Using Kinect acquired RGB-D image to obtain a face feature parameters and three-dimensional coordinates of the characteristic parameters, and to select the characteristic parameter Facial by Candide-3 model, and feature extraction and normalization. Smile face expression data collection through Kinect, SVM collected to smiley face data classify and output the result of recognition, and the results compared with two-dimensional image of smiling face expression recognition results. Experimental results show that three-dimensional image of smiling face expression recognition accuracy than the two-dimensional image of smiling face. This research has important significance for the research and application of facial expression recognition technology.
{"title":"3D smiling facial expression recognition based on SVM","authors":"Shuming Liu, Xiaopeng Chen, Di Fan, Xu Chen, Fei Meng, Qiang Huang","doi":"10.1109/ICMA.2016.7558813","DOIUrl":"https://doi.org/10.1109/ICMA.2016.7558813","url":null,"abstract":"Using Kinect acquired RGB-D image to obtain a face feature parameters and three-dimensional coordinates of the characteristic parameters, and to select the characteristic parameter Facial by Candide-3 model, and feature extraction and normalization. Smile face expression data collection through Kinect, SVM collected to smiley face data classify and output the result of recognition, and the results compared with two-dimensional image of smiling face expression recognition results. Experimental results show that three-dimensional image of smiling face expression recognition accuracy than the two-dimensional image of smiling face. This research has important significance for the research and application of facial expression recognition technology.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131013649","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}
Pub Date : 2016-08-01DOI: 10.1109/ICMA.2016.7558693
C. Chiang, Ssu-Wei Huang, Guan-Xian Liu
In this paper, a CMOS particulate matter 2.5 (PM2.5) concentration to frequency converter with calibration circuits for air quality monitoring applications is newly proposed. A calibration technique is proposed in this work. Another innovation is that the outputs of the proposed chip are directly digitized, they could be easily sent over a wide range of transmission media, such as PSN, radio, optical, IR, ultrasonic, and etc. Before performing the proposed calibration circuits, the maximum linear error is 16.22%. After calibration, the maximum linear error is reduced to 0.08%. The PM2.5 concentration ranges from 6.64 to 55.62 μg/m3, and the corresponding output frequency range is 0.66 to 3.98 MHz. The chip area is 1.15 × 1.15 mm2. The proposed chip is suitable for devices of measuring PM2.5 concentration, such as monitoring air quality of industrial areas.
{"title":"A CMOS particulate matter 2.5 (PM2.5) concentration to frequency converter with calibration circuits for air quality monitoring applications","authors":"C. Chiang, Ssu-Wei Huang, Guan-Xian Liu","doi":"10.1109/ICMA.2016.7558693","DOIUrl":"https://doi.org/10.1109/ICMA.2016.7558693","url":null,"abstract":"In this paper, a CMOS particulate matter 2.5 (PM2.5) concentration to frequency converter with calibration circuits for air quality monitoring applications is newly proposed. A calibration technique is proposed in this work. Another innovation is that the outputs of the proposed chip are directly digitized, they could be easily sent over a wide range of transmission media, such as PSN, radio, optical, IR, ultrasonic, and etc. Before performing the proposed calibration circuits, the maximum linear error is 16.22%. After calibration, the maximum linear error is reduced to 0.08%. The PM2.5 concentration ranges from 6.64 to 55.62 μg/m3, and the corresponding output frequency range is 0.66 to 3.98 MHz. The chip area is 1.15 × 1.15 mm2. The proposed chip is suitable for devices of measuring PM2.5 concentration, such as monitoring air quality of industrial areas.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134503598","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}
Pub Date : 2016-08-01DOI: 10.1109/ICMA.2016.7558532
Shuxiang Guo, Weili Peng, Nan Xiao, Y. Wang, Changqi Xu, Guangxuan Li
The interventional therapy is a kind of minimally invasive treatment. Under the guidance of medical imaging equipment, surgeons take the special catheter, guide wire and other precision instruments import in the body to do the pathological diagnosis and local treatment. The characters of interventional therapy are no operation, small trauma, rapid recovery, etc. However, the interventional treatment has some shortage such as hard to measure the front collision force of the guide wire, and the harm of the X-rays to surgeon. Above those shortages, this paper use the phantom desktop as the master controller, and design a new novel of interventional operation slave system which has force feedback structures. Besides according to the master-slave motion results, the paper has done the system identification. Then the system uses MRAC fuzzy PID looped control. Finally, this paper analyses the dynamic performance of the surgery robot system and makes a comparison between the simulation and the real results.
