Table Of ContentOsslan Osiris Vergara Villegas
Manuel Nandayapa
Editors
Israel Soto
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
(cid:129)
Editors
Advanced Topics
on Computer Vision, Control
and Robotics in Mechatronics
123
Editors
OsslanOsiris Vergara Villegas Israel Soto
Industrial andManufacturing Engineering Industrial andManufacturing Engineering
Universidad Autónoma deCiudadJuárez Universidad Autónoma deCiudadJuárez
CiudadJuárez,Chihuahua CiudadJuárez,Chihuahua
Mexico Mexico
Manuel Nandayapa
Industrial andManufacturing Engineering
Universidad Autónoma deCiudadJuárez
CiudadJuárez,Chihuahua
Mexico
ISBN978-3-319-77769-6 ISBN978-3-319-77770-2 (eBook)
https://doi.org/10.1007/978-3-319-77770-2
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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.
Fromanexhaustive perusal andtheexperiencegainedfromseveralyearsinthe
field, we detected that several disciplines such electronics, mechanics, control and
computersarerelatedtothedesignandbuildingofmechatronicsystems.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 regula-
tions.Finally,Roboticsisaninterdisciplinarybranchofengineeringthatdealswith
the design, construction, operation and application of robots.
Thisbookisintendedtopresenttherecentadvancesincomputervision,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 offive 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 automo-
tive, and reviews in the field of pattern recognition, super-resolution and artificial
neural networks.
Chapter1presentsanimplementationandcomparisonoffivedifferentdenoising
methodstoreducemultiplicativenoiseinultrasoundmedicalimages.Themethods
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. 3.
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 4 introduces the upcoming challenges of feature selection in pattern
recognition. The paper particularizes in a new type of data known as chronologi-
callylinked,whichisproposedtodescribethevaluethatafeaturecanacquirewith
respect to time in a finite range.
Finally, in Chap. 5 an overview of the most important single-image and
multiple-image super-resolution techniques is given. The methods and its corre-
spondentimplementation andtestingareshowed.Inaddition,themainadvantages
and disadvantages of each methods were discussed.
Part II Control
The second part of the book related to control focused mainly into propose intel-
ligent control strategies for helicopters, manipulators and robots.
Chapter 6 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 7 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 8 reports the kinematic and dynamic models of the 6-3-PUS-type
HexapodparallelmechanismandalsocoversthemotioncontroloftheHexapod.In
addition, the chapter describes the implementation of two motion tracking con-
trollers 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. 9. 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
freedomhelicopter.ThecontrolproblemissolvedusingnonlinearH∞synthesisof
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
mechatronicssystems.Theapplicationsincluderehabilitationsystems,challengesin
cognitive robotics, and applications of haptic systems.
Preface vii
Chapter11proposesanovelanklerehabilitationparallelrobotwithtwodegrees
of freedom consisting of two linear guides. Also, a serious game and a facial
expressionrecognitionsystemwereaddedforentertainmentandtoimprovepatient
engagement in the rehabilitation process.
Chapter 12 explains the new challenges in the area of cognitive robotics. In
addition,twolow-levelcognitivetasksaremodeledandimplementedinanartificial
agent. In the first experiment an agent learns its body map, while in the second
experiment the agent acquires a distance-to-obstacles concept.
Chapter13coversareviewofapplicationsoftwonoveltechnologiesknownas
haptic systems and virtual environments. The applications are divided in two cat-
egoriesincludingtrainingandassistance.Foreachcategorythefieldsofeducation,
medicine and industry are addressed.
Theaerodynamicanalysis ofabio-inspiredthreedegrees offreedomarticulated
flatempennageispresentedinChap.14.Theproposalmimicsthewaythatthetail
of some birds moves.
Finally,theproblemofperformingdifferenttaskswithagroupofmobilerobots
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 partic-
ipants 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 Osslan Osiris Vergara Villegas
April 2018 Manuel Nandayapa
Israel Soto
Contents
Part I Computer Vision
1 Denoising of Ultrasound Medical Images Using the DM6437
High-Performance Digital Media Processor . . . . . . . . . . . . . . . . . . 3
Gerardo Adrián Martínez Medrano, Humberto de Jesús Ochoa
Domínguez and Vicente García Jiménez
2 Morphological Neural Networks with Dendritic Processing
for Pattern Classification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
HumbertoSossa,FernandoArce,ErikZamoraandElizabethGuevara
3 Mobile Augmented Reality Prototype for the Manufacturing
of an All-Terrain Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Erick Daniel Nava Orihuela, Osslan Osiris Vergara Villegas,
Vianey Guadalupe Cruz Sánchez, Ramón Iván Barraza Castillo
and Juan Gabriel López Solorzano
4 Feature Selection for Pattern Recognition: Upcoming
Challenges. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Marilu Cervantes Salgado and Raúl Pinto Elías
5 Overview of Super-resolution Techniques. . . . . . . . . . . . . . . . . . . . 101
Leandro Morera-Delfín, Raúl Pinto-Elías
and Humberto-de-Jesús Ochoa-Domínguez
Part II Control
6 Learning in Biologically Inspired Neural Networks
for Robot Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Diana Valenzo, Dadai Astorga, Alejandra Ciria and Bruno Lara
ix
x Contents
7 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
8 Modeling and Motion Control of the 6-3-PUS-Type Hexapod
Parallel Mechanism. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Ricardo Campa, Jaqueline Bernal and Israel Soto
9 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
