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Object Recognition and Cooperative Pick-and-Place of a Single Spherical Wheeled Mobile Robot with Dual Arms 双臂单球面轮式移动机器人的目标识别与协同拾取
International Journal of Automation and Smart Technology Pub Date : 2018-03-01 DOI: 10.5875/AUSMT.V8I1.1574
J. Tang, Ching-Chih Tsai, Feng-Chun Tai
{"title":"Object Recognition and Cooperative Pick-and-Place of a Single Spherical Wheeled Mobile Robot with Dual Arms","authors":"J. Tang, Ching-Chih Tsai, Feng-Chun Tai","doi":"10.5875/AUSMT.V8I1.1574","DOIUrl":"https://doi.org/10.5875/AUSMT.V8I1.1574","url":null,"abstract":"This paper presents techniques and methodologies for object recognition and cooperative pick-and-place of a single spherical wheeled mobile robot (SSWMR) with seven-degrees-of-freedom (7-DoF) dual arms. Both arms are cooperatively used to achieve a pick-and-place task by solving the inverse kinematics of both arms and performing on-line motion planning in real time. To maintain the SSWMR in a stable state to carry out the desired task, the robot is equipped with a lifting platform using four legs to support static stability. Image processing and pattern recognition methods are used to develop application programs based on the OpenCV and OpenNI library to recognize and locate desired objects to be grasped. Simulation and experimental results are used for successful illustration of the proposed techniques.","PeriodicalId":38109,"journal":{"name":"International Journal of Automation and Smart Technology","volume":"8 1","pages":"19-27"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71162901","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
Implementation of Odometry with EKF in Hector SLAM Methods 在Hector SLAM方法中用EKF实现里程测量
International Journal of Automation and Smart Technology Pub Date : 2018-03-01 DOI: 10.5875/ausmt.v8i1.1558
Ming-Yi Ju, Yu-Jen Chen, Wei-Cheng Jiang
{"title":"Implementation of Odometry with EKF in Hector SLAM Methods","authors":"Ming-Yi Ju, Yu-Jen Chen, Wei-Cheng Jiang","doi":"10.5875/ausmt.v8i1.1558","DOIUrl":"https://doi.org/10.5875/ausmt.v8i1.1558","url":null,"abstract":"Map building for plain spatial soundings, such as a long and straight corridor in simultaneous localization and mapping (SLAM) is a challenging problem because of lacks of distinguishable landmarks. Such an environment is highly possible to induce erroneous mapping results, such as alias problems. This paper presents a scan matching algorithm with odometer prediction using Extended Kalman Filter (EKF) and an optimal path planning based on regression subgoals. The scan matching process can relax the problems of local minima by means of an effective correction in the odometrical information. By iterating odometrical corrections in each step of running motion model, the matching result can be better than one only believes in individual information from scanning or odometry. Meanwhile, an optimal path planning utilizing an A * algorithm with a regression method is introduced to ensure a mobile robot be able to move elaborately around the corner and speed up along a straight line. Experiments in an indoor environment have been conducted to verify the effectiveness and validation of the proposed techniques.","PeriodicalId":38109,"journal":{"name":"International Journal of Automation and Smart Technology","volume":"8 1","pages":"9-18"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46902498","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: 4
Force Sensorless Compliance Control of a Lower-limb Exoskeleton Robot 下肢外骨骼机器人的无力传感器柔顺控制
International Journal of Automation and Smart Technology Pub Date : 2018-03-01 DOI: 10.5875/ausmt.v8i1.1565
C. Kuo, A. Yudha, S. Mohapatra
{"title":"Force Sensorless Compliance Control of a Lower-limb Exoskeleton Robot","authors":"C. Kuo, A. Yudha, S. Mohapatra","doi":"10.5875/ausmt.v8i1.1565","DOIUrl":"https://doi.org/10.5875/ausmt.v8i1.1565","url":null,"abstract":"Lower limb rehabilitation machines are widely used to enhance the mobility function of elderly people and patients suffering from spinal cord injury and stroke. In this paper, a four degrees of freedom (DOF) lower body exoskeleton with a model-based compensation control framework is proposed to support hip-knee rehabilitation. The exoskeleton control movement is realized by designing a trajectory for each leg movement. A function approximation technique (FAT) based adaptive