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International Conference on Control, Automation and Systems ( ICCAS)

作者： Taewook Kim Seungbeom Lee Seunghwan Baek Kwangsuck Boo Department of Mechanical Engineering Inje University Gimhae Gyeongnam South Korea Unick Corporation Gimhae Gyeongnam South Korea Technology Innovation Center for Automotive Parts Inje University Gimhae Gyeongnam South Korea High Safety Vehicle Core Technology Research Center Inje University Gimhae Gyeongnam South Korea

This paper suggests one of the pre-measurement methods to trace a welding path. The welding path is measured by the LVS (Laser Vision sensor). A line laser is projected on the weldment and a vision sensor captures images. Center points of the welding path are detected through image processing. Measured image coordinates are transformed to robot coordinates by coordinate transformations. The experimental structure is composed by 1-axis robot, cylinder, LVS. The rolling cylinder that is carved V-groove generates the continuous welding path and the 1-Axis robot follows the V-groove. The tracking algorithm is applied to generate the welding path that is obtained by the correlation of a set of groove center points. It is important that the robot traces the welding path accurately in the margin of error. Thus, the process of error data distinction and modification is implemented through the estimation algorithm.

关键词： Welding robot sensing systems Digital signal processing robot kinematics Lasers Estimation

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A new moving sound source localization method based on the time difference of arrival

A new moving sound source localization method based on the t...

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International Conference on Image Analysis and signal processing. IASP

作者： Han Yi Wu Chu-na School of Automobile ChangE28098an University Xi'an China State Key Laboratory of Automotive Safety and Energy Tsinghua University Beijing China

This paper presents a new method of using time difference of arrival to locate moving sound source. The sound source localization method consists of three high accuracy pickup devices and a sound-guided robot system. This paper uses a SCM (MC9S12XDP512) with a wireless data transmission module (nRF24L01), a sound transmission system and a sound receiving system. The result proves this sound source localization method has the advantage of less sensors, high precision, fast localization, and simple data processing.

关键词： Time difference of arrival Data communication Control systems robot sensing systems Intelligent robots Wireless sensor networks Intelligent sensors signal generators Automobiles Automotive engineering

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A robust, low-cost and low-noise artificial skin for human-friendly robots

A robust, low-cost and low-noise artificial skin for human-f...

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IEEE International Conference on robotics and Automation (ICRA)

作者： John Ulmen Mark Cutkosky Center for Design Research University of Stanford Stanford CA USA

As robots and humans move towards sharing the same environment, the need for safety in robotic systems is of growing importance. Towards this goal of human-friendly robotics, a robust, low-cost, low-noise capacitive force sensing array is presented with application as a whole body artificial skin covering. This highly scalable design provides excellent noise immunity, low-hysteresis, and has the potential to be made flexible and formable. Noise immunity is accomplished through the use of shielding and local sensor processing. A small and low-cost multivibrator circuit is replicated locally at each taxel, minimizing stray capacitance and noise coupling. Each circuit has a digital pulse train output, which allows robust signal transmission in noisy electrical environments. Wire count is minimized through serial or row-column addressing schemes, and the use of an open-drain output on each taxel allows hundreds of sensors to require only a single output wire. With a small set of interface wires, large arrays can be scanned hundreds of times per second and dynamic response remains flat over a broad frequency range. sensor performance is evaluated on a bench-top version of a 4 × 4 taxel array in quasi-static and dynamic cases.

关键词： Skin robot sensing systems Circuit noise Working environment noise sensor arrays Noise robustness Immune system Wire Humans Safety

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Housekeeping robot: From Concept to Design

Housekeeping Robot: From Concept to Design

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5th International colloquium on signal processing.and Its Applications (CSPA)

作者： Hema, C. R. Kiang, Lam Chee Lot, Vivian Tang Sui Univ Malaysia Perlis Sch Mechatron Engn Jejawi Perlis Malaysia

ISBN: (纸本)9781424441518

Service robots are emerging from the laboratory as commercial products. Floor cleaning, material transporting in radioactive and other hostile environments and security robots are some of the facets of a service robot. This paper focuses on one such service robot for housekeeping purposes, the concept and a design aspect of the developed robot is presented. The design philosophy that emphasizes compromise and practicality in design is being explained. This philosophy is used in the design and integration of a housekeeping robot system and sensor systems to provide new functionality for the user. The robot navigation problem is solved through a hybrid sensor system. The developed robot system comprises of a mobile platform, hybrid sensor system and a gripper system. This paper also discusses the design concepts and realization of a housekeeping robot to perform picking and placing tasks.

