Brief report of research work done:
Keywords related to Research
Robotics
Human-Machine Interface
Visual Inspection
Geometrical Computer Vision
Biometrics
Roboforming
1. Machine vision application for defect detection: Images taken using a camera was used to detect defects in chrome coating on a textile ring component. The work involved automating the inspection process of the rings, which are produced by Lakshmi Machine Works, Coimbatore, India. Methods of detection and classification of defects were proposed using image processing and pattern recognition techniques. The work was done as part of M.S. (Research) degree at IIT Madras.
2. Texture from image for biometrics applications: Texture was extracted from images of human iris for use in biometrics applications. A new texture by name topothesy was used to classify human iris images. In addition an information theory based texture could also be used for the same application.
3. Kinematic identification of an industrial robot: Identification of kinematic parameters of industrial robot using a single camera mounted on it, was proposed. In addition, calibration of camera and laser scanner mounted on the end-effector was also proposed. Finally the proposed method was used for calibrating a bin-picking system. This was done as a part of PhD thesis work. Video is available at https://youtu.be/Y6LadIfHqW4
4. Building of an interactive device SAKSHAR (IDVT): A new device by name SAKSHAR: Image-projective Desktop Varnamala Trainer was built to teach alphabets to young children. The system consists of a projective display which was converted to an interactive display using a sensor. The generalized calibration process allowed application of the calibration technique for converting other kinds of displays like LCD. Trials of the device has been conducted in a school. Videos available at https://youtu.be/MPy1W8mH3kI, https://youtu.be/6v-MjwPd6pw and https://youtu.be/yEA1LIZh9dA
5. Robotic assembly of a peg inside a tube: An industrial robot KUKA KR5 arc was used to insert a cylindrical pellet inside a cylindrical tube utilizing the measurements from camera for rough positioning and a depth based search for localization. The camera was calibrated and used in such a way that it could be used for both picking up the object from a bin and inserting it in a tube. This was part of a project executed for Department of Remote Handling and Robotics, Bhabha Atomic Research Centre Mumbai. Videos available at https://youtu.be/igPTFHuIzQQ and https://youtu.be/Bjr4cPSMCsA