TY  - JOUR
T1  - KAMERA HATA ENJEKSİYON ARACI İLE KAMERA TABANLI ROBOTİK DENETLEME SİSTEMİNİN DOĞRULANMASI VE ONAYLANMASI
TT  - VERIFICATION AND VALIDATION OF CAMERA-BASED ROBOTIC INSPECTION SYSTEM WITH CAMERA FAULT INJECTION TOOL
AU  - Erdoğmuş, Alim Kerem
AU  - Yayan, Uğur
PY  - 2024
DA  - April
Y2  - 2024
DO  - 10.31796/ogummf.1348531
JF  - Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi
JO  - ESOGÜ Müh Mim Fak Derg
PB  - Eskişehir Osmangazi Üniversitesi
WT  - DergiPark
SN  - 2630-5712
SP  - 1159
EP  - 1168
VL  - 32
IS  - 1
LA  - tr
AB  - Günümüzde, gelişen görüntü işleme teknikleri ile birlikte kamera tabanlı robotik inceleme sistemleri oldukça popülerlik kazanmıştır. Bu tür sistemler gıdadan, askeriyeye birçok sektörde yoğun olarak kullanılmaktadır. Bu sistemler geliştirilirken gerekli olan doğrulama ve onaylama süreçleri oldukça uzun ve maliyetli olmaktadır. Bu çalışma, kamera tabanlı endüstriyel robotik sistemler üzerinde doğrulama ve onaylama faaliyetlerini gerçekleştirmek ve iyileştirmek amacıyla geliştirilmiştir. RGB ve TOF kameralara farklı türlerde (Open, Close, Dilation, Erosion, Gradient, Motionblur, Tuz&Biber, Gaussian ve Poisson) hata enjeksiyon yöntemleri kullanılmasını mümkün Kamera Hata Enjeksiyon Aracı (CamFITool) ile gerçekleştirilmiş testler ve sonuçlar açıklanmıştır. Yapılan çalışma, VALU3S projesi kapsamında, OTOKAR’ın ROKOS robotik sistemine, CamFITool ile gerçek ortamdan alınmış kamera görüntülerinden oluşan kitaplıklara, çeşitli konfigürasyonlarda hatalar enjekte edilip, bu enjeksiyonun sisteme etkilerinin incelenmesine odaklanmıştır. Bu kapsamda 49 farklı test komfigürasyonunda hata enjeksiyonu gerçekleştirilmiştir. Sonuç olarak, kamera tabanlı endüstriyel robotik sistemlerin daha güvenli ve stabil çalışmalarının sağlanması için, bu sistemlerin hataya dayanıklı olup olmadıklarını test eden açık kaynaklı bir hata enjeksiyon aracı olan CamFITool önerilmiştir.
KW  - Robotik
KW  - Doğrulama&Onaylama
KW  - Hata enjeksiyonu
KW  - Robot işletim sistemi
KW  - Kamera-tabanlı görü
N2  - Nowadays, camera-based robotic inspection systems have gained popularity with the developing image processing techniques. Such systems are used extensively in many sectors from food to military. The verification and validation processes required during the development of these systems are quite long and costly. This study was developed to perform and improve verification and validation activities on camera-based industrial robotic systems. The tests and results are explained with the Camera Fault Injection Tool (CamFITool), which enables the use of different types of fault injection methods (Open, Close, Dilation, Erosion, Gradient, Motionblur, Salt & Pepper, Gaussian and Poisson) to RGB and TOF cameras. Within the scope of the VALU3S project, the study focussed on OTOKAR's ROKOS robotic system by injecting faults in various configurations into libraries consisting of camera images taken from the real environment with CamFITool and analysing the effects of this injection on the system. In this context, fault injection was performed in 49 different test configurations. As a result, CamFITool, an open-source fault injection tool that tests the fault tolerance of camera-based industrial robotic systems, is proposed to ensure safer and more stable operation of these systems.
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CR  - Yayan, U., & Erdoğmuş, A. K. (2022). Development of A Fault Injection Tool & Dataset for Verification of Camera Based Perception In Robotic Systems. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi, 30(3), 328-339. https://doi.org/10.31796/ogummf.1054761.
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UR  - https://doi.org/10.31796/ogummf.1348531
L1  - https://dergipark.org.tr/tr/download/article-file/3356257
ER  -