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International colloquium on signal processing.& Its Applications, CSPA

作者： C.R. Hema Lam Chee Kiang Vivian Tang Sui Lot School of Mechatronic Engineering Universiti Malaysia Pedis Perlis Malaysia

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： robot sensing systems Service robots sensor systems Laboratories Cleaning Radioactive materials Security Motion planning Mobile robots Grippers

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Estimation of mobile robot orientation using neural networks

Estimation of mobile robot orientation using neural networks

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International colloquium on signal processing.& Its Applications, CSPA

作者： M.P. Paulraj R. Badlishah Ahmad C.R. Hema Fadzilah Hashim School of Mechatronic Engineering Universiti Malaysia Perlis Perlis Malaysia School of Computer and Communication Engineering Universiti Malaysia Perlis Perlis Malaysia

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： Mobile robots Neural networks robot vision systems Cameras Sonar navigation robot sensing systems Floors Application software Computer vision signal processing

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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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International colloquium on signal processing.& Its Applications, CSPA

作者： M.H.A. Hamid A.H. Adom N.A. Rahim M.H.F. Rahiman School of Mechatronics Engineering Universiti Malaysia Pedis Kangar Perlis Malaysia

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 Mobile robots Sonar navigation Sonar detection Costs Sonar applications Defense industry Electrical equipment industry Control systems Instruments

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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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International colloquium on signal processing.& Its Applications, CSPA

作者： C.R. Hema Sim Kwoh Fung Poo Tarn Shi School of Mechatronic Engineering Universiti Malaysia Pedis Perlis Malaysia

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： sensor systems robot sensing systems robot kinematics Navigation Image segmentation Service robots Cleaning robot vision systems Object detection Image sensors

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基于电声原理触滑觉传感器的研究

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传感技术学报 2009年第12期22卷 1701-1703页

作者：王颖陈进军贵州大学电气工程学院贵阳550003

滑觉检测是机器人实现软抓取的关键环节,首次提出了一种低成本的基于电声原理的小型滑觉传感器并进行了性能试验研究.该传感器主要由麦克风和一个密封腔组成,结构简单,成本低.通过把物体滑动时造成的微小震动信号转化为声电信号,利用小... 详细信息

滑觉检测是机器人实现软抓取的关键环节,首次提出了一种低成本的基于电声原理的小型滑觉传感器并进行了性能试验研究.该传感器主要由麦克风和一个密封腔组成,结构简单,成本低.通过把物体滑动时造成的微小震动信号转化为声电信号,利用小波分析处理采集到的信号。性能试验表明,该传感器能够提供可靠的触滑动信号。

关键词：滑觉传感器电声麦克风小波分析机械手

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Pipeline weld detection system based on machine vision

Pipeline weld detection system based on machine vision

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2009 Ninth International Conference on Hybrid Intelligent Systems(第九届混合智能系统国际会议 HIS 2009)

作者： Gaohua Liao Junmei Xi Nanchang Institute of Technology Nanchang China

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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Using entropy for dimension reduction of tactile data

Using entropy for dimension reduction of tactile data

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International Conference on Advanced robotics (ICAR)

作者： Matthias Schopfer Michael Pardowitz Helge Ritter Faculty of Technology Neuroinformatics Group Bielefeld University Bielefeld Germany

Tactile sensing arrays for robotic applications become more and more popular these days. This allows us to equip robots with sensing abilities similar to those of our human skin. This paper presents an approach to tactile-based recognition of objects and evaluates the utility of various feature extractors for tactile processing. Extracting these features from a tactile database, we describe a system that combines a discretization step with the well-known C4.5 algorithm in an object classification task. We analyse the usefulness of the features in terms of entropy-based considerations taking into account the generated decision trees and report our results that give important hints for feature selection.

