Made available in DSpace on 2014-12-17T14:55:06Z (GMT). No. of bitstreams: 1 GutembergSS.pdf: 569123 bytes, checksum: 6f85b5ee47010d2d331986f17689304b (MD5) Previous issue date: 2008-05-30 / This work presents a cooperative navigation systemof a humanoid robot and a wheeled robot using visual information, aiming to navigate the non-instrumented humanoid robot using information obtained from the instrumented wheeled robot. Despite the humanoid not having sensors to its navigation, it can be remotely controlled by infra-red signals. Thus, the wheeled robot can control the humanoid positioning itself behind him and, through visual information, find it and navigate it. The location of the wheeled robot is obtained merging information from odometers and from landmarks detection, using the Extended Kalman Filter. The marks are visually detected, and their features are extracted by image processing. Parameters obtained by image processing are directly used in the Extended Kalman Filter. Thus, while the wheeled robot locates and navigates the humanoid, it also simultaneously calculates its own location and maps the environment (SLAM). The navigation is done through heuristic algorithms based on errors between the actual and desired pose for each robot. The main contribution of this work was the implementation of a cooperative navigation system for two robots based on visual information, which can be extended to other robotic applications, as the ability to control robots without interfering on its hardware, or attaching communication devices / Este trabalho apresenta um sistema de navega??o cooperativa de um rob? human?ide e um rob? com rodas usando informa??o visual, com o objetivo de efetuar a navega??o do rob? human?ide n?o instrumentado utilizando-se das informa??es obtidas do rob? com rodas instrumentado. Apesar do human?ide n?o possuir sensores para sua navega??o, pode ser remotamente controlado por sinal infravermelho. Assim, o rob? com rodas pode controlar o human?ide posicionando-se atr?s dele e, atrav?s de informa??o visual, localiz?-lo e naveg?-lo. A localiza??o do rob? com rodas ? obtida fundindo-se informa??es de odometria e detec??o de marcos utilizando o filtro de Kalman estendido. Os marcos s?o detectados visualmente, e suas caracter?sticas s?o extra?das pelo o processamento da imagem. As informa??es das caracter?sticas da imagem s?o utilizadas diretamente no filtro de Kalman estendido. Assim, enquanto o rob? com rodas localiza e navega o human?ide, realiza tamb?m sua localiza??o e o mapeamento do ambiente simultaneamente (SLAM). A navega??o ? realizada atrav?s de algoritmos heur?sticos baseados nos erros de pose entre a pose dos rob?s e a pose desejada para cada rob?. A principal contribui??o desse trabalho foi a implementa??o de um sistema de navega??o cooperativa entre dois rob?s baseados em informa??o visual, que pode ser estendido para outras aplica??es rob?ticas, dado a possibilidade de se controlar rob?s sem interferir em seu hardware, ou acoplar dispositivos de comunica??o

The thesis introduces methods used for an ellipse detection. Each method is theoretically described in current subsection. The description includes methods like Hough transform, Random Hough transform, RANSAC, Genetic Algorithm and improvements with optimalization. Further there are described modifications of current procedures in the thesis to reach better results. Next to the last chapter represents testing parameters of speed, quality and accuracy of implemented algorithms. There is a conclusion of testing and a result discussion at the end.

In first part thesis contains known methods of license plate detection. Preprocessing-based methods, AdaBoost-based methods and extremal region detection methods are described.Finally, there is a described and implemented own access using local detectors to creating visual vocabulary, which is used to plate recognition. All measurements are summarized on the end.

