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International colloquium on signal processing.& Its Applications, CSPA

作者： Norhashim Mohd Arshad Mohamad Farid Misnan Noorfadzli Abdul Razak Faculty of Electrical Engineering UiTM Shah Alam Malaysia

Floor-based line-tracking technique is widely implemented for use in many autonomous mobile vehicle applications in the industries such as for transportation of goods within an enclosed warehouse or factories. It is also popular in competition robots. Many line-tracking systems utilize several kinds of discrete sensors such as the reflective infra-red LED, light dependent resistor (LDR), and multi-array inductance. Multiple of these discrete sensors are required to be arranged closed together in front of the vehicle and facing the floor to trace the profile of the line. A minimum of two sensors are required to ensure effectiveness of the line detection algorithm, especially to determine the vehicle's position, either at left or at right with respect to line. This paper proposed a latest idea of using only one discrete sensor for mobile vehicle to detect a line having two colour shades on a white background surface. The results show that single sensor managed to allow the vehicle to maneuver as effectively on the line.

关键词： robot sensing systems Vehicles Mobile communication Delay Mobile robots Color

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A differential steering control with proportional controller for an autonomous mobile robot

A differential steering control with proportional controller...

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International colloquium on signal processing.& Its Applications, CSPA

作者： Mohd Saifizi Saidonr Hazry Desa Md Noor Rudzuan School of Mechatronics University Malaysia Perlis Kampung Ulu Pauh Perlis Malaysia Universiti Malaysia Perlis Arau Perlis MY

In this paper, differential steering control with proportional controller method are developed. In the steering control of mobile robot, the underlying dynamics of processes are often highly complex due to operating problems such as actuator constrains, time delay and disturbances. Because of these reasons, many control system of mobile robots require extensive retuning the control parameter and the worst cases may result in redesigning or change the control program and hardware. To solve the above mentioned problems, we use proportional control method. Based on the model proportional control method, we predict the path that the mobile robot will follow by using the current velocities of the right wheel and the left wheel which update the real-time current position of mobile robot. The model proportional method is to overcome time delay cause by slow response of the sensor and other dynamic processes. The outputs from the control are the velocity and angular velocity of mobile robot. From these velocity and angular velocity of mobile robot we determine the number of encoder pulses for the right wheel and left wheel. The number of encoder pulses for the right wheel and left wheel are input to the right DC motor and to the left DC motor of mobile robot to generate the velocity of each wheel. The proportional controller is used to produce the same speed of the right wheel and the left wheel in order to make the mobile robot move in a straight line. It also used to produce the desired speed of the right wheel and left wheel for steering control to make left or right turning.

关键词： Wheels Mobile robots DC motors robot sensing systems Proportional control Tuning

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An elastomeric ionic hydrogel sensor for large strains

An elastomeric ionic hydrogel sensor for large strains

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Annual Northeast Bioengineering Conference

作者： Prakash Manandhar Paul D. Calvert John R. Buck University of Massachusetts Dartmouth North Dartmouth MA USA

An elastomeric hydrogel membrane made of an epoxy-amine network is demonstrated to be a linear strain sensor for large strains up to 20%. Sodium chloride is added in the gel to maintain conductivity at a relatively dry state. The elastic and electrical response are both shown to be linear. Water loss from the hydrogel due to evaporation from the surface is slow. This results in a trend in the impedance of the sensor which can be easily corrected by simple signal processing. A prototype sleeve that uses these sensors for proprioceptive sensing of joint angle motion on a robotic arm is demonstrated as a potential application.

关键词： robot sensing systems Strain Fabrics Electrodes Copper Impedance

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Multi-axis flexible force sensor for tactile display

Multi-axis flexible force sensor for tactile display

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IEEE sensorS

作者： Baek-chul Kim S. H. Shin Y. Lee J. D. Nam H. R. Choi H. P. Moon J. C. Koo Department of Mechanical Engineering Sungkyunkwan University Suwon Korea Department of Chemical Engineering Sungkyunkwan University Suwon Korea Department of Polymer Science and Engineering Sungkyunkwan University Suwon Korea

ISBN: (纸本)9781424492909

In this study, we were the development and calibration of new complex sensor which is similar to tactile sensing of human due to can be measured normal and shear force by using newly developed synthetic elastomer and conductive silicone. The developed sensor can sense pressing force by capacitance changes as thickness changes by applied normal force in surface. And this sensor can sense by using capacitance change as an electrode area change when applied shear force. The capacitance change is measured by CDC(capacitance to digital converter integrated circuits) and the data is transmitted to user interface of a Host PC though microcontroller system constructed for signal processing. To verify the performance of the sensor, we constructed a calibration system and accurately analyzed the applied force.

