HAPTIC BASED ROBOTIC CONTROL SYSTEM ENHANCED WITH EMBEDDED IMAGE PROCESSING
|
|
- Bernard Johns
- 5 years ago
- Views:
Transcription
1 HAPTIC BASED ROBOTIC CONTROL SYSTEM ENHANCED WITH EMBEDDED IMAGE PROCESSING K.Gopal, Dr.N.Suthanthira Vanitha, M.Jagadeeshraja, and L.Manivannan, Knowledge Institute of Technology Abstract: - The advancement of technology in the field of robotics leads to the intelligent and isolated operation of robots. But it limits the ability for manipulation and interaction with human. Even though robots are autonomous and intelligent it needs human interaction in applications like diffusing bomb, handling hazardous material and Tele-surgery etc. The proposed Haptic based robotic control system enhanced with embedded image processing gives a novel approach for controlling the robots through haptic sensor input, contours and color recognition inputs. In this project the robotic arm is designed and it s controlled by haptic which increases the ability and efficiency of robot. The ultimate purpose of this project is to provide a new way of controlling technique for robots by human machine interaction using ARM. Index Terms ARM processor, Haptic, Human machine interaction, Image processing and robots. I. INTRODUCTION Robots of current generation are self-directed but controlling it is also needed, where human machine interaction plays a vital role. This paper focuses on design and implementation of a robotic arm and control it using a human arm by means of haptic technology. In the human arm the flex sensors are attached for giving the haptic input and the image processing, enhanced the control of the robot by recognizing the contours present in the human arm which is drawn with colors. The ARM microcontroller is working as the heart of the system and image processing is done by OPEN CV python software. The serial data transferred from the PC after image processing is received by the microcontroller which finally directs the servomotors of robotic arm. Hence it is possible to control the robot by new way, by means of haptic and image processing techniques. II.LITERATURE SURVEY Vipul J. Gohil and Dr. S D. Bhagwat focuses on the project Robotics arm Control using Haptic Technology designed the robotic arm which having two degrees of freedom and it was controlled by the flex sensors and wirelessly[1].taylor Jones and Kurt Graf, approached in the project Helping Hand 7 DOF Haptic Robotic Arm Project (2013) designed the robotic arm controlled by Velcro strap mounted motion and force sensors on a human operator's arm which controls the motion tracking robotic arm's proportional motion.[2] Pholchai Chotiprayanakul and Dalong Wang focuses on project A haptic base human robot interaction approach for robotic grit blasting proposed the remote operation method for robot arm in a complex environment by using the Virtual Force (VF) Based approach. A virtual robot arm was manipulated by a steering force, at the endeffecter, which was generated according to the movement of a feedback haptic. [3] It is analyzed from the different project works, diverse approaches for controlling robots. The most of related works got success in the area of using sensors for controlling the robot. In case of image processing few flaws are present in finding the hand gesture. Especially in the hand detection part it is important to look for skin color region in the image. But skin color classification is difficult because it can also detect other body parts as a hand in the image. By means the convexity hull and defects in the hand makes failure for hand gesture detection because of the environment in which the image is captured. III. OVERVIEW OF PROPOSED SYSTEM IJIRT INTERNATIONAL JOURNAL OF INNOVATIVE RESEARCH IN TECHNOLOGY 893