{"title":"The evaluation of a novel force feedback interventional surgery robotic system","authors":"Shuxiang Guo, Weili Peng, Nan Xiao, Y. Wang, Changqi Xu, Guangxuan Li","doi":"10.1109/ICMA.2016.7558532","DOIUrl":"https://doi.org/10.1109/ICMA.2016.7558532","url":null,"abstract":"The interventional therapy is a kind of minimally invasive treatment. Under the guidance of medical imaging equipment, surgeons take the special catheter, guide wire and other precision instruments import in the body to do the pathological diagnosis and local treatment. The characters of interventional therapy are no operation, small trauma, rapid recovery, etc. However, the interventional treatment has some shortage such as hard to measure the front collision force of the guide wire, and the harm of the X-rays to surgeon. Above those shortages, this paper use the phantom desktop as the master controller, and design a new novel of interventional operation slave system which has force feedback structures. Besides according to the master-slave motion results, the paper has done the system identification. Then the system uses MRAC fuzzy PID looped control. Finally, this paper analyses the dynamic performance of the surgery robot system and makes a comparison between the simulation and the real results.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131672006","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}
Pub Date : 2016-08-01DOI: 10.1109/ICMA.2016.7558762
Bin Xing, Lei Guo, S. Wei, Yuan Song
A kind of front-wheel drive bicycle robot is researched in this paper. Firstly, the coordinate system is established by the analysis of the robot structure. Secondly, the vector velocity of each components of the robot is expressed. And the dynamic model of the bicycle robot is obtained based on Appell Equation. Meanwhile, the motion characteristics of the bicycle on circular motion are analyzed. Thirdly, robust controller of a front drive bicycle is designed and simulated for the circular motion. The simulation results prove that the controller based on the H∞ robust control theory can meet the control requirements and has good robustness.
{"title":"Dynamic modeling and robust controller design for circular motion of a front-wheel drive bicycle robot","authors":"Bin Xing, Lei Guo, S. Wei, Yuan Song","doi":"10.1109/ICMA.2016.7558762","DOIUrl":"https://doi.org/10.1109/ICMA.2016.7558762","url":null,"abstract":"A kind of front-wheel drive bicycle robot is researched in this paper. Firstly, the coordinate system is established by the analysis of the robot structure. Secondly, the vector velocity of each components of the robot is expressed. And the dynamic model of the bicycle robot is obtained based on Appell Equation. Meanwhile, the motion characteristics of the bicycle on circular motion are analyzed. Thirdly, robust controller of a front drive bicycle is designed and simulated for the circular motion. The simulation results prove that the controller based on the H∞ robust control theory can meet the control requirements and has good robustness.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127403899","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}
Pub Date : 2016-08-01DOI: 10.1109/ICMA.2016.7558684
C. Tsai, M. Horade, Hiroaki Ito, M. Kaneko, Motomu Tanaka
A high-resolution cell manipulation system is presented for investigating red blood cell deformation under long-standing load in this paper. Because the low Reynolds number in microfluidic system, cell position can be manipulated by controlling the flow in a microchannel. A high-speed vision system is embedded in the system for providing cell present position as the feedback signal for the controller while a syringe pump actuated by a piezoelectric actuator is employed for flow control in the channel. The system is utilized for applying longstanding load on human red blood cells. The longstanding load is generated by manipulating a cell into a constriction channel where the cross-sectional size is smaller than the size of the cell. The cell has to deform due to the geometrical constraints of the constriction. Both the system performance and cell response to longstanding load have been evaluated. The manipulation system successfully achieves cell positioning as accurate as 0.24 μm while red blood cells are found always exponentially shrink with respect to time, and an average shrinkage of 1.82μm in 5 minutes is observed. Details of system construction and discussion on the cell response are presented.
