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VISION-GUIDED DRY LEAF COLLECTING ROBOT

International Journal of Electrical engineering 2023年第1期30卷 9-17页

作者： Sawangbunrod, Burid Chonwitthayasittikul, Thaksin Ruangpayoongsak, Niramon Producion and Robotics Engineering Department Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangkok Thailand

Dry leaves fallen on ground in yards need to be cleaned up. Leaf collecting is time consuming and is repetitive task, therefore the task can be done by a robot. This paper presents hardware design and software implementation of a dry leaf collecting autonomous robot to replace human worker. The robot is a low-cost robot guided by vision using a web camera. The robot is controlled by algorithm developed on ROS running on Jetson Nano and Arduino Mega. The leaves are detected and identified by using YOLO. Real time leaves detection by using YOLOv5 and YOLOv8 are compared. The experimental results show that the YOLOv8 has impressive higher performance in leaf identification than YOLOv5 and the robot can successfully collect dry leaves on ground. © 2023, Chinese Institute of Electrical engineering. All rights reserved.

关键词： Robot vision

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Stride Length Estimation using Fuzzy Logic and a Single Shoe Mounted IMU Sensor 4

Stride Length Estimation using Fuzzy Logic and a Single Shoe...

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4th Research, Invention, and Innovation Congress: Innovative Electricals and Electronics, RI2C 2023

作者： Ruangpayoongsak, Niramon Producion and Robotics Engineering Department Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangkok Thailand

ISBN: (纸本)9798350330618

Stride length estimation is a problem in pedestrian dead reckoning. Accurate stride length is important since it yields precise pedestrian localization. This paper presents a new method to estimate stride length by using Fuzzy logic and a single IMU sensor mounted on shoe as well as a method to detect a stride. The IMU sensor measures foot acceleration signal and the different foot acceleration between the measured value and a collected value is used as input signal for the proposed Fuzzy logic design. Based on a 100 meters long walk, the subjects are divided into three groups by their walking style whereas the Fuzzy logic rules are designed for each type. The proposed method is different from existing method in that it needs only the foot acceleration measured data and does not require subject height or stride frequency. The experimental results of 11 subjects show that the stride detection and also the Fuzzy logic are successfully implemented. ©2023 IEEE.

关键词： Fuzzy logic

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Stride Length Estimation using Fuzzy Logic and a Single Shoe Mounted IMU Sensor

Stride Length Estimation using Fuzzy Logic and a Single Shoe...

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Research, Invention, and Innovation Congress (RI2C)

作者： Niramon Ruangpayoongsak Producion and Robotics Engineering Department Faculty of Engineering King Mongkut's University of Technology North Bangkok Bangkok Thailand

Stride length estimation is a problem in pedestrian dead reckoning. Accurate stride length is important since it yields precise pedestrian localization. This paper presents a new method to estimate stride length by using Fuzzy logic and a single IMU sensor mounted on shoe as well as a method to detect a stride. The IMU sensor measures foot acceleration signal and the different foot acceleration between the measured value and a collected value is used as input signal for the proposed Fuzzy logic design. Based on a 100 meters long walk, the subjects are divided into three groups by their walking style whereas the Fuzzy logic rules are designed for each type. The proposed method is different from existing method in that it needs only the foot acceleration measured data and does not require subject height or stride frequency. The experimental results of 11 subj ects show that the stride detection and also the Fuzzy logic are successfully implemented.

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