Advanced topics on computer vision, control and robotics in mechatronics

Osslan Osiris Vergara Villegas  Manuel Nandayapa  Israel Soto Editors Advanced Topics on Computer Vision, Control and Robotics in Mechatronics Advanced Topics on Computer Vision, Control and Robotics in Mechatronics Osslan Osiris Vergara Villegas Manuel Nandayapa Israel Soto • Editors Advanced Topics on Computer Vision, Control and Robotics in Mechatronics 123 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 978-3-319-77769-6 ISBN 978-3-319-77770-2 https://doi.org/10.1007/978-3-319-77770-2 (eBook) Library of Congress Control Number: 2018935206 © 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 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 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 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 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 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 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 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 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 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 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 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 Contents Part I Denoising of Ultrasound Medical Images Using the DM6437 High-Performance Digital Media Processor Gerardo Adrián Martínez Medrano, Humberto de Jesús Ochoa Domínguez and Vicente García Jiménez Morphological Neural Networks with Dendritic Processing for Pattern Classification Humberto Sossa, Fernando Arce, Erik Zamora and Elizabeth Guevara 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 Feature Selection for Pattern Recognition: Upcoming Challenges Marilu Cervantes Salgado and Raúl Pinto Elías 27 49 77 Overview of Super-resolution Techniques 101 Leandro Morera-Delfín, Rẳl Pinto-Elías and Humberto-de-Jesús Ochoa-Domínguez Part II Computer Vision Control Learning in Biologically Inspired Neural Networks for Robot Control 131 Diana Valenzo, Dadai Astorga, Alejandra Ciria and Bruno Lara ix x Contents Force and Position Fuzzy Control: A Case Study in a Mitsubishi PA10-7CE Robot Arm 165 Miguel A Llama, Wismark Z Castañon and Ramon Garcia-Hernandez Modeling and Motion Control of the 6-3-PUS-Type Hexapod Parallel Mechanism 195 Ricardo Campa, Jaqueline Bernal and Israel Soto A Finite-Time Nonlinear PID Set-Point Controller for a Parallel Manipulator 241 Francisco Salas, Israel Soto, Raymundo Juarez and Israel U Ponce 10 Robust Control of a 3-DOF Helicopter with Input Dead-Zone 265 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 291 Andrea Magadán Salazar, Andrés Blanco Ortega, Karen Gama Velasco and Arturo Abúndez Pliego 12 Cognitive Robotics: The New Challenges in Artificial Intelligence 321 Bruno Lara, Alejandra Ciria, Esau Escobar, Wilmer Gaona and Jorge Hermosillo 13 Applications of Haptic Systems in Virtual Environments: A Brief Review 349 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 379 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 409 Flabio Mirelez-Delgado Part I Computer Vision 418 F Mirelez-Delgado Fig 15.3 Position consensus for robots in topology Fig 15.4 Orientation consensus for robot in topology 15.5.1.2 Regulation Once the consensus process is over, the regulation stage continues, in which the regulation control at a point leads to the states of the robots being modified in such a way that they reach a desired position and orientation Figure 15.7 shows how the robots reach a desired position and orientation The evolution for orientation angles for each member of the group is depicted in Fig 15.8 15 Consensus Strategy Applied to Differential Mobile Robots … 419 Fig 15.5 Linear velocities for robots consensus in topology Fig 15.6 Angular velocities for robots consensus in topology The robots arrived at the desired position as shown in Figs 15.7 and 15.8 The linear and angular speeds of each robot to achieve this are shown in Figs 15.9 and 15.10 15.5.1.3 Trajectory Tracking Once the robots reach a desired point on Cartesian plane, the next step is to apply a tracking control that will guide the robots to follow a predetermined trajectory In this case, the desired trajectory is an shape, also known as Lemniscata 420 F Mirelez-Delgado Fig 15.7 Robots movements for regulation control on consensus for topology Fig 15.8 Robots orientation for regulation control on consensus for topology The results of the simulation are shown in Fig 15.11 Figure 15.12 represents the orientation for each robot along the trajectory, and Figs 15.13 and 15.14 show the linear and angular velocity, respectively 15 Consensus Strategy Applied to Differential Mobile Robots … 421 Fig 15.9 Linear velocities for robots, regulation on consensus for topology Fig 15.10 Angular velocities for robots, regulation on consensus for topology 15.5.2 Simulation Results for Topologies and The simulations were performed for the topologies and to compare the behavior for the group of robots In Tables 15.1 and 15.2, the comparison between topology and is depicted According to the procedure done for topology 1, the main aspects to analyze are Cartesian plane movements, orientation, linear, and angular velocity These four points are presented in three scenarios; consensus, regulation, and tracking 422 F Mirelez-Delgado Fig 15.11 Trajectory tracking for robots in consensus, topology Fig 15.12 Robots orientation for trajectory tracking in consensus, topology 15.6 Experimental Results The experimental results were obtained using the following equipment: • Three differential mobile robots iRobot Create 0.2605 [m] between wheels 0.045 [m] wheel radius 15 Consensus Strategy Applied to Differential