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共 269 条记录，以下是201-210 订阅

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4-Axis robot Design and Simulation Based on SimulationX

4-Axis Robot Design and Simulation Based on SimulationX

引用

International Conference on robot, Vision and Signal Processing (RVSP)

作者： Luyan Bi Lisheng Liu Control Science and Engineering Department Shenzhen Graduate School of Harbin Industry University Shenzhen China Robot Lab Cooperate Engineering Johnson Electric Company Shenzhen China

This paper presents a 4-axis robot system model which is analyzed from kinematic aspect and simulated by SimulationX. Firstly, the robot kinematics model is established and robot workspace is obtained based on the robot kinematics analysis by means of Denavit-Hartenberg method. Furthermore, robot system model is founded in software SimulationX as well as mechanical and control systems are analyzed through simulation. Based on simulation result of SimulationX which includes every property of components in the model of SimulationX, the performance and feasibility of the 4-axis robot model can be clearly evaluated and verified.

关键词： Service robots Joints Analytical models Kinematics Servomotors Actuators

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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...

引用

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...

引用

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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A hand held magnetic camera system for real time crack inspection

A hand held magnetic camera system for real time crack inspe...

引用

IEEE Sensors Applications Symposium, SAS

作者： Jongwoo Jun Jungmin Kim Jinyi Lee Youngmin Park Research Center of Real Time NDT Chosun University Gwangju South Korea Department of Control and Instrumentation Robot Engineering Chosun University Gwangju South Korea Department of Control and Instrumentation Engineering Chosun University Gwangju South Korea Department of Information and Communication Engineering Chosun University Gwangju South Korea

ISBN: (纸本)9781424480630

Paramagnetic metals like aluminum alloys are used in aircraft due to their light weight. Magneto-optical eddy current imager (MOI) is a nondestructive magneto-optical technique that is used to inspect fatigue cracks and corrosion in the aluminum alloy of aged aircraft. Unfortunately, the quantitative distribution of distorted magnetic flux leakage (MFL) from crack tips is difficult to measure, and therefore, the shapes and sizes of cracks are difficult to evaluate quantitatively. Additionally, the inspected results vary significantly according to the skill level of the worker. Hand-held magnetic camera using Hall sensor array for crack inspection in paramagnetic materials is developed by research center for real time NDT. Distorted alternate currents (DAC) are produced around the crack tips when the sheet type induced current (STIC) is induced on the specimen in the hand-held magnetic camera system. The alternate MFL resulting from the DAC is detected using a Hall sensor array. The root-mean-squared MFL after the use of high pass filter is converted to a digital signal by an analog-to-digital converter (ADC). And it is stored in a computer, and processed by interface and operation software. An algorithm for the quantitative nondestructive testing and evaluation of cracks of different shapes and sizes on the aluminum alloy, Al7075, is proposed in this paper.

关键词： Magnetic flux Magnetic resonance imaging Cameras Magnetic fields Shape Arrays Magnetic field measurement

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Coincidence measurement system of concentricity and horizontality using a polarizing laser

Coincidence measurement system of concentricity and horizont...

引用

IEEE Sensors Applications Symposium, SAS

作者： Jongwoo Jun Youngmin Park Jinyi Lee Research Center of Real Time NDT Chosun University Gwangju South Korea Department of Information and Communication Engineering Chosun University Gwangju South Korea Department of Control and Instrumentation Robot Engineering Chosun University Gwangju South Korea

ISBN: (纸本)9781424480630

Coincidence measurement system of concentricity and horizontality is proposed in this paper. The measurement system can be used in the assembly of large structures, such as aircrafts, because it can quantitatively display the concentricity and horizontality in real time without any contact between the system and the structure by using a laser system. The system consists of only optical components on one side of the measurement system, i.e., the target. The other side of the measurement system consists of optical and electrical components. Therefore, the measurement system can be used in the assembly of anti-electrical shock structures. The standard deviation of concentricity and horizontality were 31.85 μm and 0.001036° at a distance of 0.985m, respectively. The quantitatively measured data could be indicated at 3frames/s of displayed speed.

关键词： Measurement by laser beam Extraterrestrial measurements Optical sensors Optical variables measurement Assembly Optical reflection

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Fast polynomial reconstruction attack against fuzzy fingerprint vault

Fast polynomial reconstruction attack against fuzzy fingerpr...