2 The proposed system combine both sensor and vision based approach. With support of markers attached to users hand glove can provide reliable detection, hence there is a need for red color strip on gloves. The interface uses camera to track the movement of hand & recognizes gesture. It uses multiple colors and contour detection algorithms for improving accuracy of the recognition results. Further the system gives the integrated control by means of sensors and image processing for controlling the robots. The high speed ARM processor and servo mechanism provides excellent solution in addition with better accuracy. resistance of the flex sensor varies which gives the input to the ARM. The analog to the digital converter, its converts the signal to the digital which is compared with the programming and the various PWM signals are generated for operating and controlling the servo motors. The analog to the digital converter, its converts the signal to the digital which is compared with the programming and the various PWM signals are generated for operating and controlling the servo motors. Similar to the haptic sensor input, image processing inputs can give to the robotic arm. The image processing is done with the help of computer and the data is transferred to the microcontroller by using the serial port. The proposed system is consist of the following three sections. Hand glove side The hand glove is attached with the flex sensor and for vision input it s stickered with the color strips. The hand glove with flex sensor is shown in below figure. IV.PROPOSED ARCHITECTURE Fig. 1. Fig.2. Robotic Glove with Flex Sensors Robotic arm side The robotic arm is the mechanical arm which having many degrees of freedom. In the proposed with the robotic arm with five degrees of freedom will be designed. Block diagram of the proposed system. This figure shows how the system functions. Fig.3. Robotic Arm In the proposed system the robotic arm is controlled by using the different technologies which provides a new way of controlling technique. Flex sensors array gives the signals to the each fingers of the robotic arm. According to the motion of the hand glove the IJIRT INTERNATIONAL JOURNAL OF INNOVATIVE RESEARCH IN TECHNOLOGY 894
3 Step1: Capture the video. Step2: Flip the video window. Step3: Resize the video window for fast processing. Step4: convert color BGR to HSV. Step5: Apply Gaussian filter for smoothing. Step6: Create a mask for finding color. Step7: Short list the colored object. Image processing input side Fig.4. Image processing Input System In the image processing side the image acquisition is the first process which is done by using the camera of the personal computers or web camera. Once the image acquisition done the next process will be image processing. The algorithm of image processing for contour detection and color detection is follows. Since the process concern with video capturing the basic operations like capturing the video, flipping and resizing the video window are taken place. The open CV image processing has function for those processes. Next to the basic operations image smoothing is following. Gaussian blur removal is smoothing the image. The color and contour detection process are the final steps of hand gesture identification which is done easily in open CV image processing. Step8: Find contours in the image. Step9: Find hand gesture using contours. Step 10: Send hand gesture signal to serial port. C. Flowchart for Hand gesture recognition A. Contours Contours is the curve which joining all the continuous points (along the boundary), having same color or intensity. The contours are a useful tool for shape analysis and object detection and recognition. For better accuracy, use binary images. So before finding contours, apply threshold or canny edge detection. In OpenCV, finding contours is like finding white object from black background. The function for finding contour is cv2.findcontours ( ) and for drawing the contours cv2.drawcontours ( ). B. Algorithm The algorithm of the hand gesture identification is following. Fig.5. Flowchart for Hand gesture recognition C.Psudeocode IJIRT INTERNATIONAL JOURNAL OF INNOVATIVE RESEARCH IN TECHNOLOGY 895
