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3D terrain mapping vehicle for search and rescue 用于搜索和救援的三维地形测绘车
2016 10th International Conference on Sensing Technology (ICST) Pub Date : 2016-11-01 DOI: 10.1109/ICSENST.2016.7796236
K. Wang, Opender Singh, Eu-Lee Teh, K. Aw
{"title":"3D terrain mapping vehicle for search and rescue","authors":"K. Wang, Opender Singh, Eu-Lee Teh, K. Aw","doi":"10.1109/ICSENST.2016.7796236","DOIUrl":"https://doi.org/10.1109/ICSENST.2016.7796236","url":null,"abstract":"The emergence of urban search and rescue robotics (USAR) as a field of research is largely attributed to the failure of robots in the field thus far. Existing platforms are unable to fulfill the task of finding survivors because they are expensive, specialized, and require a very long lead time to construct and use. Further, they cannot be localized once a survivor is found. This project seeks to address the issues by developing an untethered unmanned ground vehicle with a multitude of sensors to map its path in 3D, coupled with an intuitive graphical user interface for facilitating two-way communication with the onboard Raspberry Pi micro-computer. In the current prototype, wireless communication is achieved through the Transmission Control Protocol (TCP) over a Wi-Fi connection. Dead reckoning has been used as the technique to process proprioceptive sensor data, meaning the system is not reliant on external support to produce the 3D terrain model. The developed graphical user interface allows easy and intuitive visualization of the terrain model and allows users to mark the model for rescue purpose. The developed prototype has successfully demonstrated its ease of construction, intuitive user interface and capability of automatic terrain mapping.","PeriodicalId":297617,"journal":{"name":"2016 10th International Conference on Sensing Technology (ICST)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126447637","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Acoustic and optical sensing configurations for bulk solids mass flow measurements 用于散装固体质量流量测量的声学和光学传感配置
2016 10th International Conference on Sensing Technology (ICST) Pub Date : 2016-11-01 DOI: 10.1109/ICSENST.2016.7796229
N. O’Mahony, Trevor Murphy, Krishna Panduru, D. Riordan, Joseph Walsh
{"title":"Acoustic and optical sensing configurations for bulk solids mass flow measurements","authors":"N. O’Mahony, Trevor Murphy, Krishna Panduru, D. Riordan, Joseph Walsh","doi":"10.1109/ICSENST.2016.7796229","DOIUrl":"https://doi.org/10.1109/ICSENST.2016.7796229","url":null,"abstract":"The emergence of trends such as the Industrial Internet of Things (IIOT), Industry 4.0 and Process analytical technology has heightened the demand for real-time, in-line and affordable sensors. The mass flow rate of bulk solids is a parameter that is invaluable to process understanding in many applications. Despite this the availability of affordable sensors is limited. This paper will investigate some novel methods sensing arrangements utilising cost-effective components including optical and acoustic sensors techniques with a comparison of these methods against a commercial sensor for their evaluation. Experimental results demonstrate that reliable monitoring of powder flow parameters is achieved and that the system is able to track fluctuations of powder flow in pipes in both freefall and pneumatic conveyance applications.","PeriodicalId":297617,"journal":{"name":"2016 10th International Conference on Sensing Technology (ICST)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122424742","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
An USV-based laser fluorosensor for oil spill detection 一种用于溢油检测的usv激光荧光传感器
2016 10th International Conference on Sensing Technology (ICST) Pub Date : 2016-11-01 DOI: 10.1109/ICSENST.2016.7796237
Deqing Liu, Xiaoning Luan, Feng Zhang, Jiu-cai Jin, Jinjia Guo, R. Zheng