{"title":"High-resolution cell manipulation for longstanding load on red blood cells","authors":"C. Tsai, M. Horade, Hiroaki Ito, M. Kaneko, Motomu Tanaka","doi":"10.1109/ICMA.2016.7558684","DOIUrl":"https://doi.org/10.1109/ICMA.2016.7558684","url":null,"abstract":"A high-resolution cell manipulation system is presented for investigating red blood cell deformation under long-standing load in this paper. Because the low Reynolds number in microfluidic system, cell position can be manipulated by controlling the flow in a microchannel. A high-speed vision system is embedded in the system for providing cell present position as the feedback signal for the controller while a syringe pump actuated by a piezoelectric actuator is employed for flow control in the channel. The system is utilized for applying longstanding load on human red blood cells. The longstanding load is generated by manipulating a cell into a constriction channel where the cross-sectional size is smaller than the size of the cell. The cell has to deform due to the geometrical constraints of the constriction. Both the system performance and cell response to longstanding load have been evaluated. The manipulation system successfully achieves cell positioning as accurate as 0.24 μm while red blood cells are found always exponentially shrink with respect to time, and an average shrinkage of 1.82μm in 5 minutes is observed. Details of system construction and discussion on the cell response are presented.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115693093","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}
Pub Date : 2016-08-01DOI: 10.1109/ICMA.2016.7558661
Xia Jing, Wu Guang-xin, Li Chongyang, Liu Hong
To overcome the shortcoming that the collision detection method based on three-dimension model only depends on the shortest distance between components to determine collision, a novel collision detection method for manipulators is proposed to indicate how dangerous the current movement of the robot are to the surrounding objects. The method more comprehensively considers the effect of the shortest distance, motion state, braking performance of joints, robot control mode and the contact state on robot collision risk, obtains a robot collision risk index by using the fuzzy synthetic evaluation. At the same time, building the collision detection model by using sphere sweeping convex hulls (SSCH) improves the real-time of the collision detection. Finally, the proposed method is validated through simulations and experiments.
{"title":"Real-time collision detection for manipulators based on fuzzy synthetic evaluation","authors":"Xia Jing, Wu Guang-xin, Li Chongyang, Liu Hong","doi":"10.1109/ICMA.2016.7558661","DOIUrl":"https://doi.org/10.1109/ICMA.2016.7558661","url":null,"abstract":"To overcome the shortcoming that the collision detection method based on three-dimension model only depends on the shortest distance between components to determine collision, a novel collision detection method for manipulators is proposed to indicate how dangerous the current movement of the robot are to the surrounding objects. The method more comprehensively considers the effect of the shortest distance, motion state, braking performance of joints, robot control mode and the contact state on robot collision risk, obtains a robot collision risk index by using the fuzzy synthetic evaluation. At the same time, building the collision detection model by using sphere sweeping convex hulls (SSCH) improves the real-time of the collision detection. Finally, the proposed method is validated through simulations and experiments.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115810200","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}
Pub Date : 2016-08-01DOI: 10.1109/ICMA.2016.7558649
Shijun Wang, Aixue Ye, Hao Guo, Jiaojiao Gu, Xiaonan Wang, Kui Yuan
This paper proposed an autonomous pallet handing method for industrial forklifts based on the line structured light sensor. The method mainly include two aspects. First, the design of the line structured light sensor based on embedded image processing board that contains a FPGA and a DSP. We solved the problem that Hessian matrix decomposition based light stripe center extraction cannot run in real time. Second, we installed the structured light sensor onto the automatic forklift, and the forklift detected and located the pallet using the geometry character of the pallets, then the controller drived the forklift docking in front of the pallet using position-based visual servoing and picking up the pallet at last. The line structured light sensor was designed using C6000 series visual processing boards developed by our research group. The experiment of the autonomous pallet localization and picking for industrial forklifts verifies the practicability and effectiveness of our proposed method.
