Pub Date : 2013-12-01DOI: 10.1109/ICCAS.2013.6704229
Chao Yuan, Lu-Ping Luo, K. Shin, Chang-Soo Han
This paper describes the development of a compact and robust 6-DOF force/torque sensor for human gait analysis. The forces and torques exerted on human foot are important information for the gait analysis. Multi-axis force/torque sensor can be installed under human foot the sense the forces and torques. The sensor should have large force range without reducing the accuracy to support the human weight and small size not to disturb the motion of the subject. In this paper, we present a 6-DOF force/torque sensor which has good accuracy, large measuring range, and new compact structure. And it is much cheaper than a commercial one. The proposed design is simulated by FEM software (ANSYS), and it shows good results being applied large forces and moments. This new sensor can be used to sense the center of pressure (CoP) and zero moment point (ZMP) of the human foot for gait analysis.
{"title":"Design and analysis of a 6-DOF force/torque sensor for human gait analysis","authors":"Chao Yuan, Lu-Ping Luo, K. Shin, Chang-Soo Han","doi":"10.1109/ICCAS.2013.6704229","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704229","url":null,"abstract":"This paper describes the development of a compact and robust 6-DOF force/torque sensor for human gait analysis. The forces and torques exerted on human foot are important information for the gait analysis. Multi-axis force/torque sensor can be installed under human foot the sense the forces and torques. The sensor should have large force range without reducing the accuracy to support the human weight and small size not to disturb the motion of the subject. In this paper, we present a 6-DOF force/torque sensor which has good accuracy, large measuring range, and new compact structure. And it is much cheaper than a commercial one. The proposed design is simulated by FEM software (ANSYS), and it shows good results being applied large forces and moments. This new sensor can be used to sense the center of pressure (CoP) and zero moment point (ZMP) of the human foot for gait analysis.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132276080","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 : 2013-12-01DOI: 10.1109/ICCAS.2013.6704085
Takeshi Tsusue, Teruo Yamaguchi, H. Harada
Optical flow is appearance of the object motion in image represented by the velocity vector distribution. In this research we use a spatiotemporal differentiation method to obtain optical flow. This method enables us to calculate velocity distribution rapidly, but the error in the approximation of derivative coefficients increases as the displacement of the moving pattern between the successive frames becomes large. This is a crucial principle defect of the spatiotemporal differentiation method. To expand the range of measurable velocity using spatiotemporal differentiation, we use the compensation method. In previous research, we used the method to divide the image into some local regions, and decided the amount of compensation based on the variance of estimated velocity. In the compensation method, it is important to decide the amount of the optimum compensation. In this research, we introduce how to decide the amount of compensation in view of the image of multi-resolution. Experimental results show that more accurate velocity is attained.
{"title":"Optical flow estimation method to determine compensation by multi resolution of hierarchical structure","authors":"Takeshi Tsusue, Teruo Yamaguchi, H. Harada","doi":"10.1109/ICCAS.2013.6704085","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704085","url":null,"abstract":"Optical flow is appearance of the object motion in image represented by the velocity vector distribution. In this research we use a spatiotemporal differentiation method to obtain optical flow. This method enables us to calculate velocity distribution rapidly, but the error in the approximation of derivative coefficients increases as the displacement of the moving pattern between the successive frames becomes large. This is a crucial principle defect of the spatiotemporal differentiation method. To expand the range of measurable velocity using spatiotemporal differentiation, we use the compensation method. In previous research, we used the method to divide the image into some local regions, and decided the amount of compensation based on the variance of estimated velocity. In the compensation method, it is important to decide the amount of the optimum compensation. In this research, we introduce how to decide the amount of compensation in view of the image of multi-resolution. Experimental results show that more accurate velocity is attained.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129368439","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 : 2013-12-01DOI: 10.1109/ICCAS.2013.6703899
K. Goto, T. Sugi, Y. Matsuda, S. Goto, H. Fukuda, Y. Goto, T. Yamasaki, S. Tobimatsu
Visual evoked potentials (VEPs) are the electrical responses from the brain concerned with visual information processing. Amplitude of VEPs is smaller than that of background EEG activity, and the stimulus-locked averaging method is usually used for obtained the waveform. VEP response to each stimulus is not completely the same however it is varying with its amplitude and duration. Therefore, amplitude of averaged VEP waveform deteriorates due to their variability in raw data. Feature extraction of background EEG activity during visual stimulation is also a one of significant items in VEP analysis. In that case, separation of VEP component and background EEG component (mainly posterior dominant rhythm) is crucial. In the past, we proposed the method of estimating both amplitude of VEP and dominant rhythm by use of EEG model. This present study, the proposed method was applied to actual recorded VEP data and its effectiveness was evaluated. EEGs with visual stimulus were recorded from nine healthy young adults. Usefulness of the proposed method was investigated by comparing the conventional power spectrum averaging method. The proposed method will be applicable to show an accurate VEP analysis and characteristic analysis of background activity under visual stimulus.
