Advanced Topics on Computer Vision, Control and Robotics in Mechatronics
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1 Advanced Topics on Computer Vision, Control and Robotics in Mechatronics
2 Osslan Osiris Vergara Villegas Manuel Nandayapa Israel Soto Editors Advanced Topics on Computer Vision, Control and Robotics in Mechatronics 123
3 Editors Osslan Osiris Vergara Villegas Industrial and Manufacturing Engineering Universidad Autónoma de Ciudad Juárez Ciudad Juárez, Chihuahua Mexico Israel Soto Industrial and Manufacturing Engineering Universidad Autónoma de Ciudad Juárez Ciudad Juárez, Chihuahua Mexico Manuel Nandayapa Industrial and Manufacturing Engineering Universidad Autónoma de Ciudad Juárez Ciudad Juárez, Chihuahua Mexico ISBN ISBN (ebook) Library of Congress Control Number: Springer International Publishing AG, part of Springer Nature 2018 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. Printed on acid-free paper This Springer imprint is published by the registered company Springer International Publishing AG part of Springer Nature The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
4 Preface The field of mechatronics, which is the synergistic combination of precision mechanical engineering, electronic control and thinking systems in the design of products and manufacturing processes, is gaining much attention in industries and academics. Most complex innovations in several industries are possible due to the existence of mechatronics systems. From an exhaustive perusal and the experience gained from several years in the field, we detected that several disciplines such electronics, mechanics, control and computers are related to the design and building of mechatronic systems. However, computer vision, control and robotics are currently essential to achieve a better design and operation of intelligent mechatronic systems. Computer vision is the field of artificial intelligence devoted to acquiring, processing, analyzing and interpreting images from the real world with the goal of producing numerical information that can be treated by a computer. On the other hand, Control is a discipline that governs the physical laws of dynamic systems for variable regulations. Finally, Robotics is an interdisciplinary branch of engineering that deals with the design, construction, operation and application of robots. This book is intended to present the recent advances in computer vision, control and robotics for the creation of mechatronics systems. Therefore, the book content is organized in three main parts: a) Computer Vision, b) Control, and c) Robotics, each one containing a set of five chapters. Part I Computer Vision In this part, the book reports efforts in developing computer vision systems implemented in different mechatronics industries including medical and automotive, and reviews in the field of pattern recognition, super-resolution and artificial neural networks. Chapter 1 presents an implementation and comparison of five different denoising methods to reduce multiplicative noise in ultrasound medical images. The methods were implemented in the fixed-point DM6437 high-performance digital media processor (DSP). v
5 vi Preface In Chap. 2, a survey of the most recent advances concerning to morphological neural networks with dendritic processing (MNNDPs) is presented. The basics of each model and the correspondent training algorithm are discussed, and in some cases an example is presented to facilitate understanding. The novel technology of augmented reality (AR) is addressed in Chap. 3. Particularly, a mobile AR prototype to support the process of manufacturing an all-terrain vehicle is discussed. The prototype was tested in a real automotive industry with satisfactory results. Chapter 4 introduces the upcoming challenges of feature selection in pattern recognition. The paper particularizes in a new type of data known as chronologically linked, which is proposed to describe the value that a feature can acquire with respect to time in a finite range. Finally, in Chap. 5 an overview of the most important single-image and multiple-image super-resolution techniques is given. The methods and its correspondent implementation and testing are showed. In addition, the main advantages and disadvantages of each methods were discussed. Part II Control The second part of the book related to control focused mainly into propose intelligent control strategies for helicopters, manipulators and robots. Chapter 6 focuses on the field of cognitive robotics. Therefore, the simulations of an autonomous learning process of an artificial agent controlled by artificial action potential neural networks during an obstacle avoidance task are presented. Chapter 7 analyzes and implements the hybrid force/position control using a fuzzy logic in a Mitsubishi PA10-7CE Robot Arm which is a seven degrees of freedom robot. Chapter 8 reports the kinematic and dynamic models of the 6-3-PUS-type Hexapod parallel mechanism and also covers the motion control of the Hexapod. In addition, the chapter describes the implementation of two motion tracking controllers in a real Hexapod robot. The application of a finite time-time nonlinear proportional integral derivative (PID) controller to a five-bar mechanism, for set-point controller, is presented in Chap. 9. The stability analysis of the closed-loop system shows global finite-time stability of the system. Finally, Chap. 10 deals with the tracking control problem of three degrees of freedom helicopter. The control problem is solved using nonlinear H synthesis of time-varying systems. The proposed method considers external perturbations and parametric variations. Part III Robotics The final part of the book is devoted to the field of robotics implemented as mechatronics systems.the applications include rehabilitation systems, challenges in cognitive robotics, and applications of haptic systems.
