Shanghai Key Laboratory of Manufacturing Automation and Robotics

Shanghai, China

Shanghai Key Laboratory of Manufacturing Automation and Robotics

Shanghai, China
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Xu S.,Shanghai University | Xu S.,Shanghai Key Laboratory of Manufacturing Automation and Robotics | Sun J.,Shanghai University | Shen J.X.,Shanghai University
Applied Mechanics and Materials | Year: 2014

Air-cushion vehicles (ACVs) provide a solution to transportation on soft terrain, whereas they also bring a new problem of excessive energy consumption to be solved. The prerequisite for energy consumption optimization is its modelling and simplification with respect to vehicle independent operating parameters. In a scenario of steady-state longitudinal drive condition, by employing slip ratio and load distribution ratio as independent parameters, dependent parameters and energy consumption are inferred and finally expressed as functions of the independent parameters. The method and result can be taken reference by studies of energy consumption modelling for air-cushion vehicles in different structures and also extensively for common electric vehicles. © (2014) Trans Tech Publications, Switzerland.


Yao Y.,Shanghai University | Yao Y.,Shanghai Key Laboratory of Manufacturing Automation and Robotics | Chen D.,Shanghai University | Wang L.,Shanghai University | Yang X.,Zhejiang University
International Journal of Advanced Robotic Systems | Year: 2016

When building a 3D printing cloud manufacturing platform, self-sensing and collaboration on manufacturing resources present challenging problems. This paper proposes a peer-robot collaboration framework to deal with these issues. Each robot combines heterogeneous additive manufacturing hardware and software, acting as an intelligent agent. Through collaboration with other robots, it forms a dynamic and scalable integration manufacturing system. The entire distributed system is managed by rules that employ an internal rule engine, which supports rule conversion and conflict resolution. Two additive manufacturing service scenarios are designed to analyse the efficiency and scalability of the framework. Experiments show that the presented method performs well in tasks requiring large-scale access to resources and collaboration. © 2016 Author(s).


Zhao Q.,Shanghai University | Zhao Q.,Shanghai Key Laboratory of Manufacturing Automation and Robotics | Shao H.,Shanghai University | Zhang X.,Shanghai University | And 2 more authors.
Communications in Computer and Information Science | Year: 2014

Eye gaze plays a very important role in identifying human’s attention, so it has been considered to be applied in human computer interaction, and one of the main factors in hindering eye gaze application is the complexity of systems and detection method of gaze direction. To build up an eye gaze tracking human-computer interaction system with simple infrastructure and good usability, a kind of gaze direction evaluating approach based on eyes moving trend has been proposed, and the eyes image and feature information are respectively captured and extracted with a Web camera and a computer, and the quantity of eyes moving trend is defined by the ratio of the distances from iris center to the both corners in one eye. Moreover, the image processing algorithms have been provided to detect the characteristics in the image of eyes area, and the eye corners equivalent position detection method has been put up with respect to the shape of eye corners. Some experiments have been done in the test system, and the results show that the proposed methods and algorithms can meet the communication demands for different subjects in multi type work conditions; after completing the initialization, the subjects can freely interact with the computer in a certain work range, and there is no need to frequently calibrate the work parameters, so the limitations to the subjects have been decreased and the system is easy to use, furthermore, it provides a new way for eye gaze tracking technology applied for caring the old and the disability. © Springer-Verlag Berlin Heidelberg 2014.


Yuan X.,Shanghai University | Yuan X.,Shanghai Key Laboratory of Manufacturing Automation and Robotics | Zhao Q.,Shanghai University | Zhao Q.,Shanghai Key Laboratory of Manufacturing Automation and Robotics | And 4 more authors.
Proceedings - 2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2013 | Year: 2013

In order to realize head-free eye-gaze tracking human-computer interaction(HCI) system, a novel gaze direction estimation method is proposed in this paper. The point of gaze (PoG) is estimated by building up the geometric mapping relationship between the vector from the infrared light to the eye-gaze point and the vector from the purkinje spot to the pupil center in 3D space. To calculate the position of purkinje spot and pupil center in 3D space, user-dependent parameters, such as the radius of the cornea and the inter-pupillary distance, should be calibrated before using the eye-gaze tracking HCI system. Different from most monocular(2D) vision techniques simplifying the 3D eye-gaze tracking issue into 2D issue, the proposed method uses a single camera to estimate PoG on 2D plane by means of 3D spatial geometry mapping. Experiments on PoG estimation have been done and the results suggest the proposed method is feasible. © 2013 IEEE.


Cao P.,Shanghai University | Cao P.,Shanghai Key Laboratory of Manufacturing Automation and Robotics | Zhao Q.,Shanghai University | Zhao Q.,Shanghai Key Laboratory of Manufacturing Automation and Robotics | And 4 more authors.
Proceedings - 2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2013 | Year: 2013

Eye characteristics are significant information in pattern recognition. They are widely applied in many fields, such as human-computer interaction, face recognition and 3D face modeling from 2D images. Generally, the eye information detection is Based on gray images. However, color images provide more information than gray images. According to different applications, choosing a suitable color space is very important. In this paper, several eye features are compared from the view point of different color spaces, such as RGB, HIS, HSV. And some experiments have been done in the three color spaces. The extraordinary bright area of pupil in the H channel of HSV color space is confirmed. Moreover, pupil center is detected and estimated using morphology processing method in H channel. The results show that eyes features are more obvious in the HSV space, and feature extraction is more convenient. Furthermore, the experimental analysis can provide reference for future research on eye characteristic recognition. © 2013 IEEE.