4 self.capture = cv2.videocapture(0) f, orig_img = self.capture.read() orig_img = cv2.flip(orig_img, 1) img=cv2.gaussianblur(orig_img,(5,5),0) img = cv2.cvtcolor(orig_img,cv2.color_bgr2hsv) orange_lower = np.array([0, 127, 125],np.uint8)orange_upper = np.array([25, 255, 255],np.uint8) Fig.6. Fabricated Flex sensor B. Servo Motor orange_binary= cv2.inrange(img,orange_lower,orange_upper) cv2.findcontours if contour idx==0: ##print "input 1" ser.write("input1") cv2.imshow('frame',frame) cv2.imwrite('frame.jpg',frame) A. Flux Sensors It is an analog resistor, which work as variable analog voltage divider. Inside the flex sensor are carbon resistive elements with thin flexible substrate. [8] More carbon means less resistance. When the substrate is bent the sensor produces resistance output relative to the bend radius. The flex sensor achieves great form-factor on a thin flexible substrate. When the substrate is bent, the sensor produces a resistance output correlated to the bend radius [6]. Servo refers to an error sensing feedback control which is used to correct the performance of a system. Fig.7. Servo PWM Servo or RC Servo Motors are DC motors equipped with a servo mechanism for precise control of angular position. The RC servo motors usually have a rotation limit from 90 to 180. But servos do not rotate continually. Their rotation is restricted in between the fixed angles. The Servos are used for precision positioning. They are used in robotic arms and legs, sensor scanners and in RC toys like RC helicopter, airplanes and cars. [7], [4]. 4.3 Flow Chart of the Proposed System IJIRT INTERNATIONAL JOURNAL OF INNOVATIVE RESEARCH IN TECHNOLOGY 896
5 Fig.7. Color and Contour detection B. PWM generation for controlling servo motor The Pulse width modulation is generated by the programming the ARM LPC 2138 controller. The PWM is generated according to the need for controlling the servo motor. When the sensor input or the Image Processing input is received by the processor it will generate the output for running the servo motor. The following figures shows the PWM generation and the servo motor excitation. Fig.6. Flow chart of the system V. SIMULATION AND RESULTS Haptic technology applied in the system is carrying the PWM generation for controlling the servo, contour and color recognition operations as an input to the system. Hence each part of the system is simulated by various tools. A.Color and Contour detection Fig.8. PWM signal generation for controlling servo The Hand Gesture detection is done by two processes in our project, which are finding colors and detecting contours. The simulation is done by using open cv python programming and the following results shows the Contours detection. IJIRT INTERNATIONAL JOURNAL OF INNOVATIVE RESEARCH IN TECHNOLOGY 897
6 The simulation of hardware is done with the help of the Proteus ISIS professional software. Fig.9. Servomotor excitation V. CONCLUSION In the proposed system a new method of controlling the robot is developed by using the haptic technology. The sensor gives analog output, if there is a change in their resistance value. This analog output is manipulated in such a way that they give proportional pulses of different duty cycles to the servo motors which give movement to the robotic arm. The image processing and the flex sensors input to the robotic arm enables it to function properly. And the servo motors ensure the precision of each and every degrees of freedom. VII. FUTURE SCOPE The proposed system can be implemented as robotic path planning system. Many methods like optical character recognition, symbol recognition and complex gesture recognition can be given as the input for controlling the robot. The human machine communication can be improved using the haptic also possible. ISSN (Online): Volume 2, Issue 2: Page No , March - April (2013) [2]. Taylor Jones and Kurt Graf, Helping Hand 7 DOF Haptic Robotic Arm Project (2013) Spring 2013 University of Central Florida, department of electrical engineering and computer Science, Orlando, Florida [3].Takahiro Endo, Haruhisa Kawasaki, Tetsuya Mouri,,Yasuhiko Ishigure,Hisayuki Shimomura,Masato Matsumura,andKazumi Koketsu, Five-Fingered Haptic Interface Robot:HIRO III, IEEE transactions on haptics, vol. 4, no. 1, januarymarch [4]. Hyun Soo Woo and Doo Yong Lee, Exploitation of the Impedance and Characteristics of the Human Arm in the Design of Haptic