Guidelines To Specify A Camera For Computer Vision Measurement Of Vehicle Suspension Alignment Angles Based On The Desired Sensibility

A method to calculate the sensibility of a Computer Vision measurement system is presented in this paper. The specific mensuration done is for car wheel inclination. It will be shown that an equipment using cameras and no other clamp or accessory attached to the wheels to help the procedure to obtain angles from the steering suspension alignment by means of the wheel's images is a viable idea, but not, nowadays technologically realizable. © 2012 IEEE. IEEE Photonics Society,IEEE Wuhan Section,Optics and Photonics Society of Singapore,Wuhan University,Beijing Jiaotong UniversityJanuary, D.B., Steering Geometry and Caster Measurement, , http://www.hunter.com/pub/undercar/2573T/index.htm, website content. Title: AuthorHalderman, J.D., (2010) Automotive Steering Suspension Alignment, , Pearson5th editionHartley, R., Zisserman, A., (2004) Multiple View Geometry in Computer Vision, , Cambridge University Press2 edition April 19Trucco, E., Verri, A., (1998) Introductory Techniques for 3-D Computer Vision, , Prentice HallRyoo, S.T., Segmentation Based Environment Modeling Using a Single Image (2004) International Conference, ICIAR, Proceedings, Part I, pp. 98-105Forsyth, D.A., Ponce, J., (2003) Computer Vision. A Modern Approach, , Prentice Hal

Visual Odometry In Mobile Robots

The paper presents an application of visual odometry, through reconstruction of the path of a mobile robot, using a stereoscopic camera system. The scale invariant feature transformation algorithm (SIFT), is used to process the images and locate keypoints in a 3D euclidian coordinates space. The path of a Pioneer mobile robot is estimated using the proposed technique. © 2011 IEEE.Lower, D.G., Distinctive image features from scale-invariant keypoints (2004) International Journal of Computer VisionSmith, M.R., Estimating uncertain spatial relationships in robôics (1990) Auton. Robô Veh., 8, pp. 167-193. , PSilveira, G., Malis, E., Rives, An efficient direct approach to visual SLAM (2008) IEEE-j-ro, 24, pp. 969-979. , P. 5Silveira, G., Malis, E., Rives, (2007) An Efficient Direct Method for Improving Visual SLAM, pp. 4090-4095. , PDavison, A.J., Murray, D.W., Simultaneous localization and mapbuilding using active vision (2002) IEEE-j-pami, 24, pp. 865-880. , 7Zhu, Z., Keeping smart, omnidirectional eyes on you [adaptive panoramic stereovision] (2004) IEEE Robôics & Automation Magazine, 11, pp. 69-78. , 4Saeedi, P., Lawrence, P.D., Lowe, D.G., Vision-based 3-D trajectory tracking for unknown environments (2006) IEEE-j-ro, 22, pp. 119-136. , 1Steder, B., Visual SLAM for flying vehicles (2008) IEEE-j-ro, 24, pp. 1088-1093. , 5Paz, L.M., Large-scale 6-DOF SLAM with stereo-in-hand (2008) IEEE-j-ro, 24, pp. 946-957. , 5Mahon, I., Efficient view-based SLAM using visual loop closures (2008) IEEE-j-ro, 24, pp. 1002-1014. , 5Hebert, M., Kanade, T., 3-D vision for outdoor navigation by an autonomous vehicle (1998) Proc. Image Understanding Workshop, pp. 593-601. , San Mateo, CA, aprilKriegman, D.J., Triendl, E., Binford, T.O., Stereo vision and navigation in building for mobile robots (1989) IEEE Transaction on Robotics and Automation, 5 (6), pp. 792-803Thorpe, C.E., Hebert, M., Kanade, T., Shafer, S., Vision and navigation for the carnegie-mellon navlab (1988) IEEE Trans. Pattern Anal. Mach. Intell., 10 (3), pp. 362-373. , MarTurk, M.A., Morgenthaler, D.G., Gremban, K.D., Marra, M., VITS - A vision system for autonomous land vehicle navigation (1988) IEEE Trans. Pattern Anal. Mach. Intell., 3, pp. 342-361. , MarWaxman, A.M., A visual navigation system for autonomous land vehicles (1987) IEEE J. Robot. Autom., RA-3 (2), pp. 124-141. , AprMa, Y., Kosecká, J., Sastry, S.S., Vision guided navigation for a nonholonomic mobile robot (1999) IEEE Transactions on Robotics and Automation, 15 (3). , JunChoomuang, R., Afzulpurkar, N., Hybrid Kalman filter/fuzzy logic basead position control of autonomous mobile robot (2005) International Journal of Advanced Robotic System, 2 (3), pp. 197-208Karlsson, N., Di Bernado, E., Ostrowski, J., Gonçalves, L., Pirjanian, P., Munich, M.E., The vSLAM algorithm for robust localization and mapping (2005) IEEE, International Conference on Robotics and Automation, pp. 24-29. , Barcelona, SpainHeikkilä, J., Geometric camera calibration using circular control points (2000) IEEE Transactions on Pattern Analysis and Machine Intelligence, 22 (10), pp. 1066-1077. , OctVedaldi, A., Fulkerson, B., (2008) An Open and Portable Library of Computer Vision Algorithms, , http://www.vlfeat.org

