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IEEE International Conference on Automation Science and engineering (CASE)

作者： Y. G. Kim T. H. Park Department of Control and Robot Engineering Chungbuk National University Cheongju-si Republic of Korea School of Electronics Engineering Chungbuk National University Cheongju-si Republic of Korea

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

The Compact Camera Module (CCM) is a device used for various compact electronic devices such as notebooks, smartphones, etc. Various defects occur in the manufacturing process, such as scratches, stamps, and mura. Most notably, mura defect detection is the most challenging issue because of how normal it appears. With this, various methods based on deep learning have been developed to detect mura defects. However, previous research assumes that there is a substantial amount of training data. Therefore, classification accuracy decreases in an environment wherein it is difficult to obtain a sample of an actual defect. This study proposes a metric learning-based mura defect detection method with higher classification accuracy than the previous semantic segmentation method in an environment with little training data. In the training phase, we obtained the center of the normal metric vector of the input image through the metric embedding model and metric loss, while in the test stage, we detected the mura defect based on the center of the normal metric vector. The experimental results show that the proposed method has higher detection accuracy than the previous method in an environment with few training data.

关键词： Measurement Feature extraction Semantics Image segmentation Training Training data Load modeling

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Performance evaluation of haptic device via quasi-quantitative Z-width

Performance evaluation of haptic device via quasi-quantitati...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Jinung An Hwang Cho Key Seo Lee Dong-Soo Kwon Department of Information and Control Engineering Kwangwoon University Seoul South Korea Human Robot Interaction Research Center KAIST Daejeon South Korea

This paper presents the quasi-quantitative Z-width measurement method. The quasi-quantitative Z-width criterion is defined that the haptic interaction is unstable, if the frequency and amplitude of chattering go over certain level, which is a threshold for the instability. Through the literatural study, the threshold for instability was fixed 0.4 rad/sec amplitude with 30 Hz frequency, which is human's discomfort level. The measurement of the instability is achieved by measuring the velocity and the number of zero-crossing of limit cycles during haptic display. Comparing the experimental results with theoretical results, the proposed quasi-quantitative Z-width can be applied to the haptic interfaces as a more reliable Z-width measurement method.

关键词： Haptic interfaces Sea measurements Damping Actuators Limit-cycles Impedance Stability robots Frequency Velocity measurement

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Model-based control for nonprehensile manipulation of a two-rigid-link object by two cooperative arms

Model-based control for nonprehensile manipulation of a two-...

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IEEE International Conference on robotics and Biomimetics

作者： Zakarya Zyada Yoshikazu Hayakawa Shigeyuki Hosoe Robot Control Research Team RIKEN-TRI Collaboration Center of Human-Interactive Robot Research Nagoya Aichi Japan Department of Mechanical Science and Engineering University of Nagoya Nagoya Japan Robot Control Research Team RIKEN-TRI Collaboration Center RIKEN Nagoya Japan RIKEN-TRI Collaboration Center of Human-Interactive Robot Research Nagoya Aichi Japan

robots are expected to come in direct contact with human at care facilities and/or homes soon. Motivated by the application of holding and/or transferring a patient applying a robot, this paper introduces the dynamic model, static analysis and control algorithm for nonprehensile manipulation of a two-rigid-link object applying two cooperative arms. Newton-Euler equations are applied for formulating the object dynamics while a visco-elastic model is applied for modeling the interaction between the object links and the arms. Static analysis specifying the equilibrium points based on the derived dynamical model is introduced. A PD controller with a disturbance observer is designed to control the object lifting-up motion. Static analysis as well as controlled object lifting-up motion simulation results is presented which show the validity of the proposed analysis and control algorithm.

关键词： Dynamics Mathematical model Manipulator dynamics Joints Humans Trajectory

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Development of Gait Analysis System Based on the Tactile Sensor and the RGB Camera

Development of Gait Analysis System Based on the Tactile Sen...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Sejun Park Jaehyeon Baik Yunho Choi Kyung-Joong Kim Hosu Lee Department of Control and Robot Engineering Gyeongsang National University Jinju Korea School of Integrated Technology Gwangju Institute of Science and Technology Gwangju Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

A study related to life after stroke found that balance and walking difficulties were the most requested area of research, especially among the elderly. In a study of stroke patients, they exhibited slower walking speeds, asymmetrical gait, unstable balance, and lower functional performance. To measure quantitative gait parameters, various systems have been developed to measure and analyze gait information. However, commercial gait analysis systems are expensive and not completely non-wearable. Therefore, we developed a system that combines the Tactile sensor and the RGB camera to perform accurate gait analysis while considering non-wearability and the low cost of the system. We performed a pilot test to analyze the temporal and spatial parameters of the walking-in-place with the proposed gait analysis system. The pilot test was able to obtain quantitative gait parameters. For future work, we plan to measure ground contact detection of abnormal gait in stroke patients as well as spatial and temporal gait parameters by extending tactile sensors longer according to the direction of walking.

