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作者： Hane, Yoshitaka Hayashi, Eiji Graduate School of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan Department of Mechanical Information Science and Technology Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan

ISBN: (纸本)9784990288013

In this report, we describe a user-recognition system for an autonomous robot. The proposed method enables the robot to recognize the person who instructs it without placing any markers in human living environments. The system is based on differences information between some camera's images, matches the template, and recognizes color based on HSV information. The threshold can be lowered by combining features of these in formations. This system enables recognition under various environments. A moving object is initially extracted by using the difference between frames. Next, to reduce the load, the image is narrowed to the area on which the difference is concentrated. The system matches the template and forecasts the user's position. In addition, it determines a flesh-colored area by using HSV information. When two or more people are present in the field of view, the system determines that the person with the largest-width silhouette is closest to the robot. After confirming that the person is standing still in its presence, the robot waits for the potential user to identify his or her intention to use the robot;this is signaled by the user raising his or her right hand. This process is repeated every 100 milliseconds. ©ISAROB 2007.

关键词： Robots

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Navigation system for a mobile robot using an omni-directional camera

Navigation system for a mobile robot using an omni-direction...

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作者： Mochizuki, Tatsuya Hayashi, Eiji Graduate School of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan Department of Mechanical Information Science and Technology Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan

ISBN: (纸本)9784990288013

This study developed a self-localization system that uses landmarks and movement to pursue a moving object. Specifically, an omni-directional camera was adopted as a visual sensor and was installed on a robot. The image from the omni-directional camera was processed to detect a landmark (an object), and the robot's distance from that landmark was then measured. These functions allowed the mobile robot to pursue a moving object. The measurement of distance based on the omni-directional image depends on the precise inclination of the camera. Consideration of this factor enabled the measurement of distance of relatively close objects with a high degree of precision. In this study, the effectiveness of this system was investigated by various experiments evaluating the measurement of distance, the movement to pursuit a moving object, and self-localization. The robot demonstrated its ability to recognize a moving object and to measure its distance and its angle in relation to the object. Based on these abilities, the robot could successfully follow a moving object. The robot's ability to recognize its location was seen to be based on its ability to recognize certain landmarks, the functions of which are mentioned above.

关键词： Mobile robots

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Characterization of coxniyo bimetallic oxide nanoparticles as charge trapping nodes in nonvolatile memory devices

Characterization of coxniyo bimetallic oxide nanoparticles a...

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International Symposium Semiconductor Device Research (ISDRS)

作者： Chin-Lung Cheng Kuei-Shu Chang-Liao Ping-Hung Tsai Chien-Wei Liu Jin-Tsong Jeng Sung-Wei Huang Bau-Tong Dai Institute of Mechanical and Electro-Mechanical Engineering National Formosa University Taiwan Department of Engineering and System Science National Tsing Hua University Taiwan National Nano Device Laboratories Taiwan Department of Computer Science and Information Engineering National Formosa University Taiwan

The nanoparticles (NPs) have been widely used to supersede the conventional charge trapping layers (CTLs) of the silicon-oxide-nitride-oxide-silicon devices for reducing the charge loss due to a local leakage path. Moreover, to reduce the gate tunneling leakage current, the high-dielectric-constant (high-k) gate oxides with the identical equivalent-oxide thickness (EOT) are promising for the advanced metal-oxide-semiconductor (MOS) devices applications. Therefore, the NPs embedded in the high-k gate dielectric would be an attractive technology option for the nonvolatile memory device (NVM) applications.

关键词： Nonvolatile memory Nanoparticles High-K gate dielectrics Temperature Voltage MOS devices Tunneling Capacitance-voltage characteristics Channel bank filters Electrons

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Development of a self-care robot - Study of automatic holding of object using robotic arm

Development of a self-care robot - Study of automatic holdin...