In der vorliegenden Arbeit wird die Frage untersucht, ob effektive Eigenschaften von Verbunden auch nach dem Auftreten einer Dehnungslokalisierung aufgrund von entfestigendem Materialverhalten noch durch numerische Homogenisierungsmethoden berechnet werden können. Ihr Nutzen für diesen Anwendungsfall wird in der Literatur kritisch beurteilt. Aus diesem Grund werden hier systematisch alle Teilaufgaben betrachtet, die zu diesem Zweck gelöst werden müssen. Die erste dieser Aufgaben ist die Charakterisierung der einzelnen Verbundbestandteile. Zur Demonstration einer experimentell gestützten Charakterisierung wird ein glasfaserverstärktes Epoxidharz als Beispielmaterial gewählt. Neben der Beschreibung von Faser- und Matrixmaterial wird besonderes Augenmerk auf die Charakterisierung der Grenzschicht zwischen beiden gelegt. Die für die Glasfasern vorliegenden Festigkeitsmessungen entsprechen nicht der Kettenhypothese. Daher werden zahlreiche Verallgemeinerungen der Weibull-Verteilung untersucht, um störende Effekte zu erfassen. Schließlich werden Wahrscheinlichkeitsverteilungen hergeleitet, die Faserbrüche im Bereich der Einspannung einbeziehen. Die Messwerte können von diesen Verteilungen gut wiedergegeben werden. Zusätzlich macht ihre Anwendung das aufwändige Aussortieren und Wiederholen jener Experimente unnötig, bei denen der Faserbruch im Klemmbereich auftritt. Zur Modellierung der Grenzfläche wird ein Kohäsivzonengesetz entwickelt. Die Bestimmung seiner Parameter erfolgt anhand von Daten aus Pullout- und Einzelfaserfragmentierungsversuchen. Aus diesen ermittelte Festigkeiten und Energiefreisetzungsraten weisen eine sehr gute Übereinstimmung zwischen beiden Versuchen auf. Dabei erfolgt die Parameteridentifikation mithilfe von Finite-Elemente-Modellen anstatt der häufig genutzten vereinfachten analytischen Modelle, welche üblicherweise eine schlechtere Übereinstimmung erreichen. Sobald eine Dehnungslokalisierung auftritt, ist neben der Materialmodellierung auch das Homogenisierungsschema zu verallgemeinern. Zu diesem gehören die Generierung repräsentativer Volumenelemente, Randbedingungen (RB) und ein Mittelungsoperator. Anhand des aktuellen Standes der Literatur werden die Randbedingungen als ein signifikanter Schwachpunkt von Homogenisierungsverfahren erkannt. Daher erfolgt die Untersuchung periodischer RB, linearer Verschiebungsrandbedingungen und minimal kinematischer RB sowie zweier adaptiver RB, nämlich Lokalisierungspfad-ausgerichteter RB und generalisiert periodischer RB. Unter der Bezeichnung Tesselationsrandbedingungen wird ein weiterer Typ adaptiver RB vorgeschlagen. Zunächst erfolgt der Beweis, dass alle drei adaptiven RB die Hill-Mandel-Bedingung erfüllen. Des Weiteren wird mittels einer Modifikation der Hough-Transformation ein systematischer Fehler derselben bei der Bestimmung der Richtung von Lokalisierungszonen eliminiert. Schließlich werden die Eigenschaften aller Randbedingungen an verschiedenen Beispielen demonstriert. Dabei zeigt sich, dass nur Tesselationsrandbedingungen sowohl beliebige Richtungen von Lokalisierungszonen erlauben als auch fehlerhafte Lokalisierungen in Eckbereichen ausschließen. Zusammengefasst können in der Literatur geäußerte grundlegende Einschränkungen hinsichtlich der Anwendbarkeit numerischer Homogenisierungsverfahren beim Auftreten von Dehnungslokalisierungen aufgehoben werden. Homogenisierungsmethoden sind somit auch für entfestigendes Materialverhalten anwendbar. / The thesis at hand is concerned with the question if numerical homogenization schemes can be of use in deriving effective material properties of composite materials after the onset of strain localization due to strain softening. In this case, the usefulness of computational homogenization methods has been questioned in the literature. Hence, all the subtasks to be solved in order to provide a successful homogenization scheme are investigated herein. The first of those tasks is the characterization of the constituents, which form the composite. To allow for an experimentally based characterization an exemplary composite has to be chosen, which herein is a glass fiber reinforced epoxy. Hence the constituents to be characterized are the epoxy and the glass fibers. Furthermore, special attention is paid to the characterization of the interface between both materials. In case of the glass fibers, the measured strength values do not comply with the weakest link hypothesis. Numerous generalizations of the Weibull distribution are investigated, to account for interfering effects. Finally, distributions are derived, that incorporate the possibility of failure inside the clamped fiber length. Application of such a distribution may represent the measured data quite well. Additionally, it renders the cumbersome process of sorting out and repeating those tests unnecessary, where the fiber fails inside the clamps. Identifying the interface parameters of the proposed cohesive zone model relies on data from pullout and single fiber fragmentation tests. The agreement of both experiments in terms of interface strength and energy release rate is very good, where the parameters are identified by means of an evaluation based on finite element models. Also, the agreement achieved is much better than the one typically reached by an evaluation based on simplified analytical models. Beside the derivation of parameterized material models as an input, the homogenization scheme itself needs to be generalized after the onset of strain localization. In an assessment of the current state of the literature, prior to the generation of representative volume elements and the averaging operator, the boundary conditions (BC) are identified as a significant issue of such a homogenization scheme. Hence, periodic BC, linear displacement BC and minimal kinematic BC as well as two adaptive BC, namely percolation path aligned BC and generalized periodic BC are investigated. Furthermore, a third type of adaptive BC is proposed, which is called tesselation BC. Firstly, the three adaptive BC are proven to fulfill the Hill-Mandel condition. Secondly, by modifying the Hough transformation an unbiased criterion to determine the direction of the localization zone is given, which is necessary for adaptive BC. Thirdly, the properties of all the BC are demonstrated in several examples. These show that tesselation BC are the only type, that allows for arbitrary directions of localization zones, yet is totally unsusceptible to spurious localization zones in corners of representative volume elements. Altogether, fundamental objections, that have been raised in the literature against the application of homogenization in situations with strain localization, are rebutted in this thesis. Hence, the basic feasibility of homogenization schemes even in case of strain softening material behavior is shown.

Neural networks with algorithm back-propagation will be presented in this work. Theoretical background of the algorithm will be explained. The problems with training neural nets will be solving there. The work discuss some techniques of image preprocessing and image extraction features, which is one of main part in classification. Some part of work discuss few experiments with neural nets with chosen image features.