High resolution computed tomography at the Ghent University: measuring, visualizing and analyzing the internal structure of objects with sub-micron precision.

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Intelligent manipulation technique for multi-branch robotic systems

New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-opera- tive morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon’s navigation capabilites by observ- ing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted in- struments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D opti- cal imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions

Система визначення глибини зображення

Робота публікується згідно наказу Ректора НАУ від 27.05.2021 р. №311/од "Про розміщення кваліфікаційних робіт здобувачів вищої освіти в репозиторії університету" . Керівник роботи: к. т. н., ст. викл. кафедри авіаційних комп’ютерно-інтегрованих комплексів, Василенко Микола ПавловичIn today's world, there is often a question about creating a model to solve a certain problem in such a way that it performs its intended task properly and does not have a large cost. This is what almost every developer of the project wants at the production stage. Thus, the work consists in improving and acquiring better accuracy of the image depth detection system. For this, was modified and improved, namely, the main design of the model was changed and the quality of the image was improved, thanks to various methods of image filtering. Unlike the previous model, this project investigates the effect and quality of the 3D scene construction in the image, not the streaming video, under different weather conditions and at different observation points, which makes it possible to feel in more detail the impact of various phenomena on the model itself during operation and improve accuracy due to considering a single pair of images rather than a stream of large numbers at a specific frequency. The design consists of two cameras, which were selected from the principle of price-quality, and a box to fix and protect the model itself, thus forming protection from the environment in various conditions of use. The design is connected to a computer that performs the software part, which consists in creating a stereo pair – artificial adjustment of cameras, image analysis at the initial stage and after filtering, which as a result gives an opportunity to see the difference in the accuracy of constructing a 3D image, which can be used for various goals, for example to find out the size or distance to the target object.У сучасному світі часто постає питання про створення моделі вирішення певної задачі таким чином, щоб вона якісно виконувала поставлене завдання і не мала великих витрат. Це те, чого хоче практично кожен розробник проекту на етапі виробництва. Таким чином, робота полягає в удосконаленні та підвищенні точності системи визначення глибини зображення. Для цього виготовлена модель була модифікована та вдосконалена, а саме змінено основну конструкцію моделі та покращено якість зображення, завдяки різним методам фільтрації зображення. На відміну від попередньої моделі, цей проект досліджує ефект і якість побудови 3D-сцени в зображенні, а не в потоковому відео, за різних погодних умов і в різних точках спостереження, що дає можливість більш детально відчути вплив різних явищ. на самій моделі під час роботи та підвищити точність за рахунок розгляду однієї пари зображень, а не потоку великих чисел із певною частотою. Конструкція складається з двох камер, підібраних за принципом ціна-якість, і коробки для кріплення і захисту самої моделі, формуючи таким чином захист від зовнішнього середовища в різних умовах використання. Конструкція підключена до комп’ютера, який виконує програмну частину, яка полягає у створенні стереопари – штучне налаштування камер, аналіз зображення на початковому етапі та після фільтрації, що в результаті дає можливість побачити різницю в точності. побудови тривимірного зображення, яке можна використовувати для різних цілей, наприклад, щоб дізнатися розмір або відстань до цільового об'єкта

Multi-scale metrology for automated non-destructive testing systems

This thesis was previously held under moratorium from 5/05/2020 to 5/05/2022The use of lightweight composite structures in the aerospace industry is now commonplace. Unlike conventional materials, these parts can be moulded into complex aerodynamic shapes, which are diffcult to inspect rapidly using conventional Non-Destructive Testing (NDT) techniques. Industrial robots provide a means of automating the inspection process due to their high dexterity and improved path planning methods. This thesis concerns using industrial robots as a method for assessing the quality of components with complex geometries. The focus of the investigations in this thesis is on improving the overall system performance through the use of concepts from the field of metrology, specifically calibration and traceability. The use of computer vision is investigated as a way to increase automation levels by identifying a component's type and approximate position through comparison with CAD models. The challenges identified through this research include developing novel calibration techniques for optimising sensor integration, verifying system performance using laser trackers, and improving automation levels through optical sensing. The developed calibration techniques are evaluated experimentally using standard reference samples. A 70% increase in absolute accuracy was achieved in comparison to manual calibration techniques. Inspections were improved as verified by a 30% improvement in ultrasonic signal response. A new approach to automatically identify and estimate the pose of a component was developed specifically for automated NDT applications. The method uses 2D and 3D camera measurements along with CAD models to extract and match shape information. It was found that optical large volume measurements could provide suffciently high accuracy measurements to allow ultrasonic alignment methods to work, establishing a multi-scale metrology approach to increasing automation levels. A classification framework based on shape outlines extracted from images was shown to provide over 88% accuracy on a limited number of samples.The use of lightweight composite structures in the aerospace industry is now commonplace. Unlike conventional materials, these parts can be moulded into complex aerodynamic shapes, which are diffcult to inspect rapidly using conventional Non-Destructive Testing (NDT) techniques. Industrial robots provide a means of automating the inspection process due to their high dexterity and improved path planning methods. This thesis concerns using industrial robots as a method for assessing the quality of components with complex geometries. The focus of the investigations in this thesis is on improving the overall system performance through the use of concepts from the field of metrology, specifically calibration and traceability. The use of computer vision is investigated as a way to increase automation levels by identifying a component's type and approximate position through comparison with CAD models. The challenges identified through this research include developing novel calibration techniques for optimising sensor integration, verifying system performance using laser trackers, and improving automation levels through optical sensing. The developed calibration techniques are evaluated experimentally using standard reference samples. A 70% increase in absolute accuracy was achieved in comparison to manual calibration techniques. Inspections were improved as verified by a 30% improvement in ultrasonic signal response. A new approach to automatically identify and estimate the pose of a component was developed specifically for automated NDT applications. The method uses 2D and 3D camera measurements along with CAD models to extract and match shape information. It was found that optical large volume measurements could provide suffciently high accuracy measurements to allow ultrasonic alignment methods to work, establishing a multi-scale metrology approach to increasing automation levels. A classification framework based on shape outlines extracted from images was shown to provide over 88% accuracy on a limited number of samples

High-precision grasping and placing for mobile robots

This work presents a manipulation system for multiple labware in life science laboratories using the H20 mobile robots. The H20 robot is equipped with the Kinect V2 sensor to identify and estimate the position of the required labware on the workbench. The local features recognition based on SURF algorithm is used. The recognition process is performed for the labware to be grasped and for the workbench holder. Different grippers and labware containers are designed to manipulate different weights of labware and to realize a safe transportation