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Distributed Real Time Robot Vision in Java

Kasper, Samuel (2003) In MSc Theses
Department of Automatic Control
Abstract
The goal of this thesis was to design and implement a distributed real time vision system in Java and to investigate its performance with the aid of some robot experiments. Controlling a process requires reference- and feedback signals which can be sensed by means of digital cameras. The image data coming from the cameras needs to be collected, processed and transmitted through the network without long time delays. The high-level programming language Java was used for all implementations in order to achieve portability and object orientation. The UDP protocol provides the basis for the communication tool since it allows fast and connectionless data transmission. Computer vision was developed with the aid of Java Advanced Imaging as well as... (More)
The goal of this thesis was to design and implement a distributed real time vision system in Java and to investigate its performance with the aid of some robot experiments. Controlling a process requires reference- and feedback signals which can be sensed by means of digital cameras. The image data coming from the cameras needs to be collected, processed and transmitted through the network without long time delays. The high-level programming language Java was used for all implementations in order to achieve portability and object orientation. The UDP protocol provides the basis for the communication tool since it allows fast and connectionless data transmission. Computer vision was developed with the aid of Java Advanced Imaging as well as Java Native Interfaces. Based on the linearised and simplified model of the ball-and-plate process, continuous time controllers were designed and simulated using Simulink. A discretised controller was implemented in Java. Various timing tests showed the excellent performance of the developed communication tool. The Java-based image processing turned out to work fast enough with respect to the sampling interval of the digital cameras. The aim of the experiment was to make a ball roll along a predefined trajectory by tilting a plate appropriately. The ball-and-plate process was successfully controlled by a PD controller using an industrial robot as actuator and digital cameras as sensors for the feedback and reference signal. (Less)
Please use this url to cite or link to this publication:
author
Kasper, Samuel
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5702
ISSN
0280-5316
language
English
id
8848072
date added to LUP
2016-03-19 17:37:24
date last changed
2016-03-19 17:37:24
@misc{8848072,
  abstract     = {The goal of this thesis was to design and implement a distributed real time vision system in Java and to investigate its performance with the aid of some robot experiments. Controlling a process requires reference- and feedback signals which can be sensed by means of digital cameras. The image data coming from the cameras needs to be collected, processed and transmitted through the network without long time delays. The high-level programming language Java was used for all implementations in order to achieve portability and object orientation. The UDP protocol provides the basis for the communication tool since it allows fast and connectionless data transmission. Computer vision was developed with the aid of Java Advanced Imaging as well as Java Native Interfaces. Based on the linearised and simplified model of the ball-and-plate process, continuous time controllers were designed and simulated using Simulink. A discretised controller was implemented in Java. Various timing tests showed the excellent performance of the developed communication tool. The Java-based image processing turned out to work fast enough with respect to the sampling interval of the digital cameras. The aim of the experiment was to make a ball roll along a predefined trajectory by tilting a plate appropriately. The ball-and-plate process was successfully controlled by a PD controller using an industrial robot as actuator and digital cameras as sensors for the feedback and reference signal.},
  author       = {Kasper, Samuel},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Distributed Real Time Robot Vision in Java},
  year         = {2003},
}