Remote Image Acquisition Research Articles

The Internet of Things Based Yak Farm Image Acquisition Node Hardware Design

This paper describes the design idea of yak farming hardware of remote image acquisition system, from the camera communication circuit, wireless communication circuit, power supply circuit for yak farms node wireless remote image acquisition, transmission system hardware design.

Design of High-Speed Remote Image Data Storage Memory Based on LVDS

Due to the characteristics of the large amount of data and the high rate of transmission in the system of remote image acquisition, introduces a remote image storage memory based on the LVDS. The FPGA design as the core, and adopting the LVDS interface solution string and the drive chip combined, ensure the effective of receiving remote data. Meanwhile the system adopted the flash programming technology of alternative two-plane to storage the image data. It realized the speed of 28.95 MB/s high-speed real-time image data storage requirements in system. The application shows that the data memory stable and reliable, meets the practical requirements

Remote Image Acquisition and Transmission Framework for Monitoring Plant Growth Based on ARM9

In order to monitor the plant growth in greenhouse, a new method based on GPRS and Internet wireless communication technology was introduced in this paper. It is a system involving S3C2410 of ARM9 kernel as the microprocessor chip, which can be run in Linux operating system and takes the wireless transmission mode of GPRS+Internet as an adoption. The structure of the whole system, hardware design and image acquisition and transmission framework were introduced. A detailed explanation was given about planted method of operating system in the paper.

Navigation of the Non-Invasive Rat Robot

A navigation system for non-invasive rat robot is described here that can control the rat navigation via ultrasonic, electrical epidermal and LED(light-emitting diode) photic stimulators.It receives commands from a remote host computer to remotely deliver ultrasonic,electrical epidermal and LED photic stimuli to the auditory,pain and visual senses of the rat respectively,and thus its motion control is accomplished.The experiments demonstrate that the appropriate coordination of the three stimuli enables the rat to proceed and make right and left turns effectively and non-invasively,what's more,the telemetry camera mounted on the rat head also achieves remote image acquisition and helps to adjust rat navigation path over a distance of 300 m.

Telerobotic system concept for real‐time soft‐tissue imaging during radiotherapy beam delivery

The curative potential of external beam radiation therapy is critically dependent on having the ability to accurately aim radiation beams at intended targets while avoiding surrounding healthy tissues. However, existing technologies are incapable of real-time, volumetric, soft-tissue imaging during radiation beam delivery, when accurate target tracking is most critical. The authors address this challenge in the development and evaluation of a novel, minimally interfering, telerobotic ultrasound (U.S.) imaging system that can be integrated with existing medical linear accelerators (LINACs) for therapy guidance. A customized human-safe robotic manipulator was designed and built to control the pressure and pitch of an abdominal U.S. transducer while avoiding LINAC gantry collisions. A haptic device was integrated to remotely control the robotic manipulator motion and U.S. image acquisition outside the LINAC room. The ability of the system to continuously maintain high quality prostate images was evaluated in volunteers over extended time periods. Treatment feasibility was assessed by comparing a clinically deployed prostate treatment plan to an alternative plan in which beam directions were restricted to sectors that did not interfere with the transabdominal U.S. transducer. To demonstrate imaging capability concurrent with delivery, robot performance and U.S. target tracking in a phantom were tested with a 15 MV radiation beam active. Remote image acquisition and maintenance of image quality with the haptic interface was successfully demonstrated over 10 min periods in representative treatment setups of volunteers. Furthermore, the robot's ability to maintain a constant probe force and desired pitch angle was unaffected by the LINAC beam. For a representative prostate patient, the dose-volume histogram (DVH) for a plan with restricted sectors remained virtually identical to the DVH of a clinically deployed plan. With reduced margins, as would be enabled by real-time imaging, gross tumor volume coverage was identical while notable reductions of bladder and rectal volumes exposed to large doses were possible. The quality of U.S. images obtained during beam operation was not appreciably degraded by radiofrequency interference and 2D tracking of a phantom object in U.S. images obtained with the beam on/off yielded no significant differences. Remotely controlled robotic U.S. imaging is feasible in the radiotherapy environment and for the first time may offer real-time volumetric soft-tissue guidance concurrent with radiotherapy delivery.

시설멜론용 다기능 재배생력화 시스템;원격 로봇작업 시스템 개발

In this paper, a prototype tele-operative system with a mobile base was developed in order to automate cultivation of house melon. A man-machine interactive hybrid decision-making system via tele-operative task interface was proposed to overcome limitations of computer image recognition. Identifying house melon including position data from the field image was critical to automate cultivation. And it was not simple especially when melon is covered partly by leaves and stems. The developed system was composed of 5 major modules: (a) main remote monitoring and task control module, (b) wireless remote image acquisition and data transmission module, (c) three-wheel mobile base mounted with a 4 dof articulated type robot manipulator (d) exchangeable modular type end tools, and (e) melon storage module. The system was operated through the graphic user interface using touch screen monitor and wireless data communication among operator, computer, and machine. Once task was selected from the task control and monitoring module, the analog signal of the color image of the field was captured and transmitted to the host computer using R.F. module by wireless. A sequence of algorithms to identify location and size of a melon was performed based on the local image processing. Laboratory experiment showed the developed prototype system showed the practical feasibility of automating various cultivating tasks of house melon.

