PSA Cathedra

Analyse d'aspect automatique

Main researcher: M.A. Salichs

Peugeot_logo

Description

The PSA Peugeot Citröen collaboration goal is to build an automatic
classification and quantification system to detect the defects on the metal
panels as consequence of the stamping process. Currently, this classification
is done the direct observation of the pieces. The final goal is to obtain
a classification that is similar, as much as possible, to the one obtained
by demerit.

The complete process starts in the image adquisition from the metal panels and leads to the defect classification.

image

Our work is organized as follows:

– Step 1: Study of the objective and possibilities analysis
– Step 2: Construction of a software to analysis
pictures
– Step 3 Validation of the software?s performance
o In terms of localization and determination of the geometrical
parameters
o In terms of capability to organize detected defaults in a hierarchy and define a criterium of quality.
– Step 4: Semi industrial validation (test with a large
range of parts)
– Step 5: Industrial unfurl
– Step 6: Production use
The PSA Peugeot Citröen collaboration goal is to build an automatic
classification and quantification system to detect the defects on the metal
panels as consequence of the stamping process. Currently, this classification
is done the direct observation of the pieces. The final goal is to obtain
a classification that is similar, as much as possible, to the one obtained
by demerit.

The complete process starts in the image adquisition from the metal panels and leads to the defect classification.

image

Our work is organized as follows:

– Step 1: Study of the objective and possibilities analysis
– Step 2: Construction of a software to analysis
pictures
– Step 3 Validation of the software?s performance
o In terms of localization and determination of the geometrical
parameters
o In terms of capability to organize detected defaults in a hierarchy and define a criterium of quality.
– Step 4: Semi industrial validation (test with a large
range of parts)
– Step 5: Industrial unfurl
– Step 6: Production use

Entries:
The Rh-1 full-size humanoid robot: design, walking pattern generation and control
Journal of Applied Bionics and Biomechanics (Print ISSN: 1176-2322, Online: ISSN: 1754-2103). num. 3 , vol. 6 , pages: 301 – 344 , 2009
M. Arbulu D. Kaynov L.M. Cabas
Humanoid Robot RH-1 for Collaborative Tasks. A Control Architecture for Human-Robot Cooperation
Applied Bionics and Biomechanics. num. 4 , vol. 5 , pages: 225 – 234 , 2009
C.A. Monje P. Pierro

Entries:
O. Stasse; A. Kheddar; K. Yokoi. Humanoid feet trajectory generation for the reduction of the dynamical effects
The 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids '09), Paris, France
P. Pierro
A Human-Humanoid Interface for Collaborative Tasks
Second workshop for young researchers on Human-friendly robotics, Sestri Levante, Italy
P. Pierro M. González-Fierro D. Hernandez
A Practical Decoupled Stabilizer for Joint-Position Controlled Humanoid Robots
The 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS '09), St. Louis, USA
D. Kaynov P. Pierro
The Virtual COM Joints Approach for Whole-Body RH-1 Motion
18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN '09), Toyama , Japan
P. Pierro C.A. Monje
Performing collaborative tasks with the humanoid robot RH-1 – A novel control architecture
12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR '09), Istanbul, Turkey
P. Pierro C.A. Monje
RH-2 an Upgraded full-size humanoid platform
12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR '09), Istanbul, Turkey
M. Arbulu L.A. Pabon P. Pierro C. Perez S. Martinez
Humanoid Teleoperation System for Space Environments
14th International Conference on Advanced Robotics (ICAR '09), 2009, Munich, Germany
P. Pierro M. González-Fierro D. Hernandez
Pose Control of the Humanoid Robot RH-1 for Mobile Manipulation
14th International Conference on Advanced Robotics (ICAR '09), Munich, Germany
P. Pierro C.A. Monje
Capítulo: “Realización de tareas colaborativas entre robots humanoides. Experimentación con dos robots Robonova”
At Proceedings of the V Workshop ROBOCITY2030. Cooperación en Robótica, 2009, Madrid, Spain
D. Herrero P. Pierro A. Jardon
Modelling and Control of the Humanoid Robot RH-1 for Collaborative Tasks
IEEE RAS/RSJ Conference on Humanoids Robots, Daejeon, Korea
P. Pierro C.A. Monje
CEABOT: Nationalwide Little humanoid robots competition; rules, experiences and new challenges
Intl. Conf. on SIMULATION, MODELING and PROGRAMMING for AUTONOMOUS ROBOTS, 2008, Venice. , ITALY
P. Zafra A. Gimenez S. Martinez A. Jardon
Robots in future collaborative working environments
First workshop for young researchers on Human-friendly robotics, Napoli, Italy
P. Pierro
K., Yokoi, A., Kheddar, C., Balaguer<br>Dynamic acyclic motion from a planar contact-stance to another
IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, Nice, France
M. Arbulu

Entries:
CLIMBING AND WALKING ROBOTS
chapter: A PORTABLE LIGHT-WEIGHT CLIMBING ROBOT FOR PERSONAL ASSISTANCE APPLICATIONS pages: 961 – 968. CLAWAR 05 , ISBN: 978-3-540-26413, 2006
A. Gimenez A. Jardon

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