{"title":"Characteristic analysis of visual evoked potentials and posterior dominant rhythm by use of EEG model","authors":"K. Goto, T. Sugi, Y. Matsuda, S. Goto, H. Fukuda, Y. Goto, T. Yamasaki, S. Tobimatsu","doi":"10.1109/ICCAS.2013.6703899","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703899","url":null,"abstract":"Visual evoked potentials (VEPs) are the electrical responses from the brain concerned with visual information processing. Amplitude of VEPs is smaller than that of background EEG activity, and the stimulus-locked averaging method is usually used for obtained the waveform. VEP response to each stimulus is not completely the same however it is varying with its amplitude and duration. Therefore, amplitude of averaged VEP waveform deteriorates due to their variability in raw data. Feature extraction of background EEG activity during visual stimulation is also a one of significant items in VEP analysis. In that case, separation of VEP component and background EEG component (mainly posterior dominant rhythm) is crucial. In the past, we proposed the method of estimating both amplitude of VEP and dominant rhythm by use of EEG model. This present study, the proposed method was applied to actual recorded VEP data and its effectiveness was evaluated. EEGs with visual stimulus were recorded from nine healthy young adults. Usefulness of the proposed method was investigated by comparing the conventional power spectrum averaging method. The proposed method will be applicable to show an accurate VEP analysis and characteristic analysis of background activity under visual stimulus.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129185945","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 : 2013-12-01DOI: 10.1109/ICCAS.2013.6703945
Jing Ye, Y. Nakashima, Takao Watanabe, M. Seki, Bo Zhang, Quanquan Liu, Yuki Yokoo, Yo Kobayashi, Q. Cao, M. Fujie
In consideration of a large proportion of stroke survivors with persistent deficits, current interventions have limited ability to restore normal motor function. We propose a gait training system for gait rehabilitation of hemiplegic patients with convalescent stroke. It consists of a functional electrical stimulation (FES) device which is used to influence the gait pattern instantly to improve the quality of the gait, and a treadmill with two separated belts. The stimulus triggers from the FES could be controlled automatically by the subject's gait phase determination, including stance phase and swing phase. Gait phase could be estimated and recognized through observing current value variation of the treadmill motor during the subject's walking on the treadmill belts. In this paper, we have preliminarily tested the feasibility of the proposed method through hemiplegic simulation experiments. Also, Tibialis Anterior (TA) and quadriceps on the hemiplegic side were successfully stimulated by the expected FES stimuli during gait.
{"title":"Development of a novel FES control system based on treadmill motor current variation for gait rehabilitation of hemiplegic patients after stroke","authors":"Jing Ye, Y. Nakashima, Takao Watanabe, M. Seki, Bo Zhang, Quanquan Liu, Yuki Yokoo, Yo Kobayashi, Q. Cao, M. Fujie","doi":"10.1109/ICCAS.2013.6703945","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703945","url":null,"abstract":"In consideration of a large proportion of stroke survivors with persistent deficits, current interventions have limited ability to restore normal motor function. We propose a gait training system for gait rehabilitation of hemiplegic patients with convalescent stroke. It consists of a functional electrical stimulation (FES) device which is used to influence the gait pattern instantly to improve the quality of the gait, and a treadmill with two separated belts. The stimulus triggers from the FES could be controlled automatically by the subject's gait phase determination, including stance phase and swing phase. Gait phase could be estimated and recognized through observing current value variation of the treadmill motor during the subject's walking on the treadmill belts. In this paper, we have preliminarily tested the feasibility of the proposed method through hemiplegic simulation experiments. Also, Tibialis Anterior (TA) and quadriceps on the hemiplegic side were successfully stimulated by the expected FES stimuli during gait.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"126 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127069867","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 : 2013-12-01DOI: 10.1109/ICCAS.2013.6704036
Hideki Iijima, Keisuke Sayama, H. Masuta, A. Takanishi, Hun-ok Lim
This paper describes the mechanism and vertical jumping pattern of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, a foot, and a toe. Its weight is 12.34 kg, and its height is 1010 mm. It has a total of 13 actuators: 10 mono-articular types and 3 bi-articular types. Two kinds of pneumatic artificial muscles such as mono-articular and bi-articular muscles are installed in the rear and the front of the thigh and shin to antagonize each other. For a vertical jump, a joint angle pattern is developed based on the linear and angular momentum. The effectiveness of the mechanism and the jumping pattern of the robot are verified through simulations and experiments.