Development of Multi-functional Tele-operative Modular Robotic System For Watermelon Cultivation in Greenhouse

생물생산에 요구되는 다양한 작업들을 생력화하기 위한 연구 개발 노력이 전세계적으로 활발히 추진되어 왔다. 이러한 연구 개발은 주로 노동집약적인 작업, 고부가가치 농산물을 생산하기 위한 작업 그리고 작업자에 유해한 또는 가혹한 환경하의 작업 등에 주안점을 두고 추진되고 있다. 하지만, 생물생산 분야의 생력화를 추진하는데 있어서 다양한 작업성과 강건성이라는 작업성능 측면에서의 기술적인 문제와 고가의 시스템 및 설비 비용에 따른 경제성 문제가 항상 걸림돌이 되어 왔다. 본 연구에서는 언급한 문제점들 외에 기계가동률, 유지보수 등 생물생산분야의 생력화에 있어 내재되고 있는 문제점들을 효율적으로 해결하기 위하여 무선 원격로봇 시스템에 의거한 새로운 생력화 개념을 제안하였다. 새로운 개념의 생력화는 주어진 작업을 성공적으로 수행하기 위하여 작업자(농민), 컴퓨터 그리고 로봇을 위시한 자동화 작업설비를 대상으로 상대적으로 수월성을 갖는 기능을 중심으로 역할을 분담하는 것이다. 또한 시설재배에 요구되는 전정, 관수, 방제, 제초, 수확, 운반 등과 같은 다양한 작업들을 노동 투하정도와 기능적 유사성 측면을 고려하여 일관적으로 작업을 생력화하는 방안을 제시하였고 제안한 개념을 구현할 수 있는 시스템을 개발하였다. 대상 작목으로는 중량으로 인하여 비교적 취급이 어려운 수박을 선택하였다. 개발 시스템은 크게 무선원격 모니터링 및 작업제어 모듈, 무선원격 영상 획득 및 데이터 송수신 모듈, 4자유도 직교좌표형 로봇 암을 장착한 갠트리 장치부, 교체가 가능한 모듈형 선단 작업장치, 수박 운반 적재모듈의 5개 하드웨어 모듈로 구성하였다. 개발한 시스템은 그래픽 사용자 인터페이스를 통하여 터치 스크린 모니터를 이용하여 작업자와 컴퓨터간의 인터페이스를 구현하였으며 무선 원격데이타 송수신과 분산 제어기를 이용하여 작업자와 컴퓨터 그리고 로봇 작업기간의 인터페이스와 시스템 제어를 구현하였다. 개발 시스템의 성능을 시험하여 결과를 제시하였으며 본 논문에서 제안한 새로운 개념의 생력화 시스템은 생물생산분야의 생력화 방향을 새롭게 제시하는 실질적이고 실현 가능한 시스템이라는 것을 보여주었다. There have been worldwide research and development efforts to automate various processes of bio-production and those efforts will be expanded with priority given to tasks which require high intensive labor or produce high value-added product and tasks under hostile environment. In the field of bio-production capabilities of the versatility and robustness of automated system have been major bottlenecks along with economical efficiency. This paper introduces a new concept of automation based on tole-operation, which can provide solutions to overcome inherent difficulties in automating bio-production processes. Operator(farmer), computer, and automatic machinery share their roles utilizing their maximum merits to accomplish given tasks successfully. Among processes of greenhouse watermelon cultivation tasks such as pruning, watering, pesticide application, and harvest with loading were chosen based on the required labor intensiveness and functional similarities to realize the proposed concept. The developed system was composed of 5 major hardware modules such as wireless remote monitoring and task control module, wireless remote image acquisition and data transmission module, gantry system equipped with 4 d.o.f. Cartesian type robotic manipulator, exchangeable modular type end-effectors, and guided watermelon loading and storage module. The system was operated through the graphic user interface using touch screen monitor and wireless data communication among operator, computer, and machine. The proposed system showed practical and feasible way of automation in the field of volatile bio-production process.

