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This paper explores the application of a Machine Vision and Machine Learning Algorithm to a Manipulator with six degrees of freedom (6-DOF). A Kinect sensor were used to extract images from a screen and obtain the relevant target information. Image processing was accomplished using a Scale-invariant feature transform (SIFT) Algorithm to capture image of the target object. The processed visual is rendered...
It is easy to construct maps with traditional simultaneous localization and mapping (SLAM). With the flourishing development of SLAM, many SLAM functions have been implemented. The research proposes the Gmapping algorithm based on the Rao-Blackwellized Particle Filters (RBPF) to raise the accuracy of maps. Compared to the others, the proposed SLAM algorithms adopting orthogonality only to construct...
The research aims to design and implement an automatic speech recognition and synthesis system. A TMS320C6713 DSK Board manufactured by Texas Instrument (TI) is adopted as the system operation platform to support independent development, and the MATLAB software is adopted as the operation platform of the speech synthesis system. Moreover, the two platforms are integrated by a human machine interface...
This paper takes 5-DOF manipulator as an example to introduce hardware architecture and motor controller. Then, robotic kinematics is derived and analyzed. The kinematics analysis of robotic arm is to understand the relationship among all links for position, velocity, and acceleration during motioning. It is called forward kinematics when using the distance of translation and the angle of rotation...
In this paper, a method of charging lead acid battery with solar power using flyback converter is proposed. The basic system consists of a buffer circuit, auxiliary power circuit, control circuit, voltage feedback circuit and current feedback circuit. The system is capable of monitoring battery voltage and the current charging the coupling inductor and automatic control of output duty cycle, overcharging...
The main purpose of this paper is to perform the voice signal processing and synthesis to apply to service robots using DSP TMS320C6713. In this study, we select the C language program written with DSP; the voice signal is restored to play. The speech synthesis is implemented using linear predictive coding (LPC) approach in the paper. Because the LPC synthesis is a coding technique of time waveform,...
The HCI (Human-Computer Interface) technology development has been an important topic because of the popularity of digital technology and the innovation of 3C product. The product of the NUI (Natural User Interface) is more popular than the design of HCI base on a joystick, mouse, keyboard and touch. It always uses the body movements to achieve the interactive in recently years. After "Kinect"...
This paper uses a three-axis accelerometer to design and implement a three-dimensional pedometer, which can determine the walking or jogging automatically. This device can count the number of steps. It can also judge the status of walking or jogging simultaneously. The three-dimensional pedometer can be worn on the user's waist or placed within pocket arbitrarily. This three-dimensional pedometer...
The main purpose of this paper is to study positioning and navigation of mobile robot with integrated magnetic sensors and RFID. With the use of RFID and the proposed progressive polling algorithm, process the data access and identification for each Tag in order to prevent conflicts between read of Tag and ID number to improve efficiency. Through actual experiment results, mobile robot will move stably...
Because our laboratory is developing a meal service robot for a restaurant, it is necessary that robot has a function to hold and carry the meal tray. The main purpose of this research paper is to focus on the practical design and control of the robotic arm, which is mounted on the mobile robotic body. Robotic arm system combined with binocular vision system for gripping tray. Using 8052 MCU of Atmel...
This paper aims to develop an intelligent robot binocular vision system using image processing principle and edge of the detection algorithms can be clearly presented object contours. Utilizing random cyclometry with Hough transform random lines can find a specified object. We can explore the image recognition application technology from this study. In this paper, with the binocular vision system...
This paper examines how to recognize the dynamic object and find its position using a real-time binocular visual image system, which describes contours of the object using edge detection algorithm. The system finds the object of image with shape matched method, which procedures include color segmentation of input image, finding the candidate area of matching color histogram, binary image morphologic...
The Discrete Fourier Transform (DFT) is still a widely-used tool for analyzing and measuring both stationary and transient signals in power systems. However, the misapplications of DFT can lead to incorrect results caused by some problems such as aliasing effect, spectral leakage and picket-fence effect. A strategy of Piecewise-overlapped Group-harmonic Energy Restoring (PGER) algorithm is developed...
Conventional spatial-based array processing technique requires a lot of large storage space and costly hardware implementations in an antenna array-based global navigation satellite system (GNSS) receivers. In this paper, the compressive sensing (CS)-based antenna array processing scheme is proposed to apply in anti-jamming GNSS receivers. The design criteria of CS matrix is to meet the restricted...
Currently, robot applications have been fast expanding to many areas such as entertainment, home task, security, medical care, etc. With an increasing robot demand, the development of highly reliable and low‐cost robot control system has become a hot research field in recent years. However, most robot control system requires special interface design or suffers from complexity or high cost. This phenomenon...
This paper presents to apply Automatic Speech Recognition (ASR) algorithm to the meal service robot so that the user can be easier to order the meal and increase interaction between the robot and human. The Mel-frequency Cepstral coefficients (MFCC) is used to scratch the feature parameters, and Hidden Markov Model (HMM) is applied as the recognition speech model via Spce3200. It is based on the embedded...
This paper is to apply Automatic Speech Recognition (ASR) technique to the meal service robot in order to the user can be easier to order the meal and increase interaction between the robot and human. So far, there is not any speech recognition module for the robot in the market. In general, modify slightly by using the voice technology and modules directly to be used for the robot. Therefore, this...
The Discrete Fourier Transform (DFT) is still a widely-used tool for analyzing and measuring both stationary and transient signals in power system harmonics. However, the misapplications of DFT can lead to incorrect results caused by some problems such as aliasing effect, spectral leakage and picket-fence effect. A strategy of Recursive Group-harmonic Power Minimizing (RGPM) algorithm is developed...
This paper presents a 6-DOF robot arm system, proposed a strategy for solving the inverse kinematics equations, using the robot arm assembled by seven AI servos (RX-64), set up robot's coordinate system with the D-H notation method. The motion trajectory of a robot arm is calculated using the geometric analysis. It was considered as the length of robot arm and motion angle in the whole system. To...
In recent years, the research of autonomous robotic arms has received a great attention in both academics and industry. Therefore, this paper aims to develop the object visional detection system that can be applied to the robotic arm grasping and placing. The proposed scheme can accurately measure the relative distance between the object and robot arm using the edge detection algorithm with a camera...
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