关键词： Mobile robots

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基于微硅陀螺仪的移动机器人的导航系统设计

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传感器世界 2010年第7期16卷 17-20页

作者：张洪薇李世光高正中孔凡雪蔺相斌山东科技大学信息与电气工程学院青岛266510

本文介绍了基于微硅陀螺仪的移动机器人全场定位系统的设计。首先论述了机器人全场定位原理,然后采用TMS320F2812 DSP控制芯片和CRS03微硅陀螺,利用信号调理电路提取有用信号,通过软件数字滤波并处理陀螺数据,最后完成对移动机器人方位... 详细信息

本文介绍了基于微硅陀螺仪的移动机器人全场定位系统的设计。首先论述了机器人全场定位原理,然后采用TMS320F2812 DSP控制芯片和CRS03微硅陀螺,利用信号调理电路提取有用信号,通过软件数字滤波并处理陀螺数据,最后完成对移动机器人方位的确定。

关键词：导航微硅陀螺数据采集数字滤波

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Navigation of Mobile robot Using Global Positioning System (GPS) and Obstacle Avoidance System with Commanded Loop Daisy Chaining Application Method

Navigation of Mobile Robot Using Global Positioning System (...

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5th International colloquium on signal processing.and Its Applications (CSPA)

作者： Hamid, M. H. A. Adom, A. H. Rahim, N. A. Rahiman, M. H. F. Univ Malaysia Perlis Sch Mechatron Engn Kangar 01000 Perlis Malaysia

ISBN: (纸本)9781424441518

Mobile robot has been a major role to the application in military, industrial and agricultural purposes. Mobile robot should navigate through desire route and avoid the obstacle within the path. Many researcher come with the solution by using the various type of control and instrumentation system. The complexity of mobile robot system can make the system cost intensive and high risk. Proposed is a mobile robot equipped with GPS navigation system and obstacle avoidance system with low cost mobile structure, GPS module and sonar sensor. The combination GPS and Sonar will determine the position and obstacle avoidance for the mobile robot. Mobile robot should navigate according to waypoint that preset to the GPS module and sonar sensor detects the obstacle during mobile robot navigation by triggering the sonar sensor in sequence by using commanded loop daisy chaining application method. Mobile robot can navigate through desired waypoint and at the same time apply the obstacle avoidance rules

关键词： Global Positioning System (GPS) National Marine Electronics Association (NMEA) Autonomous Mobile robot Sonar sensor Daisy Chaining

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Estimation of Mobile robot Orientation Using Neural Networks

Estimation of Mobile Robot Orientation Using Neural Networks

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5th International colloquium on signal processing.and Its Applications (CSPA)

作者： Paulraj, M. P. Ahmad, R. Badlishah Hema, C. R. Hashim, Fadzilah Univ Malaysia Perlis Sch Mechatron Engn Perlis Malaysia Univ Malaysia Perlis Sch Comp & Commun Engn Perlis Malaysia

ISBN: (纸本)9781424441518

The computation of a mobile robot position and orientation is a common task in the area of computer vision and image processing. For a successful application, it is important that the position and orientation of a mobile robot must be determined properly. In this paper, a simple procedure for determining the orientation of the mobile robot using two cameras is presented. The two cameras are used to capture the images of a mobile robot at various orientations. Four simple neural network models are developed to associate the inputs and output (orientation). First and second neural network models are used to estimate the orientation of a mobile robot using only the features derived from the first and second camera. The third neural network model is used for estimating the orientation of a mobile robot using features derived from both the first and second camera. The fourth neural network model is used to estimate the orientation using features derived from the combined images. Simulation results show that the proposed algorithm can be used to estimate the orientation of the mobile robot accurately.