关键词： Entropy robot sensing systems Humans Decision trees Skin Feature extraction Spatial databases signal processing.algorithms Tactile sensors sensor arrays

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NEW SUBSPACE UPDATING ALGORITHM FOR ADAPTIVE DIRECTION ESTIMATION AND TRACKING AND ITS STATISTICAL ANALYSIS

NEW SUBSPACE UPDATING ALGORITHM FOR ADAPTIVE DIRECTION ESTIM...

引用

IEEE sensor Array and Multichannel signal processing.Workshop

作者： Xin, Jingmin Zheng, Nanning Sano, Akira Xi An Jiao Tong Univ Inst Artificial Intelligence & Robot Xian 710049 Peoples R China Keio Univ Dept Syst Design Engn Yokohama Kanagawa 2238522 Japan

ISBN: (纸本)9781424422401

Subspace estimation is of importance to high-resolution direction estimation in array processing. In this paper, a new recursive least-squares (RLS) algorithm is proposed for null space estimation, which is used to estimate or track the directions of coherent and/or incoherent signals impinging on a uniform linear array (ULA). Especially by investigating the expectation computation of an inverse matrix, the statistical analysis of the RLS algorithm is studied in the mean and mean-squares senses in stationary environment, and further the mean-square-error (MSE) and mean-square derivation (MSD) learning curves are derived explicitly. The theoretical analyses and effectiveness of the proposed RLS algorithm are substantiated through numerical examples.

关键词： Array processing

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FPGA Implementation of 4-Channel ICA for On-line EEG signal Separation

FPGA Implementation of 4-Channel ICA for On-line EEG Signal ...

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IEEE Biomedical Circuits and Systems Conference - Intelligent Biomedical Systems

作者： Huang, Wei-Chung Hung, Shao-Hang Chung, Jen-Feng Chang, Meng-Hsiu Van, Lan-Da Lin, Chin-Teng Natl Chiao Tung Univ Dept Elect & Control Engn Hsinchu Taiwan Natl Chiao Tung Univ Dept Comp Sci Hsinchu Taiwan

ISBN: (纸本)9781424428786

Blind source separation of independent sources from their mixtures is a common problem for multi-sensor applications in real world, for example, speech or biomedical signal processing. This paper presents an independent component analysis (ICA) method with information maximization (Infomax) update applied into 4-channel one-line EEG signal separation. This can be implemented on FPGA with a fixed-point number representation, and then the separated signals are transmitted via Bluetooth. As experimental results, the proposed design is faster 56 times than soft performance, and the correlation coefficients at least 80% with the absolute value are compared with off-line processing.results. Finally, live demonstration is shown in the DE2 FPGA board, and the design is consisted of 16,605 logic elements.

关键词： Bluetooth fixed-point ICA biomedical signal blind source separation multi-sensor information maximization

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Flexible Foot Design for a Humanoid robot

Flexible Foot Design for a Humanoid Robot

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IEEE International Conference on Automation and Logistics

作者： Li, Jianxi Huang, Qiang Zhang, Weimin Yu, Zhangguo Li, Kejie Beijing Inst Technol Intelligent Robot Inst Sch Aerosp Sci & Technol Beijing 100081 Peoples R China

ISBN: (纸本)9781424425020

Since a biped robot tends to tip over easily due to impacts, rough terrain or obstacle object, stable and reliable biped walking is a very important achievement. Well designed foot plays a crucial role in stabilization control for a humanoid robot. In this paper, we present a flexible foot design for our humanoid robot, including a landing impact absorption mechanism and a foot attitude estimation system. First, the mechanical design of the flexible foot is proposed. Rubber bushes and rubber pads are adopted for absorbing impacts. Then, the implementation of hardware and software for the foot attitude estimation system is presented. MEMS accelerometer and angular rate gyroscopes operate as dynamic inclination measurement sensors and a DSP is used for signal collecting and processing. Finally, the effectiveness of the developed flexible foot is confirmed by several experiments.

关键词： Humanoid robot flexible foot impact absorption attitude estimation MEMS sensor

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