Interfaces IEEE transactions on industrial electronics, vol. 58, no. 8, august [5]. J. E. Colgate and G. Schenkel, Passivity of a class of sampled-data systems: Application to haptic interfaces, J. Robot. Syst., vol. 14, no. 1, pp , [4]. G. C. Burdea, Force and Touch Feedback for Virtual Reality. New York: Wiley, [6]. D.K.Boman, Internationalsurvey:Virtualenvironment research, Computer, vol. 28, no. 6, pp , Jun [7]. S.D. Lay and A.M.Day, Recent developments and applications of haptic devices, Comp. Graph. Forum, vol. 22, no. 2, pp , [8]. Ninja P. Oess,,Wanek, J. and van Hedel, H.J.A Enhancement of bend sensor properties as applied in a glove for use in neurorehabilitation settings, Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE, Aug Sept , [9]. J. E. Colgate and J. M. Brown, Factors affecting the Z-width of a haptic display, in Proc. IEEE Int. Conf. Robot. Autom., San Diego, CA, 1994, pp [10]. [11]. REFERENCE [1]. Vipul J. Gohil and Dr. S D. Bhagwat Robotics Arm Control Using Haptic Technology International Journal of Latest Research in Science and Technology IJIRT INTERNATIONAL JOURNAL OF INNOVATIVE RESEARCH IN TECHNOLOGY 898
IOSR Journal of Engineering (IOSRJEN) e-issn: , p-issn: , Volume 2, Issue 11 (November 2012), PP 37-43
IOSR Journal of Engineering (IOSRJEN) e-issn: 2250-3021, p-issn: 2278-8719, Volume 2, Issue 11 (November 2012), PP 37-43 Operative Precept of robotic arm expending Haptic Virtual System Arnab Das 1, Swagat
More informationAUTONOMOUS MOTION CONTROLLED HAND-ARM ROBOTIC SYSTEM
Autonomous Motion Controlled Hand-Arm Robotic System AUTONOMOUS MOTION CONTROLLED HAND-ARM ROBOTIC SYSTEM NIJI JOHNSON AND P.SIVASANKAR RAJAMANI KSR College of Engineering,Thiruchengode-637215 Abstract:
More informationFLEX SENSOR BASED ROBOTIC ARM CONTROLLER: DEVELOPMENT
FLEX SENSOR BASED ROBOTIC ARM CONTROLLER: DEVELOPMENT Jagtap Gautami 1, Alve Sampada 2, Malhotra Sahil 3, Pankaj Dadhich 4 Electronics and Telecommunication Department, Guru Gobind Singh Polytechnic, Nashik
More informationARTIFICIAL INTELLIGENCE - ROBOTICS
ARTIFICIAL INTELLIGENCE - ROBOTICS http://www.tutorialspoint.com/artificial_intelligence/artificial_intelligence_robotics.htm Copyright tutorialspoint.com Robotics is a domain in artificial intelligence
More informationDevelopment of a telepresence agent
Author: Chung-Chen Tsai, Yeh-Liang Hsu (2001-04-06); recommended: Yeh-Liang Hsu (2001-04-06); last updated: Yeh-Liang Hsu (2004-03-23). Note: This paper was first presented at. The revised paper was presented
More informationWirelessly Controlled Wheeled Robotic Arm
Wirelessly Controlled Wheeled Robotic Arm Muhammmad Tufail 1, Mian Muhammad Kamal 2, Muhammad Jawad 3 1 Department of Electrical Engineering City University of science and Information Technology Peshawar
More informationChallenging areas:- Hand gesture recognition is a growing very fast and it is I. INTRODUCTION
Hand gesture recognition for vehicle control Bhagyashri B.Jakhade, Neha A. Kulkarni, Sadanand. Patil Abstract: - The rapid evolution in technology has made electronic gadgets inseparable part of our life.
More informationDesign of intelligent vehicle control system based on machine visual
Advances in Engineering Research (AER), volume 117 2nd Annual International Conference on Electronics, Electrical Engineering and Information Science (EEEIS 2016) Design of intelligent vehicle control
More informationRapid Development System for Humanoid Vision-based Behaviors with Real-Virtual Common Interface
Rapid Development System for Humanoid Vision-based Behaviors with Real-Virtual Common Interface Kei Okada 1, Yasuyuki Kino 1, Fumio Kanehiro 2, Yasuo Kuniyoshi 1, Masayuki Inaba 1, Hirochika Inoue 1 1
More informationNCCT IEEE PROJECTS ADVANCED ROBOTICS SOLUTIONS. Latest Projects, in various Domains. Promise for the Best Projects
NCCT Promise for the Best Projects IEEE PROJECTS in various Domains Latest Projects, 2009-2010 ADVANCED ROBOTICS SOLUTIONS EMBEDDED SYSTEM PROJECTS Microcontrollers VLSI DSP Matlab Robotics ADVANCED ROBOTICS
More informationGESTUR. Sensing & Feedback Glove for interfacing with Virtual Reality
