Showing papers by "Hengyu Li published in 2012"
01 Dec 2012
TL;DR: F fuzzy adaptive PID control method is adopted to realize the function similar to vestibular nucleus and the transfer function of controlled object is established according to medical research so as to determine the variation range of PID parameters in MATLAB environment.
Abstract: The core of building bionic eye system is to imitate the function of human eye neural circuit so as to design the corresponding control strategy. In this paper, fuzzy adaptive PID control method is adopted to realize the function similar to vestibular nucleus'. Besides, the transfer function of controlled object is established according to medical research so as to determine the variation range of PID parameters in MATLAB environment. In the end, this control strategy is applied to the real bionic eye system based on the spherical parallel mechanism and plenty of experiments are conducted which show quick-response performance and robustness of the control system that conforms to human eye motion control mechanism.
4 citations
21 Apr 2012
TL;DR: This paper presents a method that the characteristic points in sequenced images assemblies for target is collected by the Gabor filter, and turned into matching templates, and it can avoid the affection by target feature collecting from background, so the method has the benefit to the real time binocular tracking.
Abstract: To solve the stability and rapidity problem of visual tracking, the paper presents a method that the characteristic points in sequenced images assemblies for target is collected by the Gabor filter, and turned into matching templates. The detection with the Sobel operator is used to get initial points position, to determine each initial point parameter, and in this way we can speed up optimizing for parameters. The experimental result has been verified that the arithmetic is with highly reliability and availability, it can avoid the affection by target feature collecting from background, so the method has the benefit to the real time binocular tracking.
1 citations
03 Oct 2012
TL;DR: The mechanism and simulation of a robot bionic eye based on spherical ultrasonic motor (SUSM) with three rotational degrees of freedom (3-DOF) is presented, fit to solve the problem of vision instability during robots' working.
Abstract: Vision system is crucial for autonomous robots. In order to realize some visual performances by complicated eye movements, like tracking target, image stabilization and vestibulo-ocular reflex, we present the mechanism and simulation of a robot bionic eye based on spherical ultrasonic motor (SUSM) with three rotational degrees of freedom (3-DOF). SUSM is a compact mechanism occupying little space but good responsiveness, high positioning accuracy, high torque at low speed and strong magnetic field compatibility. So based on SUSM, the bionic eye is fit to solve the problem of vision instability during robots' working. The bionic eye is constructed of three annular stators adhered with several piezoelectric elements and a spherical rotor as a camera actuator. The rotor is driven by frictional forces from the three stators accompanying with same preload generated by the deformations of specialized coil springs. Through simulation by a virtual prototype to analyze the rotational speed, torque and responsiveness, our mechanical design is verified to be reasonable and effective preliminary.
1 citations