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Intelligent Systems, International Workshop on

作者： Jaehyeon Baik Sejun Park Yunho Choi Kyung-Joong Kim Hosu Lee Dept. 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)9798350353303

ISBN: (纸本)9798350353310

Stroke survivors often experience balance disorders, significantly increasing the risk of falls. Accurate COP (Center of Pressure) measurements are essential for evaluating balance and rehabilitation outcomes. To measure COP, force plates are expensive and not user-friendly. Another system for measuring COP is Insole Pressure Sensors (IPS). However, IPS has limitations in accuracy and usability. In this paper, we suggested a cost-effective COP measurement algorithm based on high-resolution Tactile sensors which has electrodes aligned at right angles on each side of a commercial piezoresistive film, and can capture human footprints in great detail. Furthermore, a static experiment was conducted with weight plates to evaluate the COP measurement capability of the system. In future works, we will focus on validating the system's durability, usability, and integration into rehabilitation programs, as well as comparing dynamic COP measurements with force plate data.

关键词： Weight measurement Force measurement Accuracy Force Dynamics Tactile sensors Pressure measurement IP networks Reliability Usability

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Asymmetric S-Curve Generation and Tracking Under Motion Constraints: An Experimental Validation

Asymmetric S-Curve Generation and Tracking Under Motion Cons...

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2022 Advances in Science and engineering Technology International Conferences, ASET 2022

作者： Cicek, Elif Turker, Turker Akbati, Onur Vedat Sancak, Kamil ALTINAY Robot Technologies Inc. Istanbul Turkey Al Dar University College School of Engineering and Technology Dubai United Arab Emirates Yildiz Technical University Dept. of Control and Automation Eng. Istanbul Turkey

ISBN: (纸本)9781665418010

S-curve is one of the most applied approaches for trajectory generation for the point-to-point movement in industrial drives. In this note, the asymmetric S-curve structure is addressed to develop a single-axis motion structure, and an algorithm is introduced to generate the desired motion. Furthermore, a cascade P/PI position controller structure with a feed-forward path is suggested and the determination of the controller gains is discussed. Aiming to improve the smoothness of the desired trajectory and to reduce the tracking error, the proposed scheme containing both trajectory generation and controller structure is implemented experimentally in a ball screw linear motion system. The mechanical model parameters in that experimental setup, and accordingly the controller gains, are obtained based on an estimation algorithm. The acquired results show that the proposed controller structure with the asymmetric S-curve generation algorithm is convenient for practical applications. © 2022 IEEE.

关键词： controllers

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Optical Tactile Sensing for Aerial Multi-Contact Interaction: Design, Integration, and Evaluation

arXiv

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arXiv 2024年

作者： Aucone, Emanuele Sferrazza, Carmelo Gregor, Manuel D'Andrea, Raffaello Mintchev, Stefano The Environmental Robotics Laboratory Dept. of Environmental Systems Science ETH Zürich Zürich8092 Switzerland Birmensdorf8903 Switzerland The Robot Learning Lab UC Berkeley BerkeleyCA94704 United States The Institute for Dynamic Systems and Control Dept. of Mechanical and Process Engineering ETH Zürich Zürich8092 Switzerland

Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed multi-contact sensing. Designed to be easily mounted at the bottom of a drone, we propose an optical tactile sensor that features a large and curved soft sensing surface, a hollow structure and a new illumination system. Even when spaced only 2 cm apart, multiple contacts can be detected simultaneously using our software pipeline, which provides real-world quantities of 3D contact locations (mm) and 3D force vectors (N), with an accuracy of 1.5 mm and 0.17 N respectively. We demonstrate the sensor’s applicability and reliability onboard and in real-time with two demos related to i) the estimation of the compliance of different perches and subsequent re-alignment and landing on the stiffer one, and ii) the mapping of sparse obstacles. The implementation of our distributed tactile sensor represents a significant step towards attaining the full potential of drones as versatile robots capable of interacting with and navigating within complex environments. Copyright © 2024, The Authors. All rights reserved.

关键词： Drones

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Fusing Lidar, Radar, and Camera Using Extended Kalman Filter for Estimating the Forward Position of Vehicles 9

Fusing Lidar, Radar, and Camera Using Extended Kalman Filter...

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9th IEEE International Conference on Cybernetics and Intelligent Systems and robotics, Automation and Mechatronics, CIS and RAM 2019

作者： Kim, Taek-Lim Lee, Jae-Seol Park, Tae-Hyoung Chungbuk National Uni Dept. of Robot Control Eng. Cheongju Korea Republic of

ISBN: (纸本)9781728134581

As radar and lidar sensors' precision varies with distance, this paper proposes an extended Kalman filter that reflects the precision of the sensors as the distance changes. Majority of previous studies did not consider the measurement errors of the sensors. Thus, the Kalman filter is important in defining the relationship between the measurement vector and the state vector well. We added a reliability function to express the relationship between the state vector and the measurement vector. For the experiment, we took data from the actual vehicle for greater accuracy in estimating the position although the measurement error is reflected. Results show that the proposed method estimates the position more accurately and the estimate process is smoother. © 2019 IEEE.

关键词： Extended Kalman filters

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Assembly defect classification of SMD components by cascade convolutional neural network

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Transactions of the Korean Institute of Electrical Engineers 2019年第10期68卷 1236-1243页

作者： Ryu, Jong-Hyun Kim, Young-Gyu Park, Tae-Hyoung Dept. of Control and Robot Engineering Chungbuk National University Korea Republic of School of Electronics Engineering Chungbuk National University Korea Republic of

In this paper, we propose the classification method of assembly defects in the surface mount technology process. We used a cascade convolution neural network which two convolutional neural networks were merged into one network, for assembly defect classification. The first network classifies whether the surface mount device (SMD) is defect or not. The second network classify the result of the first network more detail. We classified the SMD defects as six types using a cascade convolution neural network. Experiment result shows that the proposed method can optimize memory usage and improve classification accuracy compared to previous methods. Copyright © The Korean Institute of Electrical Engineers.

