2013 IEEE International Conference on Mechatronics and Automation最新文献_第10页

Human detection and following by a mobile robot using 3D features 人类检测和跟随移动机器人利用三维特征

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618174

Badar Ali, Fahad Iqbal Khawaja, Y. Ayaz, Naveed Muhammad

{"title":"Human detection and following by a mobile robot using 3D features","authors":"Badar Ali, Fahad Iqbal Khawaja, Y. Ayaz, Naveed Muhammad","doi":"10.1109/ICMA.2013.6618174","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618174","url":null,"abstract":"Human-robot interaction is one of the most basic requirements for service robots. In order to provide the desired service, these robots are required to detect and track human beings in the environment. This paper presents a novel approach for classifying a target person in a crowded environment. The system used the approaches for human detection and following by implementing the multi-sensor data fusion technique using stereo camera and laser range finder (LRF). Our system tracks human being by gathering features of human upper body and face in 3D space from stereo camera and uses laser rangefinder to get legs data. Using these data our system classifies the target person from other human beings in the environment. We used Haar cascade classifiers for the detection of upper body and face, and used stereo camera for getting dimensions in 3D space. The approach for gathering legs data is based on the recognition of legs pattern extracted from laser scan. Tracking of target person is done using Cam Shift theorem. Using all these techniques we present a novel approach for target person classification and tracking. Our approach is feasible for mobile robots with an identical device arrangement.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126729804","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: 10

Experimental evaluation of control strategies for hydraulic servo robot 液压伺服机器人控制策略的实验评价

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617942

M. Bech, T. Andersen, H. Pedersen, Lasse Schmidt

引用次数: 10

Grasp stability analysis of multiple objects including contact surface geometry in 3D 包括接触面几何在内的三维多物体抓握稳定性分析

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617890

Takayoshi Yamada, Hidehiko Yamamoto

引用次数: 6

Stability and robustness analysis of the position control systems with disturbance observer 具有扰动观测器的位置控制系统的稳定性和鲁棒性分析

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617990

E. Sariyildiz, K. Ohnishi

引用次数: 2

A novel feature extraction method for SEMG signals using image processing 一种基于图像处理的表面肌电信号特征提取方法

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618183

Shuxiang Guo, Chunhua Guo, Muye Pang

{"title":"A novel feature extraction method for SEMG signals using image processing","authors":"Shuxiang Guo, Chunhua Guo, Muye Pang","doi":"10.1109/ICMA.2013.6618183","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618183","url":null,"abstract":"Several methods have been used for the feature extraction of surface electromyography (sEMG) signals, such as the integrated EMG (EEMG) in time domain and wavelet transform method in time and frequency domain. Because the EMG signals contain some inherent noise, the features extracted by these methods contain some incorrect values inevitably. According to the human vision, the image processing can be used to obtain the shape of sEMG signals. This paper focuses on the feature extraction of sEMG signals by calculating the geometric feature of sEMG signal using the pixel count method (PCM) in the image and calculating the textural feature using angular second moment (ASM) of gray level co-occurrence matrix (GLCM). The raw sEMG signals were recorded from three healthy subjects' biceps muscles. At the same time, the gray-scale image can be generated from the raw EMG signals. And then the proposed methods are used to calculate sEMG signals features from the gray-scale images. In the experiment, we classified the upper-limb voluntary movement into three motions and these motions are recognized by Back-propagation neural network (BPNN). For comparison, IEMG and wavelet packet transform (WPT) are also used to extract the sEMG features for motion recognition. The experimental results show that the proposed method is superior to the IEMG and WPT method.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123550430","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

Optimal reconfiguration of parallel manipulators for the maximum dynamic wrench capability 最大动态扳手能力的并联机械手优化重构

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617989

Chun-Ta Chen, G. Jin, Chiang-Ho Cheng

引用次数: 0

Conceptual design and preliminary analysis on bio-inspired squid micro AUV 仿生乌贼微型水下航行器的概念设计与初步分析

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618152

M. F. Shaari, Z. Samad, C. Jun, A. Husaini, A. M. Omar

引用次数: 5

Cascading failure evalution of ship fire-fighting system 船舶消防系统级联失效评价

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617988

Yanli Zhang, Hongzhang Jin, Nuo Jia, A. Zou

引用次数: 0

Research on the sealing structure of the plug near launcher & receiver 发射接收机附近塞筒密封结构研究

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618170

Wang Wenming, Mei Xutao, Shimin Zhang, Song Yu, Jiao Quan, Han Yuexia

引用次数: 0

Experimental studies of position control of humanoid robot arms using a simplified time-delayed controller: A practical approach 基于简化时滞控制器的人形机械臂位置控制实验研究:一种实用方法

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618118

Y. Bae, S. Jung

引用次数: 3