control is applied to each two DOF legs during a rehabilitation task. Using the FAT based adaptive control, the natural system dynamic is adaptively compensated for without knowing the acceleration feedback and system dynamics. Simulation results show the disturbance observer successfully estimated the user’s applied leg force. The leg force is given as the input to compliance control applied in 2 DOF motors when performing a walking sequence on a treadmill. Moreover, the FAT-based adaptive control outperformed the standard proportional-differential (PD) control and could accommodate different subjects without any changes to control parameters.","PeriodicalId":38109,"journal":{"name":"International Journal of Automation and Smart Technology","volume":"8 1","pages":"51-60"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48753363","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: 3
Music Play Using a Vibraphone with a Humanoid Robot as Interaction Training for Autistic Children 用颤音琴和人形机器人演奏音乐作为自闭症儿童的互动训练
International Journal of Automation and Smart Technology Pub Date : 2018-03-01 DOI: 10.5875/AUSMT.V8I1.1582
Ying-Hua Peng, M. Wang, N. Mayer, Yuehong Peng, J. Kossewska
{"title":"Music Play Using a Vibraphone with a Humanoid Robot as Interaction Training for Autistic Children","authors":"Ying-Hua Peng, M. Wang, N. Mayer, Yuehong Peng, J. Kossewska","doi":"10.5875/AUSMT.V8I1.1582","DOIUrl":"https://doi.org/10.5875/AUSMT.V8I1.1582","url":null,"abstract":"Since 1998 robots have been used as social mediators that interact with autistic children. In this paper, we use music as a mediator between a robot and an autistic child. The robot plays a music interaction game by using a vibraphone, what might be seen as a kind of music therapy. The purpose of this work was to provide a robot and other multi-media interaction equipment as an interactive tool for professionals to reach the attention of their autistic pupils. The equipment has been used in a special care school in Taiwan. In this paper we focus on the technical aspects of this environment. We also briefly report first experiences with this type of multi-media environment sessions in the school.","PeriodicalId":38109,"journal":{"name":"International Journal of Automation and Smart Technology","volume":"8 1","pages":"29-34"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49004571","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
Enhanced Roll Powder Sintering Additive Manufacturing Technology 增强型辊式粉末烧结增材制造技术
International Journal of Automation and Smart Technology Pub Date : 2018-03-01 DOI: 10.5875/AUSMT.V8I1.1597
Vyacheslav R. Shulunov
{"title":"Enhanced Roll Powder Sintering Additive Manufacturing Technology","authors":"Vyacheslav R. Shulunov","doi":"10.5875/AUSMT.V8I1.1597","DOIUrl":"https://doi.org/10.5875/AUSMT.V8I1.1597","url":null,"abstract":"The article presents and evaluates three methods for upgrading Roll Powder Sintering (RPS) additive manufacturing technology (AMT). All innovative methods are designed so as to improve the properties of the objects shaped with RPS. Moreover, newly designed techniques produce the results of higher quality and are faster than previously used techniques. Method 1, the new ribbon perforation algorithm provides more space for the powder in the support stripe and lower laser beam frequency modulation.  It not only reduces the amount of the support stripe used in a component roll, but also reduces its compression rate by about 2 times. The method 2 proposed technique improves the quality and increases the velocity of filling a support ribbon with powder by 1.6 times. The method 3 helps to increase the amount of powder in a component roll by increasing the consolidation and the fluidity of powder. The results indicate that the new methods can be integrated in a perforation and powder filling systems for enhanced RPS machines.","PeriodicalId":38109,"journal":{"name":"International Journal of Automation and Smart Technology","volume":"8 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45656052","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: 3
Monotonic Switching Iterative Learning Control Method for a Class of Discrete Time Switched System 一类离散时间切换系统的单调切换迭代学习控制方法
International Journal of Automation and Smart Technology Pub Date : 2017-12-01 DOI: 10.5875/ausmt.v7i4.1313
H. Ouerfelli, S. B. Attia, S. Salhi
