs thn go to St ; othws swtch c. c thn swtch nto th obot by sb-contoll ntl x cx an c. If c thn tn to St. If x cx an c thn contn to St 3. y y y c n mm x cx an c thn swtch 3 nto th obot by sb-contoll 3 ntl 3 y y cy x cx an c an sto th obot; othws go to St. Accong to th swtchng statgy f ach sb-systm s contoll wll by ts sb-contoll thn th clos-loo sb-systm s bon an stabl an th lag-scal systm s also bon an stabl bcas s bon. h vsal fbac acts n th banwth sons of th low-fqncy moton of th obot. hs th hgh-fqncy tanng ata a nglct to ncas th obstnss of th systm. h NARX contoll s comos of th sb-contolls 3 3 an th aamts cx c y c an Algothm 3 a s to c whch on s swtch nto ths nonlna systm to g th obot. Fst th fnc o s vcto [ x y ] an th al stat vcto [ x y ] can b al to constct a nal sb-mol of ach sb-systm wh x y an a th stats of sb-systms an 3 sctvly. Fthmo n wh ; th matx ncls th wght an bas of ; n an a th ta lays of an sctvly; { } ; } ; 3 3 { 3 B B B } ; B B B } ; an { x x y y { x x y y B B B }. h tacng o s fn as ] 3 { 3x 3x 3y 3y 3 3 wh x x y y an 3 3 [ 3 v t [ v t v t v t]. h th motos n Fg. 4 whch hav ffnt ots a contoll by a aallax BS mcocontoll an th otatonal vlocts a v t v t v wh v v v ] [ v v v3 ] an 3 t [ 3 [ v 3 v 3 v3 3 ] a th otatonal commans of sb-contolls an 3 sctvly. Howv th laton btwn { 3 } { 3} an v t s nnown. h wghts an bass } of th NARX contoll wh B B } { 3 { x x x x B B } B B } an } { y y y y 3 { { m... c th matx snts th wght an bas of an m an c a th ta lays of an sctvly. h cton o s fom 88

8 Jonal of Engnng chnology olm 6 Scal Iss Emgng ns n Engnng chnology Mach th cto X X wh { K x K y K 3 } X an K x K y K a lat to th ct constant vals of sb-systms an 3 sctvly. If s fom th convg nal mol an contoll thn s bon an stabl. 3. Rslts o monstat th caablts of th vson-contol statgy th followng th cass a sgn fo comason: as : A hyscal mol sgn fo contol wthot sng any cama as scb n [7] as : A gntc algothm contol sgn sng a oos vson tchnq as scb n [8] as 3: h oos mtho shown n Fg. wth K K K 0.0. x y In as 3 as shown n Fgs. an 5 th tanng slts a obtan fo sb-contolls 3 bas on th tan nt/ott ata lat to th contol commans fo th motos fom 400 oss of th obot. In th fst nal sb-mol x B.949 a fo th hn lay an x B a fo th ott lay. In th scon nal sb-mol x x y B a fo th hn lay an y y B y 0.69 a fo th ott lay. In th th nal sb-mol B B a fo th ott lay. a fo th hn lay an 89

9 Jonal of Engnng chnology olm 6 Scal Iss Emgng ns n Engnng chnology Mach Fg 4. a wo LEDs fx on th omnctonal obot. b hs obot s fa away fom th two wlss camas c that a s fo th ototy of th sto-vson systm. h th whls of th obot. In ths xmnt t s assm that x 88 mm y 007 mm an 0 an th followng ntal nal contol aamts a s. h wghts x an bass B x of th hn lay of sb-contoll a obtan sng th oos gntc algothm sch that an x B. x an B 0.7. Fo th ott lay of sb-contoll x x 90

10 Jonal of Engnng chnology olm 6 Scal Iss Emgng ns n Engnng chnology Mach Fo th hn lay of sb-contoll B. y y an B Fo th ott lay of sb-contoll Fo th hn lay of sb-contoll 3 y y an B. Fo th ott lay of sb-contoll an B Fth S /300 S S / 000 S S / 40 S 3 3 S 300 S 00 S3 40. h swtchng aamts a c 5 c x 35 c 35. y an S S S 3 h slts shown n Fg. 6a monstat that th mthos of ass an o not g ths obot wll on a ocy oa. Fom Fgs. 4 an 6 th oos contol ocss fo as 3 sgns a vaabl nx that s fn as follows: Inx = 0: h moton of th obot s an aoxmat otaton to th lft o ght. Inx = : h moton of th obot s an aoxmat shft to th ght. Inx = : h moton of th obot s an aoxmat shft to th lft. Inx = 3: h moton of th obot s an aoxmat staght vs. Inx = 4: h moton of th obot s an aoxmat staght avanc. 9

11 Lanng cvs of fv slans Lanng cvs of fv slans Jonal of Engnng chnology olm 6 Scal Iss Emgng ns n Engnng chnology Mach Sach wghts fo sb-contoll by GA Gnatons 00 a Sach wghts fo sb-contoll by GA Gnatons b 9

12 Lanng cvs of fv slans Jonal of Engnng chnology olm 6 Scal Iss Emgng ns n Engnng chnology Mach Sach wghts fo sb-contoll 3 by GA Gnatons c Fg 5. Lanng cvs of th th nal sb-contolls ab an c by GA 93

