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SMD classification system on PCB using two convolution neural networks

Journal of Institute of control, robotics and Systems 2019年第10期25卷 923-928页

作者： Lim, Dae-Ui Kim, Young-Gyu Park, Tae-Hyoung Department of Control and Robot Engineering Chungbuk National University Korea Republic of School of Electronics Engineering Chungbuk National University Korea Republic of

It is important to classify SMD(Surface Mount Device) type for programing of AOI. A new SMD classification system is proposed using series of two CNNs to improve accuracy. A series of device region detection CNN and classification CNN are proposed where the first network is device region detect network and second network is device classification network. The device region detect network is designed lighter than the previously used region detect network. Experimental results showed that better accuracy is obtained when classification is performed after region detection. © ICROS 2019.

关键词： Printed circuit boards

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A VR-based upper limb rehabilitation hand robotic training system 15

A VR-based upper limb rehabilitation hand robotic training s...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Jian Li, Nan Guo, Shuxiang Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

With the development of science and technology, virtual reality technology has been applied to various fields. Virtual reality technology is proposed into rehabilitation medical treatment, which can avoid dull rehabilitation training, improve the initiative of patients' rehabilitation and improve the overall effect of rehabilitation training. In order to help patients with hand grab function training, we proposed a virtual reality-based upper limb rehabilitation hand training system. In this paper, we can obtain the bending angle data of fingers and force feedback through the upper limb rehabilitation hand robot with CyberGlove. We established the high precise 3D model, set up the mapping relationship between CyberGlove and the virtual hand to realize the human-computer interaction. Based on the previous work, a VR-based upper limb rehabilitation hand robotic training system is proposed and has collision detection and force feedback, which makes users feel more realistic when interacting with objects in the virtual environment. The relevant verification experiment confirmed that virtual hand and upper limb rehabilitation robot interact well, which increases the interest of training. © 2018 IEEE.

关键词： Patient treatment

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A lane detection and tracking method using image saturation and road width data

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Journal of Institute of control, robotics and Systems 2019年第5期25卷 476-483页

作者： Lee, Kang-Soo Heo, Sung-Woo Park, Tae-Hyoung Department of Control and Robot Engineering Chungbuk National University Korea Republic of School of Electronics Engineering Chungbuk National University Korea Republic of

It is necessary to have lane keeping system on autonomous vehicles. Recently vehicles with LKAS(Lane Keeping Assistance Sysyem) have been accomplished and are on sale, but only use on limited highway. Because highway is the easiest place to detect lane on the road. On the other hand, there are lots of road marking and curb on downtown region. In this paper we propose a robust lane detection and tracking method. The order of the proposed method is as follows. Firstly, calculate contrast of intensity and saturation to extract lane candidate. Secondly build the column histogram and find the lane region. Thirdly detecting both sides of lane and tracking lane using Kalman filter. As a result, the proposed system improves the detection accuracy and reduces computation time. Through various experiments, we show the robustness of the proposed system. © ICROS 2019.

关键词： Kalman filters

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Real-time collision avoidance motion planning using vehicle lateral angular velocity constraints

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Journal of Institute of control, robotics and Systems 2019年第2期25卷 170-179页

作者： Heo, Sung-Woo Park, Tae Hyoung Department of Control and Robot Engineering Chungbuk National University Korea Republic of School of Electronics Engineering Chungbuk National University Korea Republic of

This paper proposes a method for motion planning of a vehicle considering lateral angular velocity constraints. Motion planning is very important for the safe travel of an autonomous vehicle. In this work, the steering angle of the vehicle is included in the cost function in order to achieve smooth operation of the vehicle. and path optimization uses dynamic programming to select the paths that satisfy the constraint with the least cost. After selecting the optimal path, the longitudinal velocity profile is determined using a fuzzy speed controller. The steering input of the vehicle and the distance from the obstacle to follow the path are used as the input of the fuzzy speed controller, and the controller provides longitudinal acceleration and deceleration of the vehicle as the output. Experiments were conducted for three scenarios using vehicles equipped with Lidar, IMU, GPS, and cameras. Experimental results show that the proposed motion plan generates a path within the steering constraint condition of the vehicle and runs effectively. © ICROS 2019.

关键词： Motion planning

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A localization system of mobile robots using artificial landmarks

A localization system of mobile robots using artificial land...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Dong-Hyeog Heo Ah-Reum Oh Tae-Hyoung Park Department of Control and Robot Engineering CBITRC Chungbuk National University Cheongju Chungbuk South Korea

This paper proposes a localization system for indoor mobile robots. The localization system includes a camera and artificial landmarks for global positioning, and encoders and gyro sensors for local positioning. The Kalman filter is applied to take into account the stochastic errors of all sensors. Also, we develop a dead reckoning system to estimate the global position when the robot moves into blind spots, where it cannot see artificial landmarks. Learning engines using modular networks are designed to improve the performance of the dead reckoning system. The experimental results are then presented to verify the usefulness of the proposed localization system.