{"title":"Autonomous pallet localization and picking for industrial forklifts based on the line structured light","authors":"Shijun Wang, Aixue Ye, Hao Guo, Jiaojiao Gu, Xiaonan Wang, Kui Yuan","doi":"10.1109/ICMA.2016.7558649","DOIUrl":"https://doi.org/10.1109/ICMA.2016.7558649","url":null,"abstract":"This paper proposed an autonomous pallet handing method for industrial forklifts based on the line structured light sensor. The method mainly include two aspects. First, the design of the line structured light sensor based on embedded image processing board that contains a FPGA and a DSP. We solved the problem that Hessian matrix decomposition based light stripe center extraction cannot run in real time. Second, we installed the structured light sensor onto the automatic forklift, and the forklift detected and located the pallet using the geometry character of the pallets, then the controller drived the forklift docking in front of the pallet using position-based visual servoing and picking up the pallet at last. The line structured light sensor was designed using C6000 series visual processing boards developed by our research group. The experiment of the autonomous pallet localization and picking for industrial forklifts verifies the practicability and effectiveness of our proposed method.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115812715","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}
Pub Date : 2016-08-01DOI: 10.1109/ICMA.2016.7558728
Shuxiang Guo, Yi Liu, Ying Zhang, Songyuan Zhang, Keijiroh Yamamoto
This paper proposed a VR-based self-rehabilitation system which utilizes the virtual training model rendered by OpenGL and collects electromyography (EMG) signals from the subjects to perform hand motion recognition. EMG signals are biomedical signals generated in muscles and can be applied in many fields such as clinical diagnosis and biomedical applications. The subjects were asked to manipulate a haptic device (Phantom Premium) to operate a virtual hand to catch a ball in the virtual environment which displayed on the computer's screen. A dry electrode was attached on the subject's skin to collect sEMG signals and recognize the action of grasping. Once caught by subjects, the virtual ball will appear in another location at random on the computer's screen. Therefore, the subject needs to manipulate the Phantom to the new destination and catch the ball once again. Combining sEMG with VR Technology, the proposed self-rehabilitation system could provide enhanced visual feedback about movement trajectory, which is beneficial to improve motor function task learning and execution compared with traditional therapy. By this method, stroke patients can realize self-rehabilitation exercise of upper limb at home. The effectiveness of the proposed rehabilitation system has been verified by experiments.
{"title":"A VR-based self-rehabilitation system","authors":"Shuxiang Guo, Yi Liu, Ying Zhang, Songyuan Zhang, Keijiroh Yamamoto","doi":"10.1109/ICMA.2016.7558728","DOIUrl":"https://doi.org/10.1109/ICMA.2016.7558728","url":null,"abstract":"This paper proposed a VR-based self-rehabilitation system which utilizes the virtual training model rendered by OpenGL and collects electromyography (EMG) signals from the subjects to perform hand motion recognition. EMG signals are biomedical signals generated in muscles and can be applied in many fields such as clinical diagnosis and biomedical applications. The subjects were asked to manipulate a haptic device (Phantom Premium) to operate a virtual hand to catch a ball in the virtual environment which displayed on the computer's screen. A dry electrode was attached on the subject's skin to collect sEMG signals and recognize the action of grasping. Once caught by subjects, the virtual ball will appear in another location at random on the computer's screen. Therefore, the subject needs to manipulate the Phantom to the new destination and catch the ball once again. Combining sEMG with VR Technology, the proposed self-rehabilitation system could provide enhanced visual feedback about movement trajectory, which is beneficial to improve motor function task learning and execution compared with traditional therapy. By this method, stroke patients can realize self-rehabilitation exercise of upper limb at home. The effectiveness of the proposed rehabilitation system has been verified by experiments.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124160847","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}
Pub Date : 2016-08-01DOI: 10.1109/ICMA.2016.7558719
Yue Zhan, Xing-guang Duan, Tengfei Cui, Dingqiang Han
Craniotomy is the first choice of treatment of brain tumors, cerebrovascular disease, brain injury and cerebral hemorrhage disease, but the craniotomy method is time-consuming and laborious, the structure of skull is complex and important nerve and blood vessels distribute. As a result, the risk of craniotomy is high, and the operation is highly dependent on surgeons' experience, which leads to high pressure and fatigue of the surgeon, reducing the effectiveness of subsequent surgery. According to the characteristics of high complexity and high risk of craniotomy, this paper puts forward a craniotomy robot system based on human-machine parallel collaboration, by combining human-machine collaborative parallel control, active constraint and force feedback technology, combined the high precision of robot system with surgeon's operating experience, to guarantee comfort, safety and precision of craniotomy.
