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Development of Image Processing and Vision Systems with Industrial Development of Image Processing and Vision Systems with Industrial Applications Zhang Yi A THESIS SUBMITTED FOR THE DEGREE OF DOCTOR OF PHILOSOPHY DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING NATIONAL UNIVERSITY OF SINGAPORE 2009 Acknowledgments I would like to express my sincerest appreciation to all who had helped me during my study in National University of Singapore. First of all, I would like to thank my supervisors Associate Professor Tan Kok Kiong for his inspirational discussions, support and encouragement. His vision and passion for research enlighten my research work and spurred my creativity. I would like to give my gratitude to all my friends in Mechatronics and Automation Lab. I would especially like to thank Dr. Huang Sunan, Dr. Tang Kok Zuea, Mr. Tan Chee Siong, Dr. Zhao Shao, Dr. Teo Chek Sing, Dr. Andi Sudjana Putra, Mr. Chen Silu and Mr. Yuan Jian for their helpful discussions and advice. I would also wish to thank Ms Lay Geok from Medical Department, NUS for her assistance for my experiment. Finally, I would like to thank my family for their endless love and support. II CONTENTS Acknowledgments...................................................................................................II List of Figures ....................................................................................................... IV List of Tables ........................................................................................................ VI List of Abbreviations ...........................................................................................VII Summary .............................................................................................................VIII CHAPTER 1 Introduction....................................................................................... 1 1.1 Impact of Computer Imaging Technologies ............................................... 1 1.2 Contributions............................................................................................... 4 1.2.1 Text Extraction and Translation............................................................. 4 1.2.2 Vision-based Automatic Cell Manipulation System.............................. 5 1.2.3 Vision-assisted thermal tracking system for CNC machine .................. 6 1.3 Organization of Thesis ................................................................................. 7 CHAPTER 2 Text Extraction and Translation from Images Captured via Mobile and Digital Devices................................................................................................. 9 2.1 Introduction............................................................................................... 9 2.2 Text Extraction........................................................................................ 14 2.2.1 Color to Gray Scale Transformation.................................................... 14 2.2.2 Region Segmentation ........................................................................... 15 III 2.3 Character Recognition................................................................................. 20 2.4 Experimental Results .................................................................................. 23 2.5 Conclusions.............................................................................................. 26 CHAPTER 3 Vision-Servo System for Automated Cell Injection....................... 27 3.1 Introduction.............................................................................................. 27 3.2 System Setup............................................................................................ 32 3.3 Cell Detection........................................................................................... 33 3.4 Pipette Detection ...................................................................................... 39 3.5 Tip Focalization ....................................................................................... 41 3.6 Penetration................................................................................................ 43 3.7 Validation................................................................................................. 45 3.8 Conclusions.............................................................................................. 47 CHAPTER 4 Vision-based Tracking and Monitoring System for CNC Machine Surveillance........................................................................................................... 48 4.1 Introduction............................................................................................. 48 4.2 Background and problem statement............................................................ 50 4.3 Distributed Wireless Sensor Network for CNC Machine Surveillance...... 51 4.4 Decoupled Tracking and Thermal Monitoring of Non-Stationary Targets58 4.4.1 Overall System Configuration ............................................................. 59 4.4.2 Vision and Image Processing System .................................................. 63 4.4.3 Non-Contact Temperature Measurement System ................................ 68 4.4.4 Tracking Control of Linear Motor ....................................................... 69 IV 4.4.5 Practical Issues..................................................................................... 74 4.4.6 Experimental Results ........................................................................... 77 4.4.7 Conclusions.......................................................................................... 85 CHAPTER 5 Conclusions..................................................................................... 87 5.1 Summary of Contributions.......................................................................... 87 5.2 Suggestions for future work........................................................................ 89 Author’s Publications............................................................................................ 92 Bibliography.......................................................................................................... 94 V List of Figures Fig. 2.1 Sample images taken by mobile phones.................................................. 11 Fig. 2.2 Flowchart of text extraction algorithm .................................................... 13 Fig. 2.3 Image after Gray Scale Transformation................................................... 14 Fig. 2.4 Edge Detection Kernels ........................................................................... 16 Fig. 2.5 Background separation ............................................................................ 17 Fig. 2.6 Unwanted parts elimination..................................................................... 18 Fig. 2.7 Abnormal Object Removal ...................................................................... 20 Fig. 2.8 Pictorial Definition .................................................................................. 22 Fig. 3.1 Bio-manipulation System ........................................................................ 28 Fig. 3.2 Vision-assisted Servo System.................................................................. 29 Fig. 3.3 Flowchart of Process................................................................................ 30 Fig. 3.4 Two steps in system setup ....................................................................... 33 Fig. 3.5 Hough circle detection............................................................................. 35 Fig. 3.6 Faster cell detection ................................................................................. 37 Fig. 3.7 Pipette Detection...................................................................................... 40 Fig. 3.8 Y-axis Coordination................................................................................. 41 Fig. 3.9 Tip Focalization....................................................................................... 42 Fig. 3.10 Value of Entropy.................................................................................... 43 Fig. 3.11 Penetration ............................................................................................. 44 Fig. 4.1 A CNC Machine and workshop............................................................... 51 Fig. 4.2 Sensor board and antenna board.............................................................. 52 Fig. 4.3 DFDS control structure............................................................................ 52 Fig. 4.4 Algorithm flow chart ............................................................................... 53 IV Fig. 4.5 Fault detection with SS=1200 rpm, fr =300 mm/min, depth of cut=1 mm ....................................................................................................................... 58 Fig. 4.6 Overall System Configuration ................................................................. 60 Fig. 4.7 Vision-assisted Servo System.................................................................. 61 Fig. 4.8 Mounting of the Infrared Thermometer................................................... 62 Fig. 4.9 Process Flowchart.................................................................................... 64 Fig. 4.10 Moving Object Extraction ..................................................................... 67 Fig. 4.11 Thermal devices....................................................................................
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