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作者： Henta, Hisatoshi Hayashi, Eiji Graduate School of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka City Fukuoka 820-8502 Japan Department of Mechanical Information Science and Technology Kyushu Institute of Technology 680-4 Kawazu Iizuka City Fukuoka 820-8502 Japan

ISBN: (纸本)9784990288013

This paper describes the development of a self-care support robot, developed to support elderly people with mobility problems. The Kitasap2 consists of a host computer and the physical body of a robot equipped with a robotic arm. The two are connected by a wireless LAN. The robotic arm has six degrees of freedom and is equipped with a robotic hand having three fingers. This paper describes the development of the ability of the robotic arm to hold and transport an object so as to reduce the user's operational load. It is necessary that such an operation be based on easily given instructions from the user. Therefore, we have developed systems in which selection and the recognition of the object are carried out using images provided by an omni-directional camera and a CCD camera. ©ISAROB 2007.

关键词： Robotic arms

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Measurement and Adaptive Decoupling of Cross-Saturation Effects and Secondary Saliencies in Sensorless-Controlled IPM Synchronous Machines

Measurement and Adaptive Decoupling of Cross-Saturation Effe...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： David Reigosa Pablo Garcia Dejan Raca Fernando Briz Robert D. Lorenz Department of Electrical Computer & System Engineering University of Oviedo Gijon Spain Power Control Systems MagneTek Inc. Menomonee Falls WI USA Depts. of Mechanical Engineering and Electrical & Computer Engineering University of Wisconsin Madison Madison WI USA

This paper analyzes effects of magnetic saturation, including cross-saturation and secondary saliencies, on saliency- based sensorless control of interior PM synchronous machines. These effects are mitigated by adaptively decoupling saturation induced-saliencies via a structured neural network. The paper includes identification of the dominant, saturation-induced components of the carrier signal current interfering with the rotor position-dependent component being tracked, characterization of these components, and implementation of a non-linear, adaptive, saturation-induced components structured neural network model to perform their decoupling.

关键词： Synchronous machines Sensorless control Saturation magnetization Frequency Neural networks Power engineering and energy Signal processing AC machines Pulse width modulation Position control

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Measurement of space variant PSF and its application to restoring severely degraded images

Measurement of space variant PSF and its application to rest...

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SICE Annual Conference

作者： Tadashi Ito Rutsuko Ichikawa Ryotaro Koishi Yusaku Fujii Naoya Ohta Saburou Saitoh Tsutomu Matsuura Takao Yamamoto Department of Electronic Engineering Gunma University Kiryu Japan Department of Computer Science Gunma University Kiryu Japan Department of Fundamental Studies Gunma University Kiryu Japan Department of Mechanical System Engineering Gunma University Kiryu Japan

ISBN: (纸本)4907764278

Images recorded by a security camera have often severely degraded due to dirty lens or secular distortion of the recording system. To restore these images, the fully determination of space variant point spread function (PSF) is required. To measure PSF, we have proposed a method using a liquid crystal display, and shown some experimental results to restore the images by a CCD camera with intentionally distorted optics. However the previous results were not satisfactory due to the measurement error and noise contained in the measured PSF. In this paper, we propose some methods for reduction of the measurement error and noise in PSF, and show improved results of restoration.

关键词： Extraterrestrial measurements Image restoration Degradation Distortion measurement Optical distortion Optical noise Optical recording Measurement errors Security Cameras

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Three‐dimensional Nano‐object Recognition by use of Phase Sensitive Scatterometry

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AIP Conference Proceedings 2007年第1期949卷 210-217页

作者： Daesuk Kim Byung Joon Baek Sun Young Lee Young Dong Kim Bahram Javidi aDivision of Mechanical & Aero System Engineering Chonbuk National University Jeonju 561‐756 Republic of Korea bDepartment of Physics Kyung Hee University Seoul 130‐701 Republic of Korea cDepartment of Electrical & Computer Engineering University of Connecticut 371 Fairfield Road Unit‐2157 Storrs CT 06269‐2157 USA

Spectroscopic ellipsometry (SE) has become an important tool in scatterometry based nano‐structure 3D profiling recently. In this paper, we propose a novel recognition method for nano size 3D object by use of phase sensitive scatterometry. We claims that only phase sensitive scatterometry can provide a reasonable 3D nano‐object recognition capability since phase data gives much more sensitive 3D information than that of amplitude. To show the validity of this approach, we generate 0th order spectrum data which are calculated through the rigorous coupled‐wave analysis (RCWA) algorithm and correlation has been checked for various nano‐pattern shapes.

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Automatic Self-Commissioning for Secondary-Saliencies Decoupling in Sensorless-Controlled AC Machines Using Structured Neural Networks

Automatic Self-Commissioning for Secondary-Saliencies Decoup...

