Design of computer vision assisted machine learning based controller for the Stewart platform to track spatial objects

IF 2.9 3区 工程技术 Q2 ENGINEERING, CIVIL Frontiers of Structural and Civil Engineering Pub Date : 2024-07-26 DOI:10.1007/s11709-024-1086-y
Dev Kunwar Singh Chauhan, Pandu R. Vundavilli
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Abstract

The present work aims to develop an object tracking controller for the Stewart platform using a computer vision-assisted machine learning-based approach. This research is divided into two modules. The first module focuses on the design of a motion controller for the Physik Instrumente (PI)-based Stewart platform. In contrast, the second module deals with the development of a machine-learning-based spatial object tracking algorithm by collecting information from the Zed 2 stereo vision system. Presently, simple feed-forward neural networks (NN) are used to predict the orientation of the top table of the platform. While training, the x, y, and z coordinates of the three-dimensional (3D) object, extracted from images, are used as the input to the NN. In contrast, the orientation information of the platform (that is, rotation about the x, y, and z-axes) is considered as the output from the network. The orientation information obtained from the network is fed to the inverse kinematics-based motion controller (module 1) to move the platform while tracking the object. After training, the optimised NN is used to track the continuously moving 3D object. The experimental results show that the developed NN-based controller has successfully tracked the moving spatial object with reasonably good accuracy.

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为跟踪空间物体的 Stewart 平台设计基于计算机视觉辅助机器学习的控制器
本研究旨在利用基于计算机视觉辅助机器学习的方法,为 Stewart 平台开发一种物体跟踪控制器。这项研究分为两个模块。第一个模块侧重于为基于物理仪器(PI)的 Stewart 平台设计运动控制器。而第二个模块则是通过收集来自 Zed 2 立体视觉系统的信息,开发基于机器学习的空间物体跟踪算法。目前,简单的前馈神经网络(NN)被用来预测平台顶台的方向。在训练时,从图像中提取的三维(3D)物体的 x、y 和 z 坐标被用作神经网络的输入。而平台的方向信息(即围绕 x、y 和 z 轴的旋转)则被视为网络的输出。从网络中获得的方向信息被输入到基于逆运动学的运动控制器(模块 1)中,以便在跟踪物体的同时移动平台。训练完成后,优化后的网络将用于跟踪连续运动的三维物体。实验结果表明,所开发的基于 NN 的控制器成功地跟踪了移动的空间物体,并且具有相当高的精度。
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来源期刊
CiteScore
5.20
自引率
3.30%
发文量
734
期刊介绍: Frontiers of Structural and Civil Engineering is an international journal that publishes original research papers, review articles and case studies related to civil and structural engineering. Topics include but are not limited to the latest developments in building and bridge structures, geotechnical engineering, hydraulic engineering, coastal engineering, and transport engineering. Case studies that demonstrate the successful applications of cutting-edge research technologies are welcome. The journal also promotes and publishes interdisciplinary research and applications connecting civil engineering and other disciplines, such as bio-, info-, nano- and social sciences and technology. Manuscripts submitted for publication will be subject to a stringent peer review.
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