关键词： Legged locomotion Accuracy Three-dimensional displays Tactile sensors Gain measurement Stroke (medical condition) Cameras Skeleton Sensor systems Sensors

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Quantitative nondestructive evaluation of the aluminum alloy using the sheet type induced current and the single sensor scanning

Quantitative nondestructive evaluation of the aluminum alloy...

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作者： Jun, Jongwoo Lee, Jinyi Shin, Kisu Hong, Jungho Department of Information and Communication Engineering Graduate School of Chosun University 375 Seosuk-dong Dong-gu Gwangju 501-759 Korea Republic of Department of Control Instrumentation and Robot Engineering Chosun University 375 Seosuk-dong Dong-gu Gwangju 501-759 Korea Republic of Department of Weapon Systems Korea National Defense University 205 Susaek-dong Eunpyeong-gu Seoul 412-706 Korea Republic of

Single sensor scanning (hereafter SSS) used to inspect cracks on paramagnetic materials can measure the distribution of the root mean squared value (RMS) of the magnetic field around crack tips quantitatively when sheet type current is induced on the specimen. The vertical direction magnetic field alternates to the surface of the crack tips because the sheet type induced current on the specimen is distorted by the existence of the crack in an SSS system. The RMS distribution of the magnetic field, which can be measured by using SSS, depends on the crack size and shape, so it can be used to evaluate a crack size quantitatively. An algorithm of quantitative nondestructive testing and evaluation of cracks of various shapes and sizes on the aluminum alloy, Al7075 is proposed in this paper. © (2010) Trans Tech Publications, Switzerland.

关键词： Nondestructive examination

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Design and control of Bridge Inspection robot System

Design and Control of Bridge Inspection Robot System

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IEEE International Conference on Mechatronics and Automation

作者： Je-Keun Oh An-Yong Lee Se Min Oh Youngjin Choi Byung-Ju Yi Hai Won Yang Bridge Inspection Robot Development Interface (BIRDI) Department of Electronic Electrical Control and Instrumentation Engineering Hanyang University Ansan Gyeonggi South Korea

This paper proposes design and control methods for a bridge inspection robot system. A "bridge inspection robot" has been developed with the aim of checking the safety status of a real bridge, gathering accurate data and performing maintenance. The developed robot system is composed of the specially designed car for bridge inspection, the guide rail and the inspection robot. Especially, this paper emphasizes the system integration method to design and control the entire robot system. As a result, this robot has both automatic and manual modes for inspecting a real bridge. In other words, the robot is automatically able to inspect beneath the bridges and manually to inspect them by long-distance user. Also, the users can see the operating conditions of long-distance robot with 3-dimensional graphical user interface. Moreover, the users can feel the operating status of long-distance robot through haptic device.

关键词： control systems Bridges Inspection robotics and automation Design methodology Safety Rails Automatic control robot control Graphical user interfaces

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Non-destructive testing of a train wheel using a linearly integrated Hall sensor array

Non-destructive testing of a train wheel using a linearly in...

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IEEE Sensors Applications Symposium, SAS

作者： Jinyi Lee Seokjin Kwon Department of Control Instrumentation and Robot Engineering Chosun University Gwangju South Korea Korea Rail Road Institute Uiwang Kyunggi South Korea

ISBN: (纸本)9781424480630

An improvement has to be made in the inspection speed and the crack detection ability needed to inspect cracks in express train wheels. In this paper a linearly integrated Hall sensor array (LIHaS) is proposed in order to improve the ability for crack detection. In addition, the exclusive parallel signal conditioning circuits, the analog-to-digital convertors, and the interface were developed to reduce the measurement time. The permanent magnet, which applies the vertical magnetic field to the wheel, and the differential-type LIHaS, which measures the distribution of the magnetic field around a crack, is designed to be buried in the rail. An experiment was performed in order to verify the proposed method.