关键词： neural network mobile robot orientation stereo imaging

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Designing a Hybrid sensor System for a Housekeeping robot

Designing a Hybrid Sensor System for a Housekeeping Robot

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5th International colloquium on signal processing.and Its Applications (CSPA)

作者： Hema, C. R. Fung, Sim Kwoh Shi, Poo Tam Univ Malaysia Perlis Sch Mechatron Engn Jejawi Perlis Malaysia

ISBN: (纸本)9781424441518

Housekeeping robots are service robots specially designed to perform housekeeping tasks such as cleaning and vacuuming, our research focuses on the design of a housekeeping robot to pick up waste objects in a home or office environment. In this paper a hybrid sensor system for the house keeping robot is proposed using vision and ultrasonic sensors to navigate around obstacles and to pick up objects. To pickup objects, ascertaining the exact location of the object is of prime importance. This can be accomplished by computing the 3D coordinates of the object. The navigation task for robots involves the detection of obstacles or objects in the traversable path. Images of objects and obstacles are captured using vision sensors, segmented from background and processed to extract features which are fed to a neural network to recognize and differentiate between obstacles and objects. A recognition accuracy of 100% with an error tolerance of 0.001 is achieved. The centroid of the segmented object is computed to give the x, y and z coordinates of the object location.

关键词： Ultrasonic applications

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Real-time ultrasonic distance measurements for autonomous mobile robots using cross correlation by single-bit signal processing

Real-time ultrasonic distance measurements for autonomous mo...

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IEEE International Conference on robotics and Automation

作者： Hirata, Shinnosuke Kurosawa, Minoru Kuribayashi Katagiri, Takashi Tokyo Inst Technol Interdisciplinary Grad Sch Sci & Engn Yokohama Kanagawa 2268502 Japan Sutekina Inc Yokohama Kanagawa 399 4117 Japan

ISBN: (纸本)9781424427888

Distance measurement using an ultrasonic wave is suitable for environment recognition in autonomous mobile robots. Ultrasonic distance measurement with the pulse-echo method is based on determining the time-of-flight (TOF) of the reflected echoes. The pulse-echo method with pulse compression, the cross-correlation method, can improve the distance resolution and the signal-to-noise ratio (SNR) of the reflected echo. However, cross correlation of the cross-correlation method requires the high-cost digital signal processing. A sensor signal processing.method of cross correlation using a delta-sigma modulated single-bit digital signal has been proposed. Cross correlation by single-bit signal processing.reduces the calculation cost of cross correlation. Furthermore, cross correlation by single-bit signal processing.improves the time resolution of digital signal processing. In this paper, the distance resolution of cross correlation by single-bit signal processing.is evaluated by computer simulations and experiments of ultrasonic distance measurement. Distance measurement from the high-time-resolution cross-correlation function obtained by single-bit signal processing.realized high distance resolution from experimental results, despite the low calculation costs.

关键词： signal to noise ratio

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Pipeline weld detection system based on machine vision

Pipeline weld detection system based on machine vision

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9th International Conference on Hybrid Intelligent Systems (HIS 2009)

作者： Liao, Gaohua Xi, Junmei Nanchang Inst Technol Nanchang Peoples R China

ISBN: (纸本)9780769537450

To the pipeline welding defect detection, robot tracking weld reliably, the welds original image acquired by visual sensor need pretreatment to eliminate the impact of noise. A pipeline welding machine vision detection system proposed in this paper. With the help of Embedded Computer and takes full use of the traditional ultrasonic-testing device, FPGA, USB, electronic technology and wavelet transform signal processing. the system realizes data collection, save, display, analysis and processing. Using of neighborhood mean filter for smoothing, feature prominent method to segmentation image. Image after smooth will be the binarization processing. Then remove the small area noise with labeling method, get a clear image of the weld. The level of projection method to the recognition of weld image and determine the location of weld. The experiments show that the advantage of small, plug and play, stability, high rate, efficiency and reliability, the pretreatment method solute the prevailing situation of uneven illumination, and also reducing the size of the processing.image, meeting the needs of the pipeline weld tracking real-time detection.

关键词： Image processing Object recognition robot computer vision

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