GESTUR Sensing & Feedback Glove for interfacing with Virtual Reality Initial Design Review ECE 189A, Fall 2016 University of California, Santa Barbara History & Introduction - Oculus and Vive are great
More informationInternational Journal of Advance Engineering and Research Development
Scientific Journal of Impact Factor (SJIF): 4.14 International Journal of Advance Engineering and Research Development Volume 3, Issue 2, February -2016 e-issn (O): 2348-4470 p-issn (P): 2348-6406 SIMULATION
More informationSpace Research expeditions and open space work. Education & Research Teaching and laboratory facilities. Medical Assistance for people
Space Research expeditions and open space work Education & Research Teaching and laboratory facilities. Medical Assistance for people Safety Life saving activity, guarding Military Use to execute missions
More informationVirtual Grasping Using a Data Glove
Virtual Grasping Using a Data Glove By: Rachel Smith Supervised By: Dr. Kay Robbins 3/25/2005 University of Texas at San Antonio Motivation Navigation in 3D worlds is awkward using traditional mouse Direct
More informationDevelopment of a Finger Mounted Type Haptic Device Using a Plane Approximated to Tangent Plane
Journal of Communication and Computer 13 (2016) 329-337 doi:10.17265/1548-7709/2016.07.002 D DAVID PUBLISHING Development of a Finger Mounted Type Haptic Device Using a Plane Approximated to Tangent Plane
More informationTHE IMPORTANCE OF PLANNING AND DRAWING IN DESIGN
PROGRAM OF STUDY ENGR.ROB Standard 1 Essential UNDERSTAND THE IMPORTANCE OF PLANNING AND DRAWING IN DESIGN The student will understand and implement the use of hand sketches and computer-aided drawing
More informationAn Evaluation of Automatic License Plate Recognition Vikas Kotagyale, Prof.S.D.Joshi
An Evaluation of Automatic License Plate Recognition Vikas Kotagyale, Prof.S.D.Joshi Department of E&TC Engineering,PVPIT,Bavdhan,Pune ABSTRACT: In the last decades vehicle license plate recognition systems
More informationCategories of Robots and their Hardware Components. Click to add Text Martin Jagersand
Categories of Robots and their Hardware Components Click to add Text Martin Jagersand Click to add Text Robot? Click to add Text Robot? How do we categorize these robots? What they can do? Most robots
More informationGesticulation Based Smart Surface with Enhanced Biometric Security Using Raspberry Pi
www.ijcsi.org https://doi.org/10.20943/01201705.5660 56 Gesticulation Based Smart Surface with Enhanced Biometric Security Using Raspberry Pi R.Gayathri 1, E.Roshith 2, B.Sanjana 2, S. Sanjeev Kumar 2,
More information* Intelli Robotic Wheel Chair for Specialty Operations & Physically Challenged
ADVANCED ROBOTICS SOLUTIONS * Intelli Mobile Robot for Multi Specialty Operations * Advanced Robotic Pick and Place Arm and Hand System * Automatic Color Sensing Robot using PC * AI Based Image Capturing
More informationRobotic Navigation Distance Control Platform
Robotic Navigation Distance Control Platform System Block Diagram Student: Scott Sendra Project Advisors: Dr. Schertz Dr. Malinowski Date: November 18, 2003 Objective The objective of the Robotic Navigation
More informationCOMPARATIVE PERFORMANCE ANALYSIS OF HAND GESTURE RECOGNITION TECHNIQUES
International Journal of Advanced Research in Engineering and Technology (IJARET) Volume 9, Issue 3, May - June 2018, pp. 177 185, Article ID: IJARET_09_03_023 Available online at http://www.iaeme.com/ijaret/issues.asp?jtype=ijaret&vtype=9&itype=3
More informationMicrocontroller Based Closed Loop Speed and Position Control of DC Motor
International Journal of Engineering and Advanced Technology (IJEAT) ISSN: 2249 8958, Volume-3, Issue-5, June 2014 Microcontroller Based Closed Loop Speed and Position Control of DC Motor Panduranga Talavaru,
More informationTraining Schedule. Robotic System Design using Arduino Platform
Training Schedule Robotic System Design using Arduino Platform Session - 1 Embedded System Design Basics : Scope : To introduce Embedded Systems hardware design fundamentals to students. Processor Selection
More informationSELF STABILIZING PLATFORM
SELF STABILIZING PLATFORM