Cross-domain modeling and optimization of high-speed visual servo systems

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Abstract

High-speed visual servo systems are used in an increasing number of applications. Yet modeling and optimizing these systems remains a research challenge, largely because these systems consist of tightly-coupled design parameters across multiple domains, including image sensors, vision algorithms, processing systems, mechanical systems, control systems, among others. To overcome such a challenge, this work applies an axiomatic design method to the design of high-speed visual servo systems, such that cross-domain couplings are explicitly modeled and subsequently eliminated when possible. More importantly, methods are proposed to model the sample rate, measurement error, and delay of visual feedback based on design parameters across multiple domains. Lastly, methods to construct a holistic model and to perform cross-domain optimization are proposed. The proposed methods are applied to a representative case study that demonstrates the necessity of cross-domain modeling and optimization, as well as the effectiveness of the proposed methods.
Original languageEnglish
Title of host publication2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages1791-1798
Number of pages8
ISBN (Electronic)978-1-5386-9582-1
DOIs
Publication statusPublished - 18 Dec 2018
Event15th International Conference on Control, Automation, Robotics and Vision - Singapore, Singapore
Duration: 18 Nov 201821 Nov 2018

Conference

Conference15th International Conference on Control, Automation, Robotics and Vision
CountrySingapore
CitySingapore
Period18/11/1821/11/18

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Ye, Z., Corporaal, H., Jonker, P. P., & Nijmeijer, H. (2018). Cross-domain modeling and optimization of high-speed visual servo systems. In 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018 (pp. 1791-1798). [8581266] Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICARCV.2018.8581266