Vibration Of A Long, Tip Pulled Deflected Beam

A study was conducted to address the problem of building a simple dynamic model of a long beam deformed by a tip pulling cable. The exact static deformation shape of a long beam was obtained through the solution of the nonlinear beam governing differential equations. The exact deformed configuration for beams with a uniform cross section and transversal end load was found through the recursive solution of elliptic integrals. The deformed configuration of beams with an inclined pulling force was found via numerical approximations, using adequate methods such as the Runge-Kutta method, the finite element method, and the quasi-linearization finite difference method. A strategy to calculate the static deformation of a long beam pulled by a tip cable was also proposed in the study.52715591563Puig, L., Barton, A., Rando, N., A review on large deployable structures for astrophysics missions (2010) Acta Astronautica, 67 (1-2), pp. 12-26. , July-Aug. doi:10.1016/j.actaastro.2010.02.021Tibert, G., (2002) Deployable Tensegrity Structures for Space Applications, pp. 9-30. , Royal Inst, of Technology, StockholmPellegrino, S., (2001) Deployable Structures, pp. 1-35. , Springer MilanFrisch-Fay, R., (1962) Flexible Bars, pp. 33-64. , Butterworths LondonTimoshenko, S., Gere, J., (1961) Theory of Elastic Stability, pp. 66-70. , 2nd ed. McGraw-Hill New YorkOhtsuki, A., Analysis of the characteristics of fishing rods based on the large-deformation theory (2001) Materials and Science in Sports, pp. 161-170. , edited by Sam, F.H. , Minerals, Metals and Materials Society , Warrendale, PAShvartsman, B., Large deflections of a cantilever beam subjected to a follower force (2007) Journal of Sound and Vibration, 304 (3-5), pp. 969-973. , doi:10.1016/j.jsv.2007.03.010Holland, D., Stanciulescu, I., Virgin, L., Plaut, R., Vibration and large deflection of cantilevered elastica compressed by angled cable (2006) AIAA Journal, 44 (7), pp. 1468-1476. , doi:10.2514/1.18000Howell, L.L., (2001) Compliant Mechanisms, pp. 42-55. , Wiley , New YorkAl-Sadder, S., Al-Rawi, R., Finite difference scheme for large-deflection analysis of non-prismatic cantilever beams subjected to different types of continuous and discontinuous loadings (2006) Applied Mechanics, 75 (8-9), pp. 459-473. , doi:10.1007/s00419-005-0422-5Yau, J., Close-form solutions of large deflections for a guyed cantilever column pulled by an inclinations cable (2010) Journal of Marine Science and Technology, 18 (1), pp. 130-136Ferris, D., Afonia, A., Small vibrations of flexible bars by using the finite element method with equivalent uniform stiffness and mass methodology (1993) Journal of Sound and Vibration, 163 (2), pp. 343-358. , doi:10.1006/jsvi.1993.1170Sallstrom, J., Poelaert, D., Janssens, F., Small displacements about equilibrium of a beam subjected to large static loads (1996) AIAA Journal, 34 (11), pp. 2384-2391. , Nov. doi: 10.2514/3.13405Santillan, S., Virgin, L., Plaut, R., Post-buckling and vibration of heavy beam on horizontal or inclined rigid foundation (2006) Journal of Applied Mechanics, 73 (4), pp. 664-671. , July doi: 10.1115/1.2165237Santillan, S., Virgin, L., Plaut, R., Equilibria and vibration of a heavy pinched loop (2005) Journal of Sound and Vibration, 288 (1-2), pp. 81-90. , Nov. doi:10.1016/j.jsv.2004.12.016Santillan, S., Virgin, L., Plaut, R., Static and dynamic behavior of highly deformed risers and pipelines (2010) Journal of Offshore Mechanics and Arctic Engineering, 132 (2). , Paper 021401. doi:10.1115/1.4000555Petyt, M., (2010) Introduction to Finite Element Vibration Analysis, pp. 45-115. , 2nd ed. Cambridge Univ. Press New YorkCraig, R., Kurdila, A., (2006) Fundamentals of Structural Dynamics, pp. 417-453. , 2nd ed. Wiley New YorkKwon, Y., Bang, H., (1997) The Finite Element Method Using Matlab, pp. 197-304. , CRC Press Boca Raton, FLCook, R., Malkus, D., Plesha, M., (1989) Concepts and Applications of Finite Element Method, pp. 31-57. , 3rd ed., Wiley, New Yor