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2007 IEEE International Symposium on Industrial Electronics (ISIE 2007), vol.6

作者： Pablo Garcia David Reigosa Fernando Briz Dejan Raca Robert D. Lorenz Department of Electrical Computer & System Engineering University of Oviedo Gijon Spain Power Control Systems MagneTek Inc. Menomonee Falls WI USA Wisconsin Electric Machines and Power Electronics Consortium (WEMPEC) Depts. of Mechanical Engineering and Electrical & Computer Engr University of Wisconsin Madison Madison WI USA

The focus of this paper is secondary-saliency decoupling in carrier signal injection-based sensorless control of AC machines using structured neural networks. Structured neural networks are utilized for automatic commissioning and decoupling of secondary saliencies including saturation-induced saliencies. Automatic commissioning process is necessary for easy implementation and for acceptance of the carrier signal injection-based sensorless control by drives industry. In comparison with classical compensation methods, such as lookup tables, this technique has advantages of reducing commissioning time and automating the process. These advantages are result of a physics-based design of structured neural networks, which is responsible for their scalability, and moderate size and complexity. In comparison with traditional neural networks, structured neural networks are simpler, physically insightful, less computationally intensive and easier to train.

关键词： AC machines Neural networks Signal processing Frequency estimation Sensorless control Position measurement Table lookup Voltage Power engineering and energy Saturation magnetization

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Robust quadratic optimal control of uncertain TS-fuzzy-model-based dynamic systems

Robust quadratic optimal control of uncertain TS-fuzzy-model...

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IEEE International Conference on systems, Man and Cybernetics

作者： Wen-Hsien Ho Jinn-Tsong Tsai Tung-Kuan Liu Jyh-Horng Chou Department of Medical Information Management Kaohsiung Medical University Taiwan Department of Computer Science National Ping Tung University of Education Taiwan Department of Mechanical and Automation Engineering National Kaohsiung First University of Science and Technology Taiwan Institute of System Information and Control National Kaohsiung First University of Science and Technology Kaohsiung Taiwan

This paper considers the design problem of the robust quadratic-optimal parallel-distributed-compensation (PDC) controllers for the Takagi-Sugeno (TS) fuzzy-model- based control systems with both elemental parametric uncertainties and norm-bounded approximation error. An integrative method, which complementarily fuses the robust stabilizability condition, the orthogonal-functions approach (OFA) and the hybrid Taguchi-genetic algorithm (HTGA), is presented in this paper to design the robust quadratic-optimal PDC controllers, in which the robust stabilizability condition is proposed in terms of linear matrix inequalities (LMIs).

关键词： Robust control Optimal control Nonlinear control systems Control systems Uncertainty Approximation error Fuzzy control Fuzzy systems Algorithm design and analysis Nonlinear dynamical systems

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Optimized NURBS ship hull fitting using simulated annealing

Optimized NURBS ship hull fitting using simulated annealing

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International Conference on computer Graphics, Imaging and Visualisation, CGIV'06

作者： Wen, Ang Swee Shamsuddin, Siti Mariyam Hj. Samian, Yahya Department of Graphics and Multimedia Faculty of Computer Science and Information System Universiti Teknologi Malaysia Department of Marine Technology Faculty of Mechanical Engineering Universiti Teknologi Malaysia

ISBN: (纸本)0769526063

The shape of a NURBS curve or surface is defined by the location of its control points, the control points' weights, and the knot vectors. Most of the curve and surface design tried to modify the control points. However, it is still impossible to obtained accurate control points for a reconstructed NURBS curve or surface. The fitness of these surfaces is generally considered a subjective notion depending on the judgment of the designers (eg. visually pleasing, devoid of unnecessary bumps or wiggles, satisfying certain continuity requirements). One of the restriction in ship hull design is that the existing details of a ship design on paper or a ship that already been constructed physically couldn't be reconstructed accurately and concisely in a ship hull design software. This research strives to solve this problem by creating fair ship hull surface using NURBS. An optimized NURBS ship hull fitting approach using simulated annealing is developed. Evaluation and analysis (accuracy, fairness and speed of processing) on the proposed approach is done.

关键词： Ships

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