{"title":"Mechanism of one-legged jumping robot with artificial musculoskeletal system","authors":"Hideki Iijima, Keisuke Sayama, H. Masuta, A. Takanishi, Hun-ok Lim","doi":"10.1109/ICCAS.2013.6704036","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704036","url":null,"abstract":"This paper describes the mechanism and vertical jumping pattern of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, a foot, and a toe. Its weight is 12.34 kg, and its height is 1010 mm. It has a total of 13 actuators: 10 mono-articular types and 3 bi-articular types. Two kinds of pneumatic artificial muscles such as mono-articular and bi-articular muscles are installed in the rear and the front of the thigh and shin to antagonize each other. For a vertical jump, a joint angle pattern is developed based on the linear and angular momentum. The effectiveness of the mechanism and the jumping pattern of the robot are verified through simulations and experiments.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"331 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116235883","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 : 2013-10-01DOI: 10.1109/ICCAS.2013.6704064
J. Hervas, M. Reyhanoglu
This paper studies the nonlinear modeling problem for systems with higher-order nonholonomic constraints using tools from theoretical mechanics. A general control systems approach is developed for such systems. The applicability of the theoretical development is illustrated through a point mass moving on a constant-torsion space curve.
{"title":"On the nonlinear modeling of systems with higher-order nonholonomic constraints","authors":"J. Hervas, M. Reyhanoglu","doi":"10.1109/ICCAS.2013.6704064","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704064","url":null,"abstract":"This paper studies the nonlinear modeling problem for systems with higher-order nonholonomic constraints using tools from theoretical mechanics. A general control systems approach is developed for such systems. The applicability of the theoretical development is illustrated through a point mass moving on a constant-torsion space curve.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116641758","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 : 2013-10-01DOI: 10.1109/ICCAS.2013.6703970
Chang-Uk Lee, Jae-sub Ko, Tae-Yaung Seo, D. Chung
This paper proposes the fuzzy - PI controller for maximum power point tracking(MPPT) control of photovoltaic system. The output characteristics of the solar cell are a nonlinear and affected by a temperature, the solar radiation and influence of a shadow. The MPPT control is a very important technique in order to increase an output and efficiency of the photo voltaic system. The conventional constant voltage(CV), perturbation and observation(PO) and incremental conductance(IC) are the method which finding maximum power point(MPP) by the continued self-excitation vibration, and uses the fixed step size. If the fixed step size is a large, the tracking speed of maximum power point is faster, but the tracking accuracy in the steady state is decreased. On the contrary, when the fixed step size is a small, the tracking accuracy is increased and the tracking speed is slower. Therefore, in order to solve these problems, this paper proposes FLC-PI controller. The PI controller of FLC-PI controller is compensated for cumulative error of fuzzy control and fuzzy control adjusts the input value of PI controller. The validity of the controller proposed in this paper proves through the results of the comparisons.
{"title":"MPPT control of photovoltaic system using FLC-PI controller","authors":"Chang-Uk Lee, Jae-sub Ko, Tae-Yaung Seo, D. Chung","doi":"10.1109/ICCAS.2013.6703970","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703970","url":null,"abstract":"This paper proposes the fuzzy - PI controller for maximum power point tracking(MPPT) control of photovoltaic system. The output characteristics of the solar cell are a nonlinear and affected by a temperature, the solar radiation and influence of a shadow. The MPPT control is a very important technique in order to increase an output and efficiency of the photo voltaic system. The conventional constant voltage(CV), perturbation and observation(PO) and incremental conductance(IC) are the method which finding maximum power point(MPP) by the continued self-excitation vibration, and uses the fixed step size. If the fixed step size is a large, the tracking speed of maximum power point is faster, but the tracking accuracy in the steady state is decreased. On the contrary, when the fixed step size is a small, the tracking accuracy is increased and the tracking speed is slower. Therefore, in order to solve these problems, this paper proposes FLC-PI controller. The PI controller of FLC-PI controller is compensated for cumulative error of fuzzy control and fuzzy control adjusts the input value of PI controller. The validity of the controller proposed in this paper proves through the results of the comparisons.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"4 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120972168","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 : 2013-10-01DOI: 10.1109/ICCAS.2013.6704215
N. Kwon, Chang Hyeon Park, SungWok Yun, P. Park
This paper proposes vision based mura detection algorithm for the black resin-coated steel by using property of line scan camera. The proposed algorithm consists of three parts: preprocessing, selection of threshold value, and finally binarization and post processing. Preprocessing consists of moving average filtering, image partitioning and additional weight for black defects. Second, to distinguish between defect and background we must choose proper threshold value. Finally, we binarize original image by using threshold value and use the image opening and closing to eliminate small noise. The simulation results show detection accuracy of the proposed algorithm.