{"title":"Craniotomy robot system based on human-machine parallel collaboration","authors":"Yue Zhan, Xing-guang Duan, Tengfei Cui, Dingqiang Han","doi":"10.1109/ICMA.2016.7558719","DOIUrl":"https://doi.org/10.1109/ICMA.2016.7558719","url":null,"abstract":"Craniotomy is the first choice of treatment of brain tumors, cerebrovascular disease, brain injury and cerebral hemorrhage disease, but the craniotomy method is time-consuming and laborious, the structure of skull is complex and important nerve and blood vessels distribute. As a result, the risk of craniotomy is high, and the operation is highly dependent on surgeons' experience, which leads to high pressure and fatigue of the surgeon, reducing the effectiveness of subsequent surgery. According to the characteristics of high complexity and high risk of craniotomy, this paper puts forward a craniotomy robot system based on human-machine parallel collaboration, by combining human-machine collaborative parallel control, active constraint and force feedback technology, combined the high precision of robot system with surgeon's operating experience, to guarantee comfort, safety and precision of craniotomy.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114891474","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}
Pub Date : 2016-08-01DOI: 10.1109/ICMA.2016.7558614
Y. Aye, Keigo Watanabe, S. Maeyama, I. Nagai
The image-based control method can operate a mobile robot by controlling only image information acquired from camera images without using the robot states. This paper is devoted to design a car-like mobile robot that possesses autonomous angle parking and perpendicular parking capability by using an image-based fuzzy controller. A parking frame which is drawn on the floor is detected by a robot that is equipped with a camera. For both parking types, the desired target line to be followed by the robot is generated by calculating the image features which are extracted from the captured image. The fuzzy controller is designed with a reasoning mechanism composed of two inputs, which are the slope and intercept of the target line, and one output that is the steering angle of the robot. Simulation results illustrate the effectiveness of the proposed method.
{"title":"Image-based fuzzy control of a car-like mobile robot for parking problems","authors":"Y. Aye, Keigo Watanabe, S. Maeyama, I. Nagai","doi":"10.1109/ICMA.2016.7558614","DOIUrl":"https://doi.org/10.1109/ICMA.2016.7558614","url":null,"abstract":"The image-based control method can operate a mobile robot by controlling only image information acquired from camera images without using the robot states. This paper is devoted to design a car-like mobile robot that possesses autonomous angle parking and perpendicular parking capability by using an image-based fuzzy controller. A parking frame which is drawn on the floor is detected by a robot that is equipped with a camera. For both parking types, the desired target line to be followed by the robot is generated by calculating the image features which are extracted from the captured image. The fuzzy controller is designed with a reasoning mechanism composed of two inputs, which are the slope and intercept of the target line, and one output that is the steering angle of the robot. Simulation results illustrate the effectiveness of the proposed method.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114548521","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}
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