{"title":"An USV-based laser fluorosensor for oil spill detection","authors":"Deqing Liu, Xiaoning Luan, Feng Zhang, Jiu-cai Jin, Jinjia Guo, R. Zheng","doi":"10.1109/ICSENST.2016.7796237","DOIUrl":"https://doi.org/10.1109/ICSENST.2016.7796237","url":null,"abstract":"Unmanned surface vehicle (USV) as a new platform has obvious advantages in the marine environmental monitoring. For the requirement of oil spill detection at the sea area of oil spills occur frequently, such as coastal ports, an USV-based laser fluorosensor was developed in our laboratory. In this paper, the overall scheme of USV-based laser fluorosensor system has been proposed, and it consists of shore-based terminal and laser fluorosensor. The laser fluorosensor system has been designed in detail. The axis of the transmitter and receiver in the system are coincident. A micro-pulse nitrogen laser and an ICCD are used as the excitation source and detector respectively. The laser and ICCD are both working at external trigger mode, and a delay generator outputs two TTL signals with fixed delay time to accomplish the time sequence control of the laser and ICCD camera, hence the range-gated detection of the system. The system performance has been tested both in the laboratory and field. The obtained results suggest that the optimal gate pulse delay and gate width of range-gated detection are 112~113ns and 10ns respectively under the condition of 5 meters detection range. The stability of the system has also been tested by repeated measurements, and the relative standard deviation is determined to be 3.47 %. The feasibility of applying the system to the field detection has also been verified in this work.","PeriodicalId":297617,"journal":{"name":"2016 10th International Conference on Sensing Technology (ICST)","volume":"188 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114184927","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Design and algorithm research of indoor underwater target positioning system 室内水下目标定位系统的设计与算法研究
2016 10th International Conference on Sensing Technology (ICST) Pub Date : 2016-11-01 DOI: 10.1109/ICSENST.2016.7796318
Zang Yunge, Chen Xiyuan
{"title":"Design and algorithm research of indoor underwater target positioning system","authors":"Zang Yunge, Chen Xiyuan","doi":"10.1109/ICSENST.2016.7796318","DOIUrl":"https://doi.org/10.1109/ICSENST.2016.7796318","url":null,"abstract":"The main work of this paper is proposed an indoor underwater target positioning system and an improved positioning algorithm. The principle of the system is based on the underwater acoustic positioning method for marine positioning. In addition, the structure of the system and the positioning algorithm are improved for the indoor underwater fixed target. The system is based on the short-baseline principle, combined with an ultrasonic transducer, three hydrophones, and a water depth meter to compose an improved short-baseline array, which is used to locate the underwater target. And the artificial bee colony algorithm is used to deal with the distance information. Then the nonlinear optimization problem is solved, and the positioning accuracy of the system is improved. In this paper, the hardware structure, the positioning principle and the positioning algorithm are discussed. The experimental results show that the underwater target positioning system has the advantages of high precision and high stability, and the performance of the algorithm is obviously better than that of other algorithms.","PeriodicalId":297617,"journal":{"name":"2016 10th International Conference on Sensing Technology (ICST)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131500192","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Local implicit surface based virtual fixtures in point cloud virtual environment for teleoperation 点云虚拟操作环境中基于局部隐式曲面的虚拟夹具
2016 10th International Conference on Sensing Technology (ICST) Pub Date : 2016-11-01 DOI: 10.1109/ICSENST.2016.7796325
D. Ni, A. Nee, S. Ong, Aiguo Song
{"title":"Local implicit surface based virtual fixtures in point cloud virtual environment for teleoperation","authors":"D. Ni, A. Nee, S. Ong, Aiguo Song","doi":"10.1109/ICSENST.2016.7796325","DOIUrl":"https://doi.org/10.1109/ICSENST.2016.7796325","url":null,"abstract":"It is a critical task to teleoperate a robot in a partially known or unstructured environment without any assistance. In this paper, local implicit surface based virtual fixtures are generated real time in a point cloud augmented virtual environment for operation guidance. The point-set implicit local surface method is modified to accomplish local forbidden region virtual fixtures. The robot-centered potential force field model is applied for the guidance virtual fixture generation. The resultant force generated from both forbidden region virtual fixtures and guidance virtual fixtures are fed back in real time to the human operator through a haptic device. With assistance from the guidance force, human operators can implement obstacle avoidance tasks efficiently. The experiment results show that the proposed method is effective for robot teleoperation.","PeriodicalId":297617,"journal":{"name":"2016 10th International Conference on Sensing Technology (ICST)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126740628","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Signal processing for distance measurement using laser voltage fluctuation due to self-coupling effect 利用激光电压波动自耦合效应测量距离的信号处理
