Faculty of Engineering Mechanical and Manufacturing Engineering Department KNP 3063 - Robotics and Automation Group 2

ORIGINAL QUESTIONS GIVEN :

Faculty of Engineering Mechanical and Manufacturing Engineering Department KNP 3063 - Robotics and Automation Group 2

QUESTION 1 Edge detection is one of the techniques used for checking the shape of an image. Define the edge detection technique and explain how does the edge detection work?

ANSWER: Edge detection technique is the procedure that uses binary logic to guide a search through an image, one pixel at a time, as it finds an edge and then follows it completely around the object until it repeats itself. At the point of repeat the conclusion is reached that the entire object has been circumscribed. Edge detection of an image significantly reduces the amount of data and filters out useless information, while preserving the important structural properties in an image. How the edge detection works? The system begins on a straight path across the background, examine each pixel it encounters and determine whether it is light or dark pixels. Next, as the system come across a light pixel, it will continue on a straight part (representing the background). The system will turn as soon as it detects a dark pixel (representing the object) because it knows that it has crossed the boundary into the region within the object hence, turns in order to maintain the edge. Nevertheless, the drawback of using edge detection is that the system can get lost in a tight loop if it ever makes a wrong turn. For instance, the system will constantly turning right if it is lost outside the object and constantly turning left if it is inside the object while undergoing edge detection.

Faculty of Engineering Mechanical and Manufacturing Engineering Department KNP 3063 - Robotics and Automation Group 2

QUESTION 2 Scene constraint is the first consideration for the machine vision system. The situation of the scene must be recognized by the machine vision designer and according to the required application. Briefly explain how to improve the scene constraint in the machine vision system.

ANSWER: There are plenty of ways to improve the scene constraint in the machine vision system and are discussed as follow: Lightning technique The suitable and correct lightning technique will enhance the flaws or remove image noise which will increase the efficiency and stability of the system by producing the maximum amount of contrast (black to white pixels) for the image under inspection. The lightning techniques are backlighting, grazing, dark field and so on. Filtering Placing the filter on the camera lens that matches the frequency of lighting illuminating the part will cause the ambient lighting disturbances to be removed. Background and overhead lighting noise and other harsh environment disturbances can be also removed by using suitable filters.

Resolution It is important to determine the resolution of a system since it determines how accurate and repeatable of an inspection can be especially on quality measurement inspection and robot guidance. The resolution can be further enhanced by using certain software that allows sub pixel accuracy setting.

Faculty of Engineering Mechanical and Manufacturing Engineering Department KNP 3063 - Robotics and Automation Group 2

Location It is important to have some type of physical fixture that limits the motion of the object or part of the interest since having a part that shifts out of the camera field of view can cause system instability and failures might occur adding to unnecessary downtime. Tolerances are not to be wide to ensure repeatability detection of machine vision system. Also, when setting up the equipment its wise to place the cameras and lights in areas with little to no vibration or in areas with little traffic so that the potential for the system to get bumped or moved is minimized.

Lenses The correct focal length lens will determine the size of the region the machine vision system can see and ultimately all the information that is collected.

Stability It is important to ensure the machine vision sensor to be mounted properly, stable so that the camera system and lights do not move or shift during the process.

Lightning The correct and suitable colour of lights used is important in order to use the light frequency that will create the greatest contrast and eliminate noise in the image under process. The surface of the object and camera will react differently when different lights are introduced due to their difference in frequencies and wavelengths of lights.