Interface of Tele-Task Operation for Automated Cultivation of Watermelon in Greenhouse

컴퓨터 시각 기술은 다양한 농작업 생력화에 있어 핵심적인 역할을 해왔다. 비록 컴퓨터 시각 기술이 광범위한 분야에 성공적으로 적용되고 있다고는 하지만 인간의 시각을 통한 인지 능력에 비하면 현재의 컴퓨터 시각 기술은 여전히 매우 미흡한 수준에 있다고 하겠다. 특히, 작업환경이 비구조적이고 가변적인 농작업 환경 하에서의 작업의 생력화는 이러한 기술적 문제를 극복하는 것이 작업의 성패를 좌우하게 된다. 본 논문에서는 원격작업 개념을 도입하여 작업자와 작업기계간의 호환적인 인터페이스를 구축하고 컴퓨터와 인간의 혼합형 의사결정 시스템을 구현하여 기존의 컴퓨터 시각 기술이 갖는 인지 처리 능력의 한계를 극복하는 시스템을 제안하였다. 시설재배에 요구되는 전정, 관수, 방제, 제초, 수확, 운반 등과 같은 다양한 작업들은 작업 대상체에 대한 인식을 바탕으로 수행된다. 특히 가변적인 자연 조명 환경 하에서 수박과 줄기 그리고 잎이 혼재되어 있는 재배현장의 영상으로부터 수박을 추출하여 그 위치 좌표를 산출하는 작업은 기술적으로 매우 어려운 작업이며 수박이 잎과 줄기로 덮혀 있는 경우 더욱 어려워진다. 제안한 개념을 구현하기 위하여 무선으로 수신되는 재배 현장의 수박 영상으로부터 수박을 인식하도록 하였다. 개발한 시스템은 작업자(농민), 컴퓨터 그리고 자동화 작업설비가 상대적으로 수월성을 갖는 기능을 중심으로 역할을 분담하도록 구축하였다 개발 시스템은 크게 무선원격 모니터링 및 작업제어 모듈, 무선원격 영상 획득 및 데이터 송수신 모듈, 작업자와 컴퓨터간의 인터페이스 모듈로 구성하였다 작업자는 RF 송수신 모듈을 통하여 무선으로 획득되어 터치 스크린에 보여지는 영상을 통하여 작업 지시를 하게 되고 이 작업 지시로부터 컴퓨터는 국부 영상처리 시퀀스를 통하여 수박을 추출하고 위치를 산출하게 된다. 개발한 인터페이스 시스템은 가변적이고 복잡한 작업 환경하에서 작업 대상체의 정보를 실시간으로 성공적으로 추출하였다. 제안한 원격작업 인터페이스 시스템은 다양한 생물생산 작업의 생력화를 촉진하는 중심적 역할을 할 것으로 기대된다. Computer vision technology has been utilized as one of the most powerful tools to automate various agricultural operations. Though it has demonstrated successful results in various applications, the current status of technology is still for behind the human's capability typically for the unstructured and variable task environment. In this paper, a man-machine interactive hybrid decision-making system which utilized a concept of tole-operation was proposed to overcome limitations of computer image processing and cognitive capability. Tasks of greenhouse watermelon cultivation such as pruning, watering, pesticide application, and harvest require identification of target object. Identifying water-melons including position data from the field image is very difficult because of the ambiguity among stems, leaves, shades. and fruits, especially when watermelon is covered partly by leaves or stems. Watermelon identification from the cultivation field image transmitted by wireless was selected to realize the proposed concept. The system was designed such that operator(farmer), computer, and machinery share their roles utilizing their maximum merits to accomplish given tasks successfully. And the developed system was composed of the image monitoring and task control module, wireless remote image acquisition and data transmission module, and man-machine interface module. Once task was selected from the task control and monitoring module, the analog signal of the color image of the field was captured and transmitted to the host computer using R.F. module by wireless. Operator communicated with computer through touch screen interface. And then a sequence of algorithms to identify the location and size of the watermelon was performed based on the local image processing. And the system showed practical and feasible way of automation for the volatile bio-production process.

Identification and 3D Coordinate Extraction of Object Via Tele-Task Command

Major deficiencies of current automation scheme including various robots for bioproduction include the lack of task adaptability and real time processing, low job performance for diverse tasks, and the lack of robustness of task results, high system cost, failure of the credit from the operator, and so on This paper proposed a scheme that could solve the current limitation of task abilities of conventional computer controlled automatic system. The proposed scheme is the man-machine hybrid automation via tele-operation which can handle various Coproduction processes And it was classified into two categories One category was the efficient task sharing between operator and CCM (computer controlled machine) The other was the efficient interface between operator and CCMTo realize the proposed concept, task of the object identification and extraction of 3D coordinate of an object was sclectcd 3D coordinate information was obtained from cantera calibration using camera as a measxirement device Two stereo images were obtained by moving a camera certain distance in horizontal direction normal to focal axis and by acquiring two images at different locations Transformation matrix for camera calibration was obtained via least square error approach using specified 6 known pairs of data points in 2D image and 3D world space 3D world coordinate was obtained from two sets of image pixel coordinates of both camera images with calibrated transformation matrixAs an interface system between operator and CCM, a touch pod screen mounted on the monitor and remotely captured imaging system were used Object indication was done by the operator's finger touch to the captured image using the touch pad screen A certain size of local image processing area was specified after the touch was made. And image processing was performed with the specified local area to extract desired features of the object An MS Window s based interface software was developed using Visual C++6.0 The software was developed with four modules such as remote image acquisition module, task command module, local image processing module and 3D coordinate extraction module Proposed scheme showed the feasibility of real tune processing, robust and precise object identification and adaptability of various job and environments through selected sample tasks