2016 10th International Conference on Sensing Technology (ICST) Pub Date : 2016-11-01 DOI: 10.1109/ICSENST.2016.7796306
T. Yoshimatsu, Norio Tsuda, J. Yamada
{"title":"Signal processing for distance measurement using laser voltage fluctuation due to self-coupling effect","authors":"T. Yoshimatsu, Norio Tsuda, J. Yamada","doi":"10.1109/ICSENST.2016.7796306","DOIUrl":"https://doi.org/10.1109/ICSENST.2016.7796306","url":null,"abstract":"When a part of the scattering light from the target is entering to the laser cavity, the terminal voltage of semiconductor laser diode slightly fluctuates. This voltage fluctuation has the information related to a distance to the target. However, the terminal voltage fluctuation has many noises. Discrimination of distance signal with many noises is almost impossible. Therefore, a statistical signal processing which utilizes the all information in terminal voltage fluctuation is newly proposed. A system is constructed using Field-Programmable Gate Array (FPGA). This system can measure the distance of 21cm to 45cm with the average error of about 2 %.","PeriodicalId":297617,"journal":{"name":"2016 10th International Conference on Sensing Technology (ICST)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124626795","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
A novel scheme of finger recovery based on symmetric rehabilitation: Specially for hemiplegia 一种基于对称康复的手指恢复新方案:专为偏瘫患者设计
2016 10th International Conference on Sensing Technology (ICST) Pub Date : 2016-11-01 DOI: 10.1109/ICSENST.2016.7796309
Pengwen Xiong, Shuo Gao, Zhipu Liu, Lingyan Hu, Xukai Ding
{"title":"A novel scheme of finger recovery based on symmetric rehabilitation: Specially for hemiplegia","authors":"Pengwen Xiong, Shuo Gao, Zhipu Liu, Lingyan Hu, Xukai Ding","doi":"10.1109/ICSENST.2016.7796309","DOIUrl":"https://doi.org/10.1109/ICSENST.2016.7796309","url":null,"abstract":"Finger recovery is much harder than other parts on the upper limbs, because finger recovery movement has several key problems need to overcome, including high precision of movement, high control resolution requirements, variable data with different person, as well as the fuzzy signal during the movement. In order to overcome the difficulties, a new scheme of finger recovery is presented in the paper based on symmetric rehabilitation. In the paralyzed hand side, a mechanical exoskeleton hand is designed and simulated to provide skeletal traction, while in the regular hand side, the curve magnitude of every joint during movement is detected. Then the hand motion is analyzed and recognized using Multi-class SVM. Many candidates were chosen to perform the experiment, and the data produced by the candidates were divided the training parts and recognition parts. Experiments shows that the Multi-class SVM is effective and practical for classification and recognition, and could be helpful in the finger recovery process.","PeriodicalId":297617,"journal":{"name":"2016 10th International Conference on Sensing Technology (ICST)","volume":"280 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122855100","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Mechanism for developing a kinesthetic haptic feedback system 发展动觉触觉反馈系统的机制
2016 10th International Conference on Sensing Technology (ICST) Pub Date : 2016-11-01 DOI: 10.1109/ICSENST.2016.7796257
A. Farooq, P. Weitz, G. Evreinov, R. Raisamo