关键词： Force robot sensing systems Force sensors Electrodes Force measurement Capacitance

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Distance sensing for mini-robots: RSSI vs. TDOA

Distance sensing for mini-robots: RSSI vs. TDOA

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： C. Perkins L. Lei M. Kuhlman T. H. Lee G. Gateau S. Bergbreiter P. Abshire Department of Electrical & Computer Engineering and Institute of System Research University of Maryland College Park MD USA Department of Mechanical Engineering and Institute of Systems Research University of Maryland College Park MD USA

This paper reports a compact, robust distance-only sensor for networked small robotic platforms. Two methods of sensing distance (neglecting heading) between robots are discussed: Received signal Strength Indicator (RSSI) and Time Difference of Arrival (TDOA). Both implementations make use of a commercially available wireless sensor network board for communication and processing. Although RSSI requires no additional hardware, TDOA requires several additional components including a sound source and microphone. While experimental results indicate that both methods can provide distance sensing within a local neighborhood, TDOA sensing was found to be more robust and accurate, providing 1 cm distance resolution over a range of 80 cm versus 2.4 cm for RSSI. These sensors have been integrated onto mini-robotic platforms by incorporating a heading estimator and controller.

关键词： robot sensing systems Microphones Frequency measurement Wireless sensor networks Measurement uncertainty

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戶外式清潔機器人之研發

戶外式清潔機器人之研發

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作者：王婷成功大學

学位级别：碩士

本论文旨在於发展一台户外型清洁机器人，其适用环境主要针对户外一般常见地形(沙地、草地、石地…等)，其清扫对象主要设定为一般落叶及小石子，或落叶大小的小型垃圾。清洁机器人的控制核心为TMS320LF2407A DSP控制晶片，负责马达控... 详细信息

本论文旨在於发展一台户外型清洁机器人，其适用环境主要针对户外一般常见地形(沙地、草地、石地…等)，其清扫对象主要设定为一般落叶及小石子，或落叶大小的小型垃圾。清洁机器人的控制核心为TMS320LF2407A DSP控制晶片，负责马达控制、感测器控制，以及超音波感测器的讯号处理；於ASUS笔记型电脑使用人机介面，透过RS-232与DSP控制晶片进行资讯传递，负责影像处理及路径地图的建立。清洁机器人的清扫方式为：利用网路摄影机拍摄环境影像，进而透过一系列的影像处理(如开运算、凸刑封包…等)，进而将影像资讯建立为2D资讯地图，并将最後的障碍物资讯转换为格点地图。最後，以全域覆盖的方式进行牛耕田清扫工作，而完成清扫工作後，清洁盒将会自动清空。

关键词：戶外清潔機器人 DSP 超音波感測器

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sensor Data Fusion for Accurate Cloud Presence Prediction Using Dempster-Shafer Evidence Theory

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sensorS 2010年第10期10卷 9384-9396页

作者： Li, Jiaming Luo, Suhuai Jin, Jesse S. CSIRO ICT Ctr Marsfield NSW 2122 Australia Univ Newcastle Callaghan NSW 2308 Australia

sensor data fusion technology can be used to best extract useful information from multiple sensor observations. It has been widely applied in various applications such as target tracking, surveillance, robot navigation, signal and image processing. This paper introduces a novel data fusion approach in a multiple radiation sensor environment using Dempster-Shafer evidence theory. The methodology is used to predict cloud presence based on the inputs of radiation sensors. Different radiation data have been used for the cloud prediction. The potential application areas of the algorithm include renewable power for virtual power station where the prediction of cloud presence is the most challenging issue for its photovoltaic output. The algorithm is validated by comparing the predicted cloud presence with the corresponding sunshine occurrence data that were recorded as the benchmark. Our experiments have indicated that comparing to the approaches using individual sensors, the proposed data fusion approach can increase correct rate of cloud prediction by ten percent, and decrease unknown rate of cloud prediction by twenty three percent.

