Authors:
Jared A. Frank
;
José Antonio De Gracia Gómez
and
Vikram Kapila
Affiliation:
NYU Polytechnic School of Engineering, United States
Keyword(s):
Ball and Beam, Homography, Immersive, Interface, Networked Control System, Tablet, Vision-Based Control.
Related
Ontology
Subjects/Areas/Topics:
Human-Machine Interfaces
;
Image Processing
;
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Robotics and Automation
;
Virtual Environment, Virtual and Augmented Reality
Abstract:
Although the onboard cameras of smart devices have been used in the monitoring and teleoperation of physical
systems such as robots, their use in the vision-based feedback control of such systems remains to be fully
explored. In this paper, we discuss an approach to control a ball and beam test-bed using visual feedback from
a smart device with its camera pointed at the test-bed. The computation of a homography between the frames
of a live video and a reference image allows the smart device to accurately estimate the state of the test-bed
while facing the test-bed from any perspective. Augmented reality is incorporated in the development of an
interactive user interface on the smart device that allows users to command the position of the ball on the beam
by tapping their fingers at the desired location on the touchscreen. Experiments using a tablet are performed
to characterize the noise of vision-based measurements and to illustrate the performance of the closed-loop
control system.