关键词： Wheels Magnetic field measurement Arrays Saturation magnetization Magnetic separation Rails

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Experiments and Analysis of MCL Based Localization for Mobile robot Navigation

Experiments and Analysis of MCL Based Localization for Mobil...

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International Conference on Intelligent Systems, Modelling and Simulation (ISMS)

作者： Tae Gyun Kim Nak Yong Ko KwangJin Kim Department Control and Instrumentation Eng Chosun University Gwangju South Korea Department Control Instrumentation and Robot Engineering Chosun University Gwangju South Korea Department Information and Communication Eng Chosun University Gwangju South Korea

ISBN: (纸本)9781424498093

This paper describes some experimental study on Monte Carlo Localization (MCL) approach of a mobile robot. The proposed method uses ultrasonic range data for localization. Ultrasonic signal is generated and radiated from a beacon whose location is given a priori. The receiver located on board a robot detects the range from the beacon using the received ultrasonic signal. The research proposes a sensor model for the range sensing based on statistical analysis of the sensor output. In the experiments, commercialized beacons and detectors are used. Through the experiments, the performance of the proposed method is verified and compared under various conditions. The experiments show the performance of the method in case of kidnapping. Especially, analysis on how the number of available beacons affects the localization performance is provided. The localization performance is investigated for the case of stationary robot and moving robot. Also, it presents the localization performance in the case where the wheels of the robot slip on the floor. Through the experiments and analysis, it is demonstrated that the method works in the cases of kidnapping, wheel slip, and possibly with only two sensor data available.

关键词： robot sensing systems Mobile robots Mathematical model Wheels Equations Transmitters

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The Multi-Modal Human Identification Based on Smartcard in Video Surveillance System

The Multi-Modal Human Identification Based on Smartcard in V...

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IEEE/ACM Int'l Conference on & Int'l Conference on Cyber, Physical and Social Computing (CPSCom) Green Computing and Communications (GreenCom)

作者： Hae-Min Moon Chulho Won Sung Bum Pan Department of Information and Communication Engineering Chosun University Gwangju South Korea Department of Electrical and Computer Engineering California State University Fresno CA USA Department of Control Instrumentation and Robot Engineering Chosun University Gwangju South Korea

ISBN: (纸本)9781424497799

Recently, the use of security surveillance system including CCTV is increasing due to the increase of terrors and crimes. However as the data recorded through the video surveillance system is exposed, the invasion of privacy is raised. The research on the technology of protecting privacy from the surveillance system in addition to these organizations is actively carried out. At this time, to distinguish the human of privacy protection, the identification technique is necessary. For identification, the proposed system uses soft-biometrics such as color and height information based on smart card. It can obtain reliable feature information using smart card. In this paper, representative colors are extracted by applying octree-based color quantization technique to the clothing region and height is extracted from the geometrical information of the images. The identification is accomplished by comparing the similarities between two data based on Euclidean distance. Through identification by using multiple information rather than single information, the proposed system demonstrates the possibility of human identification under the surveillance camera environment.

关键词： Conferences Social network services

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SHUYU robot:An Automatic Rapid Temperature Screening System

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Chinese Journal of Mechanical engineering 2020年第2期33卷 1-4页

作者： Zhao Gong Songwen Jiang Qizhi Meng Yanlei Ye Peng Li Fugui Xie Huichan Zhao Chunzhe Lv Xiaojie Wang Xinjun Liu The State Key Laboratory of Tribology&Tsinghua University(DME)‑Siemens Joint Research Center for Advanced Robotics Department of Mechanical Engineering(DME)Tsinghua UniversityBeijing 100084China Beijing Key Lab of Precision/Ultra‑precision Manufacturing Equipments and Control Tsinghua UniversityBeijing 100084China Yantai Tsingke+Robot Joint Research Institute Co. Ltd.Yantai 264000ShandongChina The First Affiliated Hospital of Tsinghua University Beijing 100016China

The health of people around the world and the global economy are under substantial threat from the outbreak of pandemics[1].controlling pandemics is extremely challenging,with preventing the spread of pathogens the most important and critical *** all preventative actions,body temperature screening is undoubtedly highly necessary and effective[2].

关键词： robot doubt critical

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