Zhao Q.J.,Shanghai University | Zhao Q.J.,Shanghai Key Laboratory of Manufacturing Automation and Robotics | Cao P.,Shanghai University | Meng Q.X.,Shanghai University
Advanced Materials Research | Year: 2014

Real-time detecting information marked on billets is important for automatically manufacturing and management in steelworks. But due to the tough production environments in steel enterprises, capturing and identifying characters marked on hot billets have many challenges. This paper presents a real-time image capturing and segmenting method with machine vision for characters marked on hot billets, and characters area is located based on color information of images. Furthermore, considering the marked characters are often slant, we proposed a kind of characters skew correction method to adjust the alignment of characters, and then segment characters into singles for recognition. Finally, with the proposed method, we have conducted some experiments in Baosteel Company. The result shows that our method can achieve 97% segmentation rate if we select proper image acquisition device and preprocessing algorithm. Additionally, it provides a new way for steel enterprise real-time capturing and segmenting marked characters image. © (2014) Trans Tech Publications, Switzerland.


Jiang J.-L.,Shanghai University | Jiang J.-L.,Shanghai Key Laboratory of Manufacturing Automation and Robotics | Tu D.-W.,Shanghai University | Tu D.-W.,Shanghai Key Laboratory of Manufacturing Automation and Robotics | And 4 more authors.
Tien Tzu Hsueh Pao/Acta Electronica Sinica | Year: 2013

This paper proposes a navigation algorithm of biomimetic conditioned reflex for mobile robots based on neuroethology principles. For environment perception, a biological antenna model is proposed to delineate the interested sensing areas, and thus decrease the computational burden. For motion planning and control, according to a practical Bug algorithm proposed in this paper, the obtained environment stimulation is responded to generate the corresponding walking behavior. Experiments have been carried out in different conditions of obstacle distribution for algorithm verification. The results present its practicability, fewer turning number, smaller route length and smooth motion path. It can be expected that this algorithm will be of potential application in automated mobile robot(AMR) and automated guided vehicle(AGV).


Yao Y.,Shanghai University | Yao Y.,Shanghai Key Laboratory of Manufacturing Automation and Robotics | Zhang L.,Shanghai University | Qiao W.,Shanghai University
Jisuanji Fuzhu Sheji Yu Tuxingxue Xuebao/Journal of Computer-Aided Design and Computer Graphics | Year: 2013

For depth sensor based hand gesture recognition, how to collect training data and built a gesture database with suitable size are challenging tasks. In this paper, we present a semi-automatic labeling scheme for establishing the real hand gesture dataset. A framework for developing hand gesture driven desktop applications is designed based on this scheme, which use RGB-D sensor as input. Moreover, a hand contour model is proposed to simplify the gesture matching process and reduce the computational complexity. The experimental evaluations and a demo application demonstrate the effectiveness of this framework.


Yao Y.,Shanghai University | Yao Y.,Shanghai Key Laboratory of Manufacturing Automation and Robotics | Cheng M.,Shanghai University
Jisuanji Fuzhu Sheji Yu Tuxingxue Xuebao/Journal of Computer-Aided Design and Computer Graphics | Year: 2013

In order to design porous models with specific functions, good internal connectivity and natural structures, this paper proposes a new learning-based porous structure modeling method. Firstly, the porosity and connectivity are selected as the evaluation indices. Then a structure with 6-adjacent voxel is designed as the parametric design unit, which is used to establish a manually labeled training database. Random decision forest (RDF) is utilized to learn the correlation model between sample structures and design targets. This correlation model is finally integrated into a scalable porous structure modeling framework. Experimental results show that the generalization capability of the RDF is able to give correctly judgments for those structures beyond the training data, which makes it possible to generate more natural porous structure to satisfy certain design goals.


Tang S.-M.,Shanghai University | Zhang X.,Shanghai University | Tu D.-W.,Shanghai University | Tu D.-W.,Shanghai Key Laboratory of Manufacturing Automation and Robotics
Guangdianzi Jiguang/Journal of Optoelectronics Laser | Year: 2015

In coded structured light measurement, color coded structured light possesses a distinct advantage that it has high speed of shape measurement, because it only needs to project one pattern. Encoding and decoding are its two key problems. The captured color stripe is easily affected by many factors, such as the ambient light, the texture, color, discontinuity and steep slope of the object, so the color is often identified incorrectly, thereby the low decoding accuracy is emerged. To improve the decoding accuracy of color stripe structured light which is generated from pseudo-random sequence, this paper proposes a new decoding method. It includes three steps. First, Canny algorithm based on color image is adopted to obtain the location information of the edge feature on the camera image. Second, the color classification of the camera image is conducted through the use of the guiding K-means clustering algorithm on a color invariant that has high discriminating power. Finally, the relations of edge features between the projector image and camera image are directly determined with a multi-step matching method based on the window property. The experimental results show that the proposed decoding method can effectively improve the accuracy of decoding without setting the surface color and texture structure of the measured object. Besides that, the method exhibits strong robustness. ©, 2015, Board of Optronics Lasers. All right reserved.

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