{"title":"Vision based mura detection by using property of line scan camera for black resin-coated steel - Line scan algorithm","authors":"N. Kwon, Chang Hyeon Park, SungWok Yun, P. Park","doi":"10.1109/ICCAS.2013.6704215","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704215","url":null,"abstract":"This paper proposes vision based mura detection algorithm for the black resin-coated steel by using property of line scan camera. The proposed algorithm consists of three parts: preprocessing, selection of threshold value, and finally binarization and post processing. Preprocessing consists of moving average filtering, image partitioning and additional weight for black defects. Second, to distinguish between defect and background we must choose proper threshold value. Finally, we binarize original image by using threshold value and use the image opening and closing to eliminate small noise. The simulation results show detection accuracy of the proposed algorithm.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127448999","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 : 2013-10-01DOI: 10.1109/ICCAS.2013.6703903
Yuji Okamoto, S. Tateno, Jaeyeon Lee
Rapid and appropriate rescue operations should be taken in the scene when accidents or fires occur. It is very important for such operation that rescue team members constantly communicate with each other in the site, and the base station located near the site should be aware of the team members' positions and situations to direct them effectively. A remote monitoring system with ZigBee devices as a wireless communication method is developed for the rescue operations in disaster areas or special places outside the scope of mobile phones. The system can keep track of members' situations and help every member to communicate, and also can enhance the security and work efficiency of rescue teams' performances at the scene.
{"title":"Remote monitoring system with wireless network to support rescue operations","authors":"Yuji Okamoto, S. Tateno, Jaeyeon Lee","doi":"10.1109/ICCAS.2013.6703903","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703903","url":null,"abstract":"Rapid and appropriate rescue operations should be taken in the scene when accidents or fires occur. It is very important for such operation that rescue team members constantly communicate with each other in the site, and the base station located near the site should be aware of the team members' positions and situations to direct them effectively. A remote monitoring system with ZigBee devices as a wireless communication method is developed for the rescue operations in disaster areas or special places outside the scope of mobile phones. The system can keep track of members' situations and help every member to communicate, and also can enhance the security and work efficiency of rescue teams' performances at the scene.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"15 10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127515805","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 : 2013-10-01DOI: 10.1109/ICCAS.2013.6704089
Wei-Che Chang, M. Cheng, Hong-Jin Tsai
Mechanical cutting is very important in many industrial applications. Since mechanical cutting often involves contour following, generally, prior trajectory planning is inevitable. However, in some applications the geometric model of the object for cutting is not available. One possible approach to circumventing this difficulty is to employ a visual servoing approach. As a result, in this paper, an eye-to-hand camera mounted on the ceiling is used to obtain the shape information of the object. Moreover, PH splines are designed to represent the obtained object shape. Based on the obtained PH splines, an interpolator is developed to generate the desired feature command for the Image-Based Visual Servoing (IBVS) structure. Another eye-to-hand camera is placed in a position that can have a full view of the object for cutting so as to provide vision feedback for the IBVS structure. Finally, contouring following experiments of several objects with arbitrary shapes have been conducted to validate the effectiveness of the proposed approach.
{"title":"Implementation of an Image-Based Visual Servoing structure in contour following of objects with unknown geometric models","authors":"Wei-Che Chang, M. Cheng, Hong-Jin Tsai","doi":"10.1109/ICCAS.2013.6704089","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704089","url":null,"abstract":"Mechanical cutting is very important in many industrial applications. Since mechanical cutting often involves contour following, generally, prior trajectory planning is inevitable. However, in some applications the geometric model of the object for cutting is not available. One possible approach to circumventing this difficulty is to employ a visual servoing approach. As a result, in this paper, an eye-to-hand camera mounted on the ceiling is used to obtain the shape information of the object. Moreover, PH splines are designed to represent the obtained object shape. Based on the obtained PH splines, an interpolator is developed to generate the desired feature command for the Image-Based Visual Servoing (IBVS) structure. Another eye-to-hand camera is placed in a position that can have a full view of the object for cutting so as to provide vision feedback for the IBVS structure. Finally, contouring following experiments of several objects with arbitrary shapes have been conducted to validate the effectiveness of the proposed approach.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124833282","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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