{"title":"Monotonic Switching Iterative Learning Control Method for a Class of Discrete Time Switched System","authors":"H. Ouerfelli, S. B. Attia, S. Salhi","doi":"10.5875/ausmt.v7i4.1313","DOIUrl":"https://doi.org/10.5875/ausmt.v7i4.1313","url":null,"abstract":"T his paper deal with the problem of monotonic tracking convergence error (MC) of discrete time switched system. We begin our review by proposing the considered switched systems are operated during a finite time interval repetitively, and then the iterative learning control (ILC) scheme can be introduced between subsystems. Namely, the tracking error converges with non-zero constant initial error. After the switched system is transformed into a 2D switched system, sufficient conditions in terms of linear matrix inequalities (LMIs) are derived by using the -norm. It is shown that the tracking error converges monotonically to zero in the sense of -norm. A numerical simulation example is established shown the effectiveness of the proposed method.","PeriodicalId":38109,"journal":{"name":"International Journal of Automation and Smart Technology","volume":"7 1","pages":"179-186"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43634498","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
Sustainable Performance of Taiwanese Manufacturing Industries Over the Past Decade (2006-2015) 台湾制造业十年可持续发展表现(2006-2015)
International Journal of Automation and Smart Technology Pub Date : 2017-12-01 DOI: 10.5875/AUSMT.V7I4.1658
Tzu-Yu Lin, Sheng-Hsiung Chiu, H. Yang
{"title":"Sustainable Performance of Taiwanese Manufacturing Industries Over the Past Decade (2006-2015)","authors":"Tzu-Yu Lin, Sheng-Hsiung Chiu, H. Yang","doi":"10.5875/AUSMT.V7I4.1658","DOIUrl":"https://doi.org/10.5875/AUSMT.V7I4.1658","url":null,"abstract":"There has been a worldwide trend to mitigate greenhouse gas (CO2) emissions in a bid to combat climate change by developing new technologies on energy saving and renewable energy, and Taiwan is no exception. This study focuses on this important environmental and economic issue and proposes a sustainable performance model to investigate the performance behavior of Taiwanese manufacturing industries after the Kyoto protocol went into effect in 2005. We observe that sustainable performance during the past decade has risen slightly due to the effectiveness of energy-saving technologies and low-carbon energy structures. These two are effective strategies for guiding manufacturing industries with large quantity of CO2 emissions to improve their production activities, especially in the reduction of fossil fuel usage. Keep in mind that currently electricity portfolio in Taiwan is still dependent on coal combustion, though renewable energy is gaining its momentum starting this decade, and is integral to the future of the energy supply planning to pursue sustainable environment proposed by Taiwan government.","PeriodicalId":38109,"journal":{"name":"International Journal of Automation and Smart Technology","volume":"7 1","pages":"141-146"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43970642","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
User Interface on Smartphone for Elderly Users 长者智能手机的用户界面
International Journal of Automation and Smart Technology Pub Date : 2017-12-01 DOI: 10.5875/AUSMT.V7I4.1339
Raywadee Sakdulyatham, Somjaree Preeyanont, R. Lipikorn, Rewadee Watakakosol
{"title":"User Interface on Smartphone for Elderly Users","authors":"Raywadee Sakdulyatham, Somjaree Preeyanont, R. Lipikorn, Rewadee Watakakosol","doi":"10.5875/AUSMT.V7I4.1339","DOIUrl":"https://doi.org/10.5875/AUSMT.V7I4.1339","url":null,"abstract":"Nowadays, Thai elderly have increasingly been using smartphones to communicate with their families. However, the elderly may have problems using smartphones because most of them normally have visual impairment which result in unclear perception of the screen. The test on how user interface (UI) design of the LINE application affects the elderly when using smartphones shows that the elderly spend more time and make more mistakes than the young adults. The analysis was conducted to find the major factors associated with such problems, and the results show that three components of UI; i.e., font, color, and level of brightness are the major factors that affect how the elderly use their smartphones. In order to confirm the test results, several combinations of font, color, and level of brightness were used to create UI of