6 Preface vii Chapter 11 proposes a novel ankle rehabilitation parallel robot with two degrees of freedom consisting of two linear guides. Also, a serious game and a facial expression recognition system were added for entertainment and to improve patient engagement in the rehabilitation process. Chapter 12 explains the new challenges in the area of cognitive robotics. In addition, two low-level cognitive tasks are modeled and implemented in an artificial agent. In the first experiment an agent learns its body map, while in the second experiment the agent acquires a distance-to-obstacles concept. Chapter 13 covers a review of applications of two novel technologies known as haptic systems and virtual environments. The applications are divided in two categories including training and assistance. For each category the fields of education, medicine and industry are addressed. The aerodynamic analysis of a bio-inspired three degrees of freedom articulated flat empennage is presented in Chap. 14. The proposal mimics the way that the tail of some birds moves. Finally, the problem of performing different tasks with a group of mobile robots is addressed in Chap. 15. In order to cope with issues like regulation to a point or trajectory tracking, a consensus scheme is considered. The proposal was validated by a group of three differential mobile robots. Also, we would like to thank all our book contributors and many other participants who submitted their chapters that cannot be included in the book, we value your effort enormously. Finally, we would like to thank the effort of our chapter reviewers that helped us sustain the high quality of the book. Chihuahua, Mexico April 2018 Osslan Osiris Vergara Villegas Manuel Nandayapa Israel Soto
7 Contents Part I Computer Vision 1 Denoising of Ultrasound Medical Images Using the DM6437 High-Performance Digital Media Processor... 3 Gerardo Adrián Martínez Medrano, Humberto de Jesús Ochoa Domínguez and Vicente García Jiménez 2 Morphological Neural Networks with Dendritic Processing for Pattern Classification Humberto Sossa, Fernando Arce, Erik Zamora and Elizabeth Guevara 3 Mobile Augmented Reality Prototype for the Manufacturing of an All-Terrain Vehicle Erick Daniel Nava Orihuela, Osslan Osiris Vergara Villegas, Vianey Guadalupe Cruz Sánchez, Ramón Iván Barraza Castillo and Juan Gabriel López Solorzano 4 Feature Selection for Pattern Recognition: Upcoming Challenges Marilu Cervantes Salgado and Raúl Pinto Elías 5 Overview of Super-resolution Techniques Leandro Morera-Delfín, Raúl Pinto-Elías and Humberto-de-Jesús Ochoa-Domínguez Part II Control 6 Learning in Biologically Inspired Neural Networks for Robot Control Diana Valenzo, Dadai Astorga, Alejandra Ciria and Bruno Lara ix
8 x Contents 7 Force and Position Fuzzy Control: A Case Study in a Mitsubishi PA10-7CE Robot Arm Miguel A. Llama, Wismark Z. Castañon and Ramon Garcia-Hernandez 8 Modeling and Motion Control of the 6-3-PUS-Type Hexapod Parallel Mechanism Ricardo Campa, Jaqueline Bernal and Israel Soto 9 A Finite-Time Nonlinear PID Set-Point Controller for a Parallel Manipulator Francisco Salas, Israel Soto, Raymundo Juarez and Israel U. Ponce 10 Robust Control of a 3-DOF Helicopter with Input Dead-Zone Israel U. Ponce, Angel Flores-Abad and Manuel Nandayapa Part III Robotics 11 Mechatronic Integral Ankle Rehabilitation System: Ankle Rehabilitation Robot, Serious Game, and Facial Expression Recognition System Andrea Magadán Salazar, Andrés Blanco Ortega, Karen Gama Velasco and Arturo Abúndez Pliego 12 Cognitive Robotics: The New Challenges in Artificial Intelligence Bruno Lara, Alejandra Ciria, Esau Escobar, Wilmer Gaona and Jorge Hermosillo 13 Applications of Haptic Systems in Virtual Environments: A Brief Review Alma G. Rodríguez Ramírez, Francesco J. García Luna, Osslan Osiris Vergara Villegas and Manuel Nandayapa 14 Experimental Analysis of a 3-DOF Articulated Flat Empennage Miguel Angel García-Terán, Ernesto Olguín-Díaz, Mauricio Gamboa-Marrufo, Angel Flores-Abad and Fidencio Tapia-Rodríguez 15 Consensus Strategy Applied to Differential Mobile Robots with Regulation Control and Trajectory Tracking Flabio Mirelez-Delgado
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