13 Jonal of Engnng chnology olm 6 Scal Iss Emgng ns n Engnng chnology Mach Fg 6. Exmntal slts obtan by th mtho of as 3: a h al moton ath of th obot s coma wth that obtan by th mtho of as. b h oos contol ocss swtchs to on of th th sb-contolls nto on of th sb-systms to g th obot by sng th mtho of as 3. c h contol comman of th lag-scal contoll at n th mtho of as 3. h smmatons of th aatv aamts c c an c3 snt th convgnc of th nal contoll. 4. onclson hs sty combns two tchnqs: contol an mag ocssng. A flxbl lag-scal contol statgy an a sto-vson ocss a s to ass th contol oblm of th molng o. In ths aoach th s of two LED as mas fo oston tcton ovs mo stablty than th oth ma sgns to g th obot mo accatly. h ostons of th font an bac LEDs fn th cton of th cntln of th obot ths actng as a comass fncton bt wth hgh cson. Moov ths obot os not q ncos las snsos ltason snsos o a comass. Fnally th two LEDs g th omnctonal obot to sccssflly follow th s ath whl th oth cass fal n ths tas. Acnowlgmnts h athos than th Mnsty of Scnc an chnology R.O.. fo th sot n contacts MOS B an 06--E O gatt also gos to Mchal Bton to Asa Unvsty. 94

14 Jonal of Engnng chnology olm 6 Scal Iss Emgng ns n Engnng chnology Mach Rfncs []. Bab. Rajaman K. Balasbamanan Mlta man bas otmz hstogam mofcaton famwo sng swam ntllgnc fo mag contast nhancmnt Mathmatcal oblms n Engnng [].. Jos M.. Antono R.R. Jan G.. Jog. cto.. Jos Blatal mag sbtacton an mltvaat mols fo th atomat tagng of scnng mammogams BoM Rsach Intnatonal [3] X. Fan. Sh J. N M. L A thmal nfa an vsbl mags fson bas aoach fo mlttagt tcton n comlx nvonmnt Mathmatcal oblms n Engnng [4] J. ang A. Smal Atomatc fway ncnt tcton fo f flow contons: a vhcl ntfcaton bas aoach sng mag ata fom sasly stbt vo camas Mathmatcal oblms n Engnng [5] Z.R. sa Robst nct-bas ganc an ostonng of a mltctonal obot by Log-ab cognton Ext Systms wth Alcatons [6].K. anv Gomtc algba bas nmatcs mol an snglaty of a hyb sgcal obot Avancs n Robot Knmatcs [7] H. Jn Q. hn Z. hn Y. H J. Zhang Mlt-LaMoton snso bas monstaton fo obotc fn tablto objct manlaton tas AAI ansactons on Intllgnc chnology [8]. Sa R. nha. Haml D. abcnhas. Slvst Lanng of a qaoto on a movng tagt sng ynamc mag-bas vsal svo contol IEEE ansactons on Robotcs [9] J. L X. L B. Yang X. Sn Sgmntaton-bas mag coy-mov fogy tcton schm IEEE ansactons on Infomaton Fonscs an Scty [0] S. bo.s. L N. Alxos F. Albt J. Blasco Atomat systms bas on machn vson fo nsctng cts fts fom th fl to osthavst a vw Foo an Boocss chnology [] Z.R. sa Mltos sgn of an LED mmng systm Jonal of Engnng chnology [] H. Bcl K. n S. olanc H. Magomtschngg G. ngt. Sc. Bogn B.H. Zszsanna.H. Hlbch. Baltz Dffson-wght magng of bast lsons: Rgon-of-ntst lacmnt an ffnt AD aamts nflnc aant ffson coffcnt vals Eoan Raology [3] Z.R. sa Y.Z. hang wo-stag gtal sgn of a coolng systm wth tm lay by th Jonal of Engnng chnology [4] M. Gong Y. Lang J. Sh. Ma J. Ma Fzzy c-mans clstng wth local nfomaton an nl mtc fo mag sgmntaton IEEE ansactons on Imag ocssng [5] Z. Zhang ama calbaton: a sonal tosctv Machn son an Alcatons [6] G. Lgoo A.M. Sabatn A novl Kalman flt fo hman moton tacng wth an ntal-bas ynamc nclnomt IEEE ansactons on Bomcal Engnng [7] L.. Ln H.Y. Shh Molng an aatv contol of an omn-mcanm-whl obot Intllgnt ontol an Atomaton [8] R. Ko A gntc algothm aoach to a nal-ntwo-bas nvs nmatcs solton of obotc manlatos bas on o mnmzaton Infomaton Scncs

15 Jonal of Engnng chnology olm 6 Scal Iss Emgng ns n Engnng chnology Mach AENDIX h Lyanov canat fo mnmzng th molng o s sgn as follows: wh s th lanng o btwn th mol an th lant; ncls th alty ; s th molng o; an. Nxt ns to b mnmz by th followng atng law fo tanng th nal mol: wh. hn th Lyanov canat fo tanng th nal contoll s sgn as 3 3. Fthmo th chang n th Lyanov canat 3 can b obtan as 3 3. Fnally th aataton law s obtan to tan th aamts of th contoll: S 3. h stabl lanng ats of th convgnc thoms can hl n stablzng th nal ntwo. Fst th chang n s calclat sng th followng qatons: an. Hnc f an thn. hat s 0 o s UUB. hom can also b ov sng a smla aoach.