the simulated LINE application and each UI was used to test with a group of 38 elderly (the age of 60-69) who were told to perform eight different actions on the phone. After further research on UI, it is found that the most appropriate font for Thai elderly is Arial Unicode MS with the size of 16 pt., and the green tone of screen with 75% of brightness level is found to be the most appropriate for the elderly. The test results reveal that the elderly could perform seven actions faster and they made fewer mistakes in six actions. All in all, the test results indicate that the integration of the most appropriate three components can increase the effectiveness of smartphone usage among Thai elderly.","PeriodicalId":38109,"journal":{"name":"International Journal of Automation and Smart Technology","volume":"7 1","pages":"147-155"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42843201","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: 8
Development of a Natural User Interface Based Cyclist Signaling Vest 基于自然用户界面的自行车运动员信号背心的开发
International Journal of Automation and Smart Technology Pub Date : 2017-12-01 DOI: 10.5875/AUSMT.V7I4.1342
Nan-Ching Tai, Shu-chun Hu
{"title":"Development of a Natural User Interface Based Cyclist Signaling Vest","authors":"Nan-Ching Tai, Shu-chun Hu","doi":"10.5875/AUSMT.V7I4.1342","DOIUrl":"https://doi.org/10.5875/AUSMT.V7I4.1342","url":null,"abstract":"A prototype for a wearable signaling device for cyclists is presented. Based on Natural User Interface design concepts, the prototype uses an accelerometer to automatically detect motion changes from turning and braking and to trigger appropriate warning lights in the vest. The system is integrated into a vest made of hard, waterproof cardboard, folded for wearing comfort. Field tests demonstrated that the device detects body movements that anticipate a directional change, and outputs corresponding signals using LED lights without active control from the cyclist. To predict motion changes, a second sensing unit was installed to detect cyclist hand gestures commonly used to inform others of upcoming turns and stops.","PeriodicalId":38109,"journal":{"name":"International Journal of Automation and Smart Technology","volume":"7 1","pages":"157-162"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44907241","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
New Design and Automation Concept of an Energy-Efficient, Tertiary Building for Mixed-Mode Ventilation System 一种用于混合模式通风系统的节能三层建筑的新设计和自动化概念
International Journal of Automation and Smart Technology Pub Date : 2017-12-01 DOI: 10.5875/AUSMT.V7I4.1290
D. Martinez, A. Chua
{"title":"New Design and Automation Concept of an Energy-Efficient, Tertiary Building for Mixed-Mode Ventilation System","authors":"D. Martinez, A. Chua","doi":"10.5875/AUSMT.V7I4.1290","DOIUrl":"https://doi.org/10.5875/AUSMT.V7I4.1290","url":null,"abstract":"This paper provides a new design and automation concept for tertiary buildings in mixed mode ventilation system with combined functions of mechanical air conditioning and natural ventilation. It aims to make use of simple automation design and set-up to significantly reduce the energy consumption while keeping optimum occupants’ comfort. A prototype architectural design of the building aimed at maximizing the passive cooling potential is presented in this paper. The automation system follows a simple control outline where input parameters are fed into a programming control and the system yields the necessary output condition. The system runs in two control operations—schedule-based and event-based—with independent input parameters and with output conditions identified as natural ventilation, full mechanical ventilation, and partial mechanical ventilation. The specific controller, sensors, and actuators for implementing the building automation system were identified. The whole automation concept and design was programmed in an automation software and was simulated to look at the possible system scenarios and results. Results show that a cost saving of as much as Php 246,874.00 per year could be achieved.","PeriodicalId":38109,"journal":{"name":"International Journal of Automation and Smart Technology","volume":"7 1","pages":"163-178"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43166550","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: 3
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