{"title":"Mechanism for developing a kinesthetic haptic feedback system","authors":"A. Farooq, P. Weitz, G. Evreinov, R. Raisamo","doi":"10.1109/ICSENST.2016.7796257","DOIUrl":"https://doi.org/10.1109/ICSENST.2016.7796257","url":null,"abstract":"Kinesthetic information is beneficial in detecting, recognizing, and interpreting haptic objects in virtual space. Unfortunately, kinesthetic feedback requires linkage-based high-powered multi-dimensional manipulators, such as exoskeletons or robotic arms, which are currently not possible to integrate with mobile devices. To overcome this challenge, we describe a novel system that is able to apply linkage-free directional forces to a stylus tip, in order to control user input behavior and provide haptic information. Elaborating on the theoretical approach introduced by Reznik and Canny in their `Universal Plannar Manipulator', this paper illustrates the development of the novel “Stick-slip” Kinesthetic Display Surface (SKDS) prototype. The SKDS prototype is an evolution of various design efforts, highlighting the efficiency, accuracy, and reliability of the system. We demonstrate how it is possible to generate directional forces on an interactive display in order to move a linkage-free stylus over a touchscreen in a fully controlled and efficient manner.","PeriodicalId":297617,"journal":{"name":"2016 10th International Conference on Sensing Technology (ICST)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116342818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Characterization of the implantable intra-body communication based on capacitive coupling by transfer function 基于传递函数电容耦合的可植入体内通信特性研究
2016 10th International Conference on Sensing Technology (ICST) Pub Date : 2016-11-01 DOI: 10.1109/ICSENST.2016.7796259
Maoyuan Li, Yong Song, Guangfa Wang, Q. Hao, Kai Zang
{"title":"Characterization of the implantable intra-body communication based on capacitive coupling by transfer function","authors":"Maoyuan Li, Yong Song, Guangfa Wang, Q. Hao, Kai Zang","doi":"10.1109/ICSENST.2016.7796259","DOIUrl":"https://doi.org/10.1109/ICSENST.2016.7796259","url":null,"abstract":"Implanted miniaturized device could enable efficient healthcare and clinical applications, such as monitoring, diagnosis and treatment. In this paper, characterization of the implantable intra-body communication based on capacitive coupling has been researched. The transfer function of implantable intra-body communication based on capacitive coupling was derived and the corresponding parameters were discussed. The validity of the developed model has been verified by measurements. Finally, the characteristics of this communication mode have been discussed in detail, while some important conclusion has been achieved. Our results indicate that the implantable intra-body communication based on capacitive coupling can be regarded as a potential ideal way for the communication among implanted devices.","PeriodicalId":297617,"journal":{"name":"2016 10th International Conference on Sensing Technology (ICST)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121664977","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
An autonomous, non-invesive vibration measurement system using stroboscope 一种使用频闪示波器的自主、非侵入式振动测量系统
2016 10th International Conference on Sensing Technology (ICST) Pub Date : 2016-11-01 DOI: 10.1109/ICSENST.2016.7796244
Dibyendu Roy, Sushovan Mukherjee, B. Bhowmik, A. Sinharay, R. Dasgupta, A. Pal
{"title":"An autonomous, non-invesive vibration measurement system using stroboscope","authors":"Dibyendu Roy, Sushovan Mukherjee, B. Bhowmik, A. Sinharay, R. Dasgupta, A. Pal","doi":"10.1109/ICSENST.2016.7796244","DOIUrl":"https://doi.org/10.1109/ICSENST.2016.7796244","url":null,"abstract":"This paper presents a novel methodology of calculating an object's frequency of vibration autonomously using a camera and mechanism of optical strobing. The camera used has a frame rate of 30 fps and therefore, in the conventional fashion, it is unable to capture meaningful information about any vibration frequency higher than that. Therefore, we utilize the strobing concept with an illumination frequency higher than camera frame rate and modulo (of division) between object's frequency and strobing frequency is captured in video. Motion in the video is tracked using robust optical flow technique. Finally, frequency is calculated from the frequency plot and the illumination frequency of the strobe. Experimental results show that our method is effective in various real scenarios. The method is noninvasive, computationally less expensive and more scalable compared to the existing systems.","PeriodicalId":297617,"journal":{"name":"2016 10th International Conference on Sensing Technology (ICST)","volume":"69 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123746531","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
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