关键词： multi-sensor data fusion dempster-shafer prediction renewable energy virtual power station

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Waste of radio frequency signal analysis for wireless energy harvester

Waste of radio frequency signal analysis for wireless energy...

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2010 6th International colloquium on signal processing.and Its Applications, CSPA 2010

作者： Othman, Mohd Aminurrahim Bin School of Mechatronic Engineering Universiti Malaysia Perlis 02600 Ulu Pauh Arau Perlis Malaysia

ISBN: (纸本)9781424471225

Process by which energy is derived from external sources like thermal energy, wind energy and kinetic energy, captured and stored are called 'Energy Harvesting' or 'Energy Scavenging'.[1] Normally this method is applied to small autonomous robot, wearable electronic devices and wireless sensor networks. Firstly, radio frequency (RF) radiation is a subset of electromagnetic radiation with a wavelength of 100km to 1mm, which is a frequency of 3 KHz to 300 GHz, respectively.[2] This range of electromagnetic radiation constitutes the radio spectrum and corresponds to the frequency of alternating current electrical signals used to produce and detect radio waves. RF can refer to electromagnetic oscillations in either electrical circuits or radiation through air and space. Like other subsets of electromagnetic radiation, RF travels at the speed of light. The reasons that this project focus on Radio Frequencies Energies is that for starter, radio frequencies itself are electric energy that is transmitting though the air by ionizing the medium on its paths. The energy also can be easily found in our surrounding as it is used widely by many applications like television broadcasting, telecommunication and in microwave too. By using it availability, we are harvesting it and turning it into electrical energy although only small amount of it can be obtained. © 2010 IEEE.

关键词： Energy harvesting

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Research on mobile robot navigation based on gyro

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Journal of Measurement Science and Instrumentation 2010年第S1期1卷 66-68页

作者： Shi-guang LI,Hong-wei ZHANG,Zheng-zhong GAO,Xiang-bin LIN,Fan-xue KONG (Shandong university of science and technology,qingdao 266510,China) Shandong university of science and technology

A kind of mobile robot navigation system based on Silicon gyro was designed in this ***,full-field emplacement theory was ***,using TMS320F2812 DSP and CRS03 sensor,useful signal was extracted by signal conditioning *... 详细信息

关键词： navigation silicon gyro data acquisition digital filte

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Waste of radio frequency signal analysis for wireless energy harvester

Waste of radio frequency signal analysis for wireless energy...

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International colloquium on signal processing.& Its Applications, CSPA

作者： Mohd Aminurrahim bin Othman Project School of Mechatronic Engineering Universiti Malaysia Pedis Arau Perlis Malaysia

ISBN: (纸本)9781424471218

Process by which energy is derived from external sources like thermal energy, wind energy and kinetic energy, captured and stored are called `Energy Harvesting' or `Energy Scavenging'. Normally this method is applied to small autonomous robot, wearable electronic devices and wireless sensor networks. Firstly, radio frequency (RF) radiation is a subset of electromagnetic radiation with a wavelength of 100km to 1mm, which is a frequency of 3 KHz to 300 GHz, respectively. This range of electromagnetic radiation constitutes the radio spectrum and corresponds to the frequency of alternating current electrical signals used to produce and detect radio waves. RF can refer to electromagnetic oscillations in either electrical circuits or radiation through air and space. Like other subsets of electromagnetic radiation, RF travels at the speed of light. The reasons that this project focus on Radio Frequencies Energies is that for starter, radio frequencies itself are electric energy that is transmitting though the air by ionizing the medium on its paths. The energy also can be easily found in our surrounding as it is used widely by many applications like television broadcasting, telecommunication and in microwave too. By using it availability, we are harvesting it and turning it into electrical energy although only small amount of it can be obtained.

关键词： Radio frequency signal analysis Electromagnetic radiation Wireless sensor networks Wind energy Kinetic energy Energy capture robot sensing systems RF signals Radiation detectors

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