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Early detection of bearing faults is very critical since they cannot be compensated using analytical methods, such as reconfigurable control. From the surveys of current conditions monitoring (CM) systems, there is a clear tendency towards vibration monitoring of wind turbines (WTs). It is likely that this tendency will continue, however it would be reasonable to assume that other CMs and diagnosis...
Currently, absolute positioning methods for indoor flying robots use multiple cameras to measure position through image processing. However, such systems are large scale and costly. Therefore, we have developed a measurement and control system that uses ultrasonic waves. The system consists of a ground base with three ultrasonic transmitter units and a flying robot. The flying robot is equipped with...
According to the recent development of robot technology, quite big interest arises in research of actuating device for a joint of a manipulator. In this study, a compact magneto-rheological (MR) fluid brake with multi-layered disks is designed that can be used for such purpose. Viscosity variation of MR fluid is formulated, and torque is calculated by counting both magnetic effect and fluid viscosity...
This paper proposes an H∞ fuzzy filter for nonlinear sampled-data system. The nonlinear system is represented based on the Takagi-Sugeno (T-S) fuzzy model. An error system between the nonlinear sampled-data system and fuzzy filter is presented. Using a fuzzy Lyapunov function, sufficient conditions for showing H∞ performance of the fuzzy filter are proposed. The sufficient conditions are derived in...
In this paper, we propose a method of generating 3D point clouds of terrain and cultural assets using the images acquired by ground and aerial photography. 3D point cloud data are made actually through the camera calibration process and image matching process. From 3D point cloud data, camera intrinsic and extrinsic parameters are calculated, and the point cloud data and the camera parameters are...
Visual place recognition has been vastly researched in the last decade. Most of the previous works have concentrated on improvement of performance when the environment changes due to illumination, weather or season at outdoor with abundant features and textures for place recognition. On the other hand, when a robot moves in a home environment, input images sometimes contain less features or textures...
This paper proposes a new approach to further enlarge the achievable displayed stiffness range of impedance-type haptic interfaces. Most of the stability guaranteed haptic interaction methods result having much lower achieved stiffness than the original desired stiffness at the cost of stability. This paper introduces a new rendering approach, which can display close to the originally intended high...
Odometry is a widely used method for estimating the location of a mobile robot on even terrain; the use of attitude sensors has expanded the application of this method to three-dimensional space. To estimate the location of a mobile robot on uneven terrain, this expanded odometry integrates the velocity of the robot, the direction of which is fixed to the robot's orientation from the data measured...
Human detects the external tactile stimulation using mechanoreceptors under the skin. There are various kinds of mechanoreceptors in the skin. In this paper, the proposed sensor mimics Ruffinis corpuscle which detects shear force. The sensor consists of Ecoflex® 0050 as a substrate and silver nanowire (AgNW) in the shape of typical strain gauge as a sensing element. The Ecoflex® 0050 was chosen as...
In this paper, we investigate how we can take advantage of the availability of linguistic knowledge, particularly semantic knowledge, in Air Traffic Control (ATC) to reduce the Word Error Rate (WER) of Automatic Speech Recognition (ASR) systems. To facilitate this, we integrate semantic knowledge into post-processing by performing n-best list re-ranking. We first propose a feature called semantic...
Foreground detection is the classical computer vision task of segmenting out motion information from a particular scene. Foreground detection using Gaussian Mixture Models (GMM) is the famous choice. Since first time proposed, many researchers tried to improve GMM. This paper focuses on the comparative evaluation of three most famous improvements in the algorithm. The improved methods are compared...
This paper proposes an autopilot system using a PID compensating model to satisfy performance required for the automatic navigation of ships under various marine circumstances. The conventional autopilot system using PID controller, has difficulties in control of overshoot and compensating nonlinear characteristics of ships. The autopilot system using the proposed PID compensating controller has an...
Recently, a lot of research has been conducted to bring Automatic Speech Recognition (ASR) into various areas of Air Traffic Control (ATC), such as ATC simulation and training, monitoring live operators for with the aim of safety improvements, ATC workload measurement and conducting analysis on large quantities of controller-pilot speech. Due to the high accuracy requirements of the ATC context and...
Human social interactions are believed to be described by a mathematical model called the Social Force Model (SFM). A variety of mobile robot research has often used the SFM to generate an appropriate navigation behavior. However, to create a mobile robot that moves around in a human-populated environment in a socially acceptable way, it should be stressed that the social conventions are strictly...
Following the increased use of mobile robots in the field, the injury problem caused by the collision between human and the mobile robot has become an issue of growing importance in the society. Neck injury is considered as one of the major injury mode in collision-induced injury. Hence in this paper, AIS of the neck injury was predicted using the index of neck injury on collision through the mobile...
Condition monitoring systems conduct important roles in manufacturing process lines by monitoring condition status of machines to prevent accident faults of them. Those systems need to be improved in their functionalities by adapting more intellectual, self-reconfigurable, and self-decisional mechanisms for supporting smart manufacturing operations. Whereas, many enterprises in manufacturing industry...
In the steel industries, recognizing product information is an important task for the management of the manufacturing processes. For real factory scenes, localization of product identification numbers is conducted prior to recognition to obtain a satisfactory performance. The objective of this paper is localization of slab identification numbers in real factory scenes. Traditionally, most researches...
This paper proposes a vibration control scheme of a strip in a continuous galvanizing line using neuro-PID controller which consists of two neural networks and conventional PID controller. One NNs estimates the strip model using input-output data of the strip and other NNs updates the gains of conventional PID controller using the estimated strip model and errors between the desired and actual outputs...
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