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

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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.
Originele taal-2Engels
Titel2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's1791-1798
Aantal pagina's8
ISBN van elektronische versie978-1-5386-9582-1
DOI's
StatusGepubliceerd - 18 dec 2018
Evenement15th International Conference on Control, Automation, Robotics and Vision - Singapore, Singapore
Duur: 18 nov 201821 nov 2018

Congres

Congres15th International Conference on Control, Automation, Robotics and Vision
LandSingapore
StadSingapore
Periode18/11/1821/11/18

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Citeer dit

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 (blz. 1791-1798). [8581266] Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICARCV.2018.8581266