Mobile Robots … 423 Fig 15.13 Linear velocities for robots on trajectory tracking, topology Fig 15.14 Angular velocities for robots on trajectory tracking, topology • • • • • Camera uEye-1220SE-M-CL (monocromatic) Field of view of 2.3 [m] Â 1.7 [m] SO Ubuntu 12.04 C++ programming Bluetooth centralized communication For implementation, topology was selected with the following results Figure 15.15 shows the three stages (consensus, regulation, and tracking) for three DMR The circles denote the initial conditions and the pentagons are used to mark where the robots finish their trajectories The green line depicts the desired trajectory which must be followed by the consensus point 424 F Mirelez-Delgado Table 15.1 Simulations for topologies Modality Consensus Topology Cartesian plane Orientations Linear velocities Angular velocities (continued) 15 Consensus Strategy Applied to Differential Mobile Robots … 425 Table 15.1 (continued) Modality Regulation Topology Cartesian plane Orientations Linear velocities Angular velocities (continued) 426 F Mirelez-Delgado Table 15.1 (continued) Modality Tracking Topology Cartesian plane Orientations Linear velocities Angular velocities 15 Consensus Strategy Applied to Differential Mobile Robots … 427 Table 15.2 Simulations for topologies Modality Consensus Topology Cartesian plane Orientations Linear velocities Angular velocities (continued) 428 F Mirelez-Delgado Table 15.2 (continued) Modality Regulation Topology Cartesian plane Orientations Linear velocities Angular velocities (continued) 15 Consensus Strategy Applied to Differential Mobile Robots … Table 15.2 (continued) Modality Tracking Topology Cartesian plane Orientations Linear velocities Angular velocities 429 430 F Mirelez-Delgado Fig 15.15 Experimental result using topology for consensus, regulation, and trajectory tracking Figure 15.16 shows the behavior for the heading angles of each robot during the experiment At the end of this graph, we can see how the robot has the same orientation as they are following the desired path In Figs 15.17 and 15.18, we can see the evolution for linear and angular velocities in the robots during the experiment Fig 15.16 Robots orientation for consensus, regulation and trajectory tracking with topology 15 Consensus Strategy Applied to Differential Mobile Robots … 431 Fig 15.17 Linear velocities during the experiment Fig 15.18 Angular velocities during the experiment 15.7 Conclusions It was shown that three different mobile robots can achieve consensus in their three states can perform regulation to a fixed point with consensus and follow a path with only displacing the consensus point The weights or values of the coefficients of the Laplacian matrix influence not only the value of the consensus point, but also in the robot’s behavior on regulation and trajectory tracking This aspect must be carefully handled at topology design 432 F Mirelez-Delgado The results of the implementation differ from the simulations due to factors such as lighting, physical limitations of the robots and other factors inherent to the experimental platform The experimental validation demonstrates that through consensus cooperation techniques in mobile robots can be established References Antonelli, G., Arrichiello, F., & Chiaverini, S (2009) Experiments of formation control with multirobot systems using the null-space-based behavioral control IEEE Transactions on Control Systems Technology, 17(5), 1173–1182 Chung, S., & Slotine, J (2009) Cooperative robot control and concurrent synchronization of Lagrangian systems IEEE Transactions on Robotics, 25(3), 686–700 De Luca, A., Oriolo, G., & Vendittelli, M (2001) Control of wheeled mobile robots: An experimental overview In S Nicosia, B Siciliano, A Bicchi, & P Valigi (Eds.), Lecture notes in control and information sciences (Vol 270) Berlin, Heidelberg: Springer Desai, J., Ostrowski, J., & Kumar, V (2001) Modeling and control of formations of non-holonomic mobile robots IEEE Transactions on Robotics and Automation, 17(6), 905– 908 Huijberts, H., Nijmeijer, H., & Willems, R (2000) Regulation and controlled synchronization for complex dy-namical systems International Journal of Robust and Nonlinear Control, 10(5), 336–377 Nijmeijer, H., & Rodríguez-Angeles, A (2004) Control synchronization of differential mobile robots In 6th IFAC Symposium on Nonlinear Control Systems, California, USA, pp 579–584 Ren, W., & Beard, R (2008) Distributed consensus in multi-vehicle cooperative control: Theory and application London: Springer Siméon, T., Leroy, S., & Laumond, J (2002) Path coordination for multiple mobile robots: A resolution-complete algorithm IEEE Transactions on Robotics and Automation, 18(1), 42–49 Sun, D., & Mills, J (2002) Adaptive synchronized control for coordination of multi-robot assembly tasks IEEE Transactions on Robotics and Automation, 18(4), 498–510 Sun, D., & Mills, J K (2007) Controlling swarms of mobile robots for switching between formations using synchronization Concept In IEEE International Conference on Robotics and Automation, Roma, Italy, pp 2300–2305 Takahashi, H., Nishi, H., & Ohnishi, K (2004) Autonomous decentralized control for formation of multiple mobile robots considering ability of robot IEEE Transactions on Industrial Electronics, 51(6), 1272–1279 Yamaguchi, H., Arai, T., & Beni, G (2001) A distributed control scheme for multiple robotic vehicles to make group for-mations Robotics and Autonomous Systems, 36(4), 125–147 .. .Advanced Topics on Computer Vision, Control and Robotics in Mechatronics Osslan Osiris Vergara Villegas Manuel Nandayapa Israel Soto • Editors Advanced Topics on Computer Vision, Control and. .. 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