引用

5th International Conference on New Trends in Information Science and Service Science, NISS 2011

作者： Choi, Woo Yong Pan, Sung Bum Kim, Joo-Man Chung, Yongwha Hong, Dowon Software Research Laboratory ETRI 161 Gajeong-dong Yuseong-gu Daejeon 305-700 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 Applied IT and Engineering Pusan National University 50 Chunghak-ri Samrangjin-eup Miryang Kyungnam Korea Republic of Department of Computer and Information Science Korea University Jochiwon-eup Yeongi-gun Chungnam 339-700 Korea Republic of

ISBN: (纸本)9788988678626

Fuzzy fingerprint vault is proposed to provide a solution to user privacy and fingerprint template security problems. It binds fingerprint minutiae with a private key and scrambling it with a large amount of chaff minutiae. The security of the fuzzy fingerprint vault is based on the computational infeasibility of selection of a fixed number of the fingerprint minutiae. If the fingerprint minutiae can be selected much more efficiently, however, the fuzzy fingerprint vault scheme becomes vulnerable. In this paper we propose a new attack algorithm which applies the fast polynomial reconstruction algorithm. Experimental results show that the proposed algorithm is superior to both the correlation attack and the brute-force attack. The proposed attack algorithm records 100% attack rate on FVC2002 database. © 2011 AICIT.

关键词： Computers

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A safe joint with a joint torque sensor

A safe joint with a joint torque sensor

引用

International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Dong-Eun Choi Gi-Hun Yang Junho Choi Woosub Lee Changhyun Cho Sungchul Kang Center for Bionics Korea Institute of Science and Technology Seoul South Korea Under Water Robot Center Korea Institute of Industrial and Technology Cheonan South Korea Department of Mechanical and AeroSpace Engineering Tokyo Institute of Technology Tokyo Japan Department of Control Instruments and Robot Chosun University Gwang South Korea

In this study, a safe joint with a joint torque sensor is presented. The safe joint, named “Spring-Clutch”, is a simple passive mechanism that consists of a spring, a cam, and a joint torque sensor. When the torque applied is less than a pre-set threshold, the Spring-Clutch acts as a rigid joint between the input and output. However, if the applied torque exceeds the threshold, the Spring-Clutch is released and acts as a revolute joint, which results in reduction of the collision force to prevent damage of human and robot. After the applied torque is removed, the Spring-Clutch is immediately re-engaged. In addition, a compact joint torque sensor is installed in the Spring-Clutch to measure the torque at the joint. This paper describes the design principles and performance evaluation of Spring-Clutch, and discusses practical applications to a joint mechanism for safe manipulator.

关键词： Torque Joints robot sensing systems Springs Gravity Manipulators

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Fast polynomial reconstruction attack against fuzzy fingerprint vault

Fast polynomial reconstruction attack against fuzzy fingerpr...

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International Conference on New Trends in Information and Service Science, NISS

作者： Woo Yong Choi Sung Bum Pan Joo-Man Kim Yongwha Chung Dowon Hong Software Research Laboratory ETRI Daejeon South Korea Department of Control Instrumentation and Robot Engineering Chosun University Gwangju South Korea Department of Applied IT and Engineering Pusan National University Kyungnam South Korea Department of Computer and Information Science Korea University Chungnam South Korea

关键词： Polynomials Fingerprint recognition Correlation Interpolation Biometrics Authentication

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Active bending endoscope robot system for navigation through sinus area

Active bending endoscope robot system for navigation through...

引用

2011 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Hyun-Soo Yoon Se Min Oh Jin Hyeok Jeong Seung Hwan Lee Kyung Tae Kyoung-Chul Koh Byung-Ju Yi Department of Electronic Electrical Control and Instrumentation Engineering Hanyang University South Korea Department of Intelligent Robot Engineering Hanyang University South Korea Department of Otolaryngology-Head and Neck Surgery College of Medicine Hanyang University South Korea Department of Information and Communication Engineering Sun Moon University South Korea Department of Electronic Systems Engineering Hanyang University South Korea

This work introduces a new endoscope robot system for general sinus surgery. The proposed endoscope can be bent in accordance with a user's intension at the time of inserting the endoscope into the sinus area, and it was designed to be bent up to 180 degrees and its diameter is about 4mm. The design of the proposed endoscope uses a spring backbone, which allows flexibility of the mechanism. A design method to determine design parameters for this device is proposed. The performance of the proposed system is verified by integration of the robot device and simulator.

关键词： Endoscopes robots Surgery Springs Wires Joints Graphics

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Kalman Filtering for Wireless Sensor Network with Multiple Multiplicative Noises

Kalman Filtering for Wireless Sensor Network with Multiple M...

引用

2011 China control and Decision Conference(2011中国控制与决策会议 CCDC)

作者： Xiao Lu Mingchao Li Qiong Pu School of Control Science and Engineering Shandong University Jinan 250061 China Key Laboratory f Key Laboratory for Robot & Intelligent Technology of Shandong Province Shandong University of Scien Mechatronic Engineering Department Shandong Agricultural Administrators College Jinan 250100 Chin

The paper is concerned with Kalman filtering for wireless sensor network (WSN) with multiple multiplicative noises. Two measurements which are received through two different channels are considered in this system, and some packets are lost independently. Kalman. lter for the above system is presented by solving a Lyapunov equation and a Riccati equation. Moreover, the optimal. lter for the case of the system with multiple multiplicative noises is also presented. Furthermore, some results for the Lyapunov equation and the Riccati equation are proposed to analyze the performances of the Kalman filters.

关键词： Kalman filter Multiplicative noises Wireless sensor network

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