Vision Algorithms for Ball on Beam and Plate
(2010) In MSc ThesesDepartment of Automatic Control
- Abstract
- The ball-and-beam process is one of the most famous control laboratory processes [1]. At the Department of Automatic Control at Lund Institute of Technology a light-weight ballandbeam process has been made portable by implementing the controls on a laptop with a webcam. The main contribution of this master thesis was the testing and implementation of a variety of vision-based algorithms used to localize the beam, the ball on it and calculate the angle of the beam. A soft-real-time controller was also implemented which used the camera sampling period. Identification of gestures was used to set reference points on the beam. For further testing of the algorithms a ball-on-plate process was implemented using an IRB2400 6-axis robot, using... (More)
- The ball-and-beam process is one of the most famous control laboratory processes [1]. At the Department of Automatic Control at Lund Institute of Technology a light-weight ballandbeam process has been made portable by implementing the controls on a laptop with a webcam. The main contribution of this master thesis was the testing and implementation of a variety of vision-based algorithms used to localize the beam, the ball on it and calculate the angle of the beam. A soft-real-time controller was also implemented which used the camera sampling period. Identification of gestures was used to set reference points on the beam. For further testing of the algorithms a ball-on-plate process was implemented using an IRB2400 6-axis robot, using hard-real-time (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8847458
- author
- Espersson, Magnus
- supervisor
- organization
- year
- 2010
- type
- H3 - Professional qualifications (4 Years - )
- subject
- publication/series
- MSc Theses
- report number
- TFRT-5859
- ISSN
- 0280-5316
- language
- English
- id
- 8847458
- date added to LUP
- 2016-03-16 12:31:50
- date last changed
- 2016-03-16 12:31:50
@misc{8847458, abstract = {{The ball-and-beam process is one of the most famous control laboratory processes [1]. At the Department of Automatic Control at Lund Institute of Technology a light-weight ballandbeam process has been made portable by implementing the controls on a laptop with a webcam. The main contribution of this master thesis was the testing and implementation of a variety of vision-based algorithms used to localize the beam, the ball on it and calculate the angle of the beam. A soft-real-time controller was also implemented which used the camera sampling period. Identification of gestures was used to set reference points on the beam. For further testing of the algorithms a ball-on-plate process was implemented using an IRB2400 6-axis robot, using hard-real-time}}, author = {{Espersson, Magnus}}, issn = {{0280-5316}}, language = {{eng}}, note = {{Student Paper}}, series = {{MSc Theses}}, title = {{Vision Algorithms for Ball on Beam and Plate}}, year = {{2010}}, }