 Advances in

mechatronics have resulted in
widespread of robotics.
 Today robots are controlled by computers.
 Technic...



Intelligence
Vision
 Robots could

not perform difficult tasks.
 AI to robots gives the power to make decision
and logical inferences.
 Rob...
 ANN

is a network of processing elements
capable of doing processing in parallel and in
distributed manner.
 ANN is a m...
 Back

propagation is a technique with
backward error propagation.
 It reduces the error from hidden layers.
 In back p...
 Such

like AI vision is also essential for robots.
 Machine vision can be defined as the
acquisition of image, followed...
 A mini

robot was developed which was
capable of pushing the components.
 This robot consists of two cameras for vision...
 The

captured image should be processed to
obtain the best results.
 There are three steps of image processing:
a) Imag...


In this stage the captured image is read by dividing
the bit map image into pixel.
 Each pixel has a value that is pro...


ANN is developed in such a way that it will operate
only on binary codes, i.e. 0 and 1
 The captured image contains re...




The size of captured image is varying due to some eternal
factors.
To reset the size of image a technique, Set Part...
 Camera

does not require a driver to operate.
 Brightness, resolution and other settings can
change.
 Separate module ...
 Learning time

increases as the number of
training cases increases.
 It requires some memory for Database
operation.
 ...
 The

developed ANN system has been tested
and the results are satisfactory.
 The proposed system can be implemented
wit...
Intelligent robot used in the field of practical
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Intelligent robot used in the field of practical

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  • Mechatronics is a design process that includes a combination of mechanical engineering, electrical engineering, control engineering and computer engineering. Mechatronics is a multidisciplinary field of engineering.
  • Intelligent robot used in the field of practical

    1. 1.  Advances in mechatronics have resulted in widespread of robotics.  Today robots are controlled by computers.  Technical advances are gradually increasing their similarity to human.  Engineers are attempting to add sensors to enhance their ability to perform function.
    2. 2.   Intelligence Vision
    3. 3.  Robots could not perform difficult tasks.  AI to robots gives the power to make decision and logical inferences.  Robots use sensors and cameras to obtain information from environment.  Use of microprocessor in robotics is to enhance their intelligence.
    4. 4.  ANN is a network of processing elements capable of doing processing in parallel and in distributed manner.  ANN is a mechanism work same as that of human brain.  ANNS are mathematical models of infoProcessing.  It has two types: a) Single layer Neural Network b) Multi layer Neural Network
    5. 5.  Back propagation is a technique with backward error propagation.  It reduces the error from hidden layers.  In back propagation network the activation function chosen is the tan sigmoid function.  The sigmoid function accommodate large signals without saturation.  Sigmoid Transfer function is… Yi = 1/1+e^-X
    6. 6.  Such like AI vision is also essential for robots.  Machine vision can be defined as the acquisition of image, followed by processing and interpretation of image by computer.
    7. 7.  A mini robot was developed which was capable of pushing the components.  This robot consists of two cameras for vision. These cameras capture the top and front image of minimum resolution 128 128.  There is a gripper used to place the components into the bin.  The gripper and cameras are controlled using computers.
    8. 8.  The captured image should be processed to obtain the best results.  There are three steps of image processing: a) Image acquisition b) Image processing I c) Image processing II
    9. 9.  In this stage the captured image is read by dividing the bit map image into pixel.  Each pixel has a value that is proportional to the light intensive of that small proportion of the scene.  The new divided image is stored from bottom to top.
    10. 10.  ANN is developed in such a way that it will operate only on binary codes, i.e. 0 and 1  The captured image contains red, blue and green ranges.  Colored image should convert to black and white image.  This image contains a large amount of noise. Various parameters are used to remove these noises.  After removing the noises the tilted image is obtained.
    11. 11.    The size of captured image is varying due to some eternal factors. To reset the size of image a technique, Set Partitioning In Hierarchical Tree (SPIHT) method is used. By SPIHT normal size image can be obtained.
    12. 12.  Camera does not require a driver to operate.  Brightness, resolution and other settings can change.  Separate module is provided for controlling the robot.  ANN is generalized network.  Image identification time is faster.
    13. 13.  Learning time increases as the number of training cases increases.  It requires some memory for Database operation.  If the position of cameras changed then it requires training .
    14. 14.  The developed ANN system has been tested and the results are satisfactory.  The proposed system can be implemented without substantial modification, using available equipment, thus the cost is very low.  This research has two main directions, a) Improvement in the integration of the system b) Identification of components at various light sources and environments.
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