关键词： Convolution

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Fusing Lidar, Radar, and Camera Using Extended Kalman Filter for Estimating the Forward Position of Vehicles

Fusing Lidar, Radar, and Camera Using Extended Kalman Filter...

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IEEE Conference on Cybernetics and Intelligent Systems

作者： Taek-Lim Kim Jae-Seol Lee Tae-Hyoung Park dept. of Robot Control Eng. Chungbuk National Uni Cheongju Republic of Korea School of Electronics Eng. Chungbuk National Uni Cheongju Republic of Korea

ISBN: (数字)9781728134581

ISBN: (纸本)9781728134598

关键词： robot sensing systems Laser radar Kalman filters Reliability Radar measurements Cameras

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An effective auto-focusing method for curved panel inspection system

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Transactions of the Korean Institute of Electrical Engineers 2017年第4期66卷 709-714页

作者： Lee, Hwang-Ju Park, Tae-Hyoung Dept. of Electronics Engineering Chungbuk National University Korea Republic of Dept. of Control and Robot Engineering Chungbuk National University Korea Republic of

The curved panel is widely used for display of TVs and smart phones. This paper proposes a new auto-focusing method for curved panel inspection system. Since the distance between the camera and the panel varies with the curve position, the camera should change its focus at every inspection time. In order to reduce the focusing time, we propose an effective focusing method that considers the mathematical model of panel curve. The Lagrange polynomial equation is applied to modeling the panel curve. The foci of initial three points are used to get the curve equation, and the other foci are calculated automatically from the curve equation. The experiment result shows that the proposed method can reduce the focusing time. Copyright © The Korean Institute of Electrical Engineers.

关键词： Cameras

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An efficient 3D pedestrian detector with calibrated RGB camera and 3D LiDAR

An efficient 3D pedestrian detector with calibrated RGB came...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Pang, Lei Cao, Zhiqiang Yu, Junzhi Liang, Shuang Chen, Xuechao Zhang, Weimin State Key Lab Management and Control for Complex Systems Institute of Automation CAS Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Dept. Mech. Eng. Sci. BIC-ESAT College of Engineering Peking University Beijing100871 China BAICIRS Beijing100081 China Intell. Robot. Inst. Beijing Inst. Technol. Beijing100081 China

ISBN: (纸本)9781728163215

Pedestrian detection plays an important role in the environmental perception and autonomous navigation for robotics, which provides critical information for the safe operation in complex environments. In this paper, a 3D pedestrian detector with calibrated LiDAR and RGB Camera is proposed, which takes full advantage of the precise range information of 3D LiDAR scanner and semantic information acquired from RGB image. The proposed approach integrates the segmented object clusters of point cloud and 2D bounding boxes generated by a visual object detector. The point cloud is segmented by a three-step segmentation approach, which can segment point cloud with both high precision and high efficiency. By fusion multi-sensor information in the image domain, the proposed approach provides 3D information of pedestrians in both LiDAR and camera coordinate systems. Experiments was conducted to evaluate the performance of the proposed approach. © 2019 IEEE.

关键词： Cameras

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Wavelet transform based defect detection for PCB inspection machines

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Transactions of the Korean Institute of Electrical Engineers 2017年第10期66卷 1508-1515页

作者： Youn, Seung-Geun Kim, Young-Gyu Park, Tae-Hyung School of Electronics Engineering Chungbuk National University Korea Republic of Unieye Co. Korea Republic of Dept. of Control and Robot Engineering Chungbuk National University Korea Republic of

This paper proposes the defect detection method for automatic inspection machines in printed circuit boards (PCBs) manufacturing system. The defects of PCB such as open, short, pin hole and scratch can be detected by comparing the standard image and the target image. The standard image is obtained from CAD file such as ODB++ format, and the target image is obtained by arranging, filtering and binarization of captured PCB image. Since the PCB size is too large and image resolution is too high, the image processing requires a lot of memory and computational time. The wavelet transform is applied to compress the standard and target images, which results in reducing the memory and computational time. To increase the inspection accuracy, we utilize the he HH-domain as well as LL-domain of the transformed images. Experimental results are finally presented to show the performance improvement of the proposed method. Copyright The Korean Institute of Electrical Engineers.

关键词： Wavelet transforms

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Mura defect detection of display panel using gabor wavelet transformation and image post-processing

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Journal of Institute of control, robotics and Systems 2017年第4期23卷 287-293页

作者： Lee, Hwang-Ju Park, Tae-Hyoung Dept. of Control and Robot Engineering Chungbuk National University Korea Republic of School of Electronics Engineering Chungbuk National University Korea Republic of

We propose a mura defect detecting method for the display panel inspection machines. Detecting the mura defects of display panel is difficult due to non-uniform brightness background and slightly different brightness levels between the defect region and the background. In order to separate the background and the defect region, we developed a new reconstruction algorithm based on Garbor wavelet transformation. The defect region was then enhanced by post-processing of the reconstructed image. Both of the accuracy and the speed for detecting the mura defect are improved. Experiment results verified that the proposed method is useful and efficient for detecting the mura defects of the display panel. © ICROS 2017.

关键词： Defects

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