关键词： robot sensing systems Engines Mobile robots Image sensors robot kinematics

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Design of the speech control system for a upper limb rehabilitation robot based on wavelet de-noising 15

Design of the speech control system for a upper limb rehabil...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Wang, Zhi Guo, Jian Fu, Qiang Li, Nan Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

In order to help stroke patients to go on rehabilitation training, a new type of exoskeleton upper limb rehabilitation robot based on biomechanics has been designed in this paper, and speech control has been implemented. The speech control is suitable for patients who can speak. Doctors or family members can also assist patients in training. The system can help patients with hemiplegia to recover the upper limbs and fingers movement function, at the same time, it has the characteristics of small size, more portable and convenient operation. It can also effectively solve the shortage of traditional doctors and patients' one to one rehabilitation training. It is convenient for patients to use in the family. Anybody can help patients with rehabilitation training and has a broad application prospect in the field of rehabilitation. Finally, the speech control system was tested and the master-slave control experiment was implemented. In order to better perform speech recognition and further reduce the noise in the environment, the original speech signals have been de-noised with wavelet transform . The experimental results showed that the success rate of post-noise speech control system rehabilitation training is higher, and the average correct recognition rate of speech control is 94%, thus the feasibility of the speech control system is verified. © 2018 IEEE.

关键词： control systems

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Application of the hybrid algorithm in path planning of the spherical mobile robot 15

Application of the hybrid algorithm in path planning of the ...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Jian Li, Chunying Guo, Shuxiang Yang, Xujie Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

Genetic algorithms (GA) and ant colony algorithm (ACO) are computational models that simulate the process of biological evolution and are widely applied to problems related to path planning. This paper proposes a path planning algorithm which combines the genetic algorithm and the ant colony algorithm. The hybrid algorithm overcomes the problem of genetic algorithm's poor ability in local search, and overcomes the slow convergence speed, local optimal solution of ant colony algorithm's in the process of convergence. The effectiveness and rapidity of the proposed hybrid algorithm is verified by simulation and experiment. The overall performance is better than the genetic algorithm and the ant colony algorithm. Finally, we carried out the experiments to verify the effectiveness of the proposed hybrid algorithm which could avoid collision and reach the target safely, and the proposed hybrid algorithm was compared with ACO and GA respectively. The experimental results showed that the proposed hybrid algorithm overcame the defects of ACO and GA, verified the effectiveness and rapidity of the proposed hybrid algorithm. © 2018 IEEE.

关键词： Genetic algorithms

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Magnetic images and ndt of the express train wheel using a high speed scan-type magnetic camera

Magnetic images and ndt of the express train wheel using a h...

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作者： Hwang, Jiseong Lee, Jinyi 1Department 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

Wheels are essential parts of an express train, as they support the train's weight, but because of the limited time available for testing and repair in the maintenance factory, the 1000 wheels of each high-speed train must be tested within 1 h. Therefore it is essential to develop a new NDT system that is able to (a) detect cracks quickly and (b) provide high crack-detection ability regardless of the state of the materials. In this paper we propose a scan-type magnetic camera to satisfy this need. We use a linearly integrated Hall sensor array (LIHaS) as a magnetic sensor to make high-speed testing possible, and we use a small, yoke-type magnetizer as the magnetic source for the magnetic camera to assure high crack-detection ability. We tested the method by examining the cracks on a sample wheel traveling at 27.5km/h. © (2010) Trans Tech Publications, Switzerland.

关键词： Nondestructive examination

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Design of a novel drug-delivery module for active locomotive intestinal capsule endoscopy 15

Design of a novel drug-delivery module for active locomotive...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Jian Bao, Zihong Guo, Shuxiang Fu, Qiang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

Current Wireless Capsule Endoscopic systems (WCE) provide only diagnostic tools, but in the future, advanced functionalities such as controllable drug delivery could be available for clinicians. This paper proposes a spiral capsule robot driven by external magnetic field control wireless targeted drug delivery module, the module includes two radial magnetizing magnetic ring and a simple plastic chain, and it has a volume of 1.15 ml medicine cavity integration within the interior space. The control system of the robot including the driven system, motion control and drug release of the robots was presented. The robot module has two spiral grooves outside the module, which can be controlled in the external magnetic field. The inner two ring magnets can be operated and closed under the control of external strong pulse magnetic field. Then the robot was driven by a three-axis Helmholtz coil system. Finally, the feasibility of the function of drug release is verified. The developed capsule robot can be used to improve the capsule robot system, increase the function of the capsule robot, and can be used in the future medical treatment. © 2018 IEEE.

关键词： robots

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Analysis of error propagation in two-way-ranging-based cooperative positioning system

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Journal of Institute of control, robotics and Systems 2015年第9期21卷 898-902页

作者： Lim, Jeong-Min Lee, Chang-Eun Sung, Tae-Kyung Department of Information and Communication Engineering Chungnam National University Korea Republic of Robot/Cognitive System Research Department Intelligent Robot Control Research Team Electronics and Telecommunications Research Institute Korea Republic of

Alternative radio-navigation technologies aim at providing continuous navigation solution even if one cannot use GNSS (Global Navigation Satellite System). In shadowing region such as indoor environment, GNSS signal is no longer available and the alternative navigation system should be used together with GNSS to provide seamless positioning. For soldiers in battlefield where GNSS signal is jammed or in street battle, the alternative navigation system should work without positioning infrastructure. Moreover, the radio-navigation system should have scalability as well as high accuracy performance. This paper presents a TWR (Two-Way-Ranging)-based cooperative positioning system (CPS) that does not require location infrastructure. It is assumed that some members of CPS can obtain GNSS-based position and they are called mobile anchors. Other members unable to receive GNSS signal compute their position using TWR measurements with mobile anchors and neighboring members. Error propagation in CPS is analytically studied in this paper. Error budget for TWR measurements is modeled first. Next, location error propagation in CPS is derived in terms of range errors. To represent the location error propagation in the CPS, Location Error Propagation Indicator (LEPI) is proposed in this paper. Simulation results show that location error of tags in CPS is mainly influenced by the number of hops from anchors to the tag to be positioned as well as the network geometry of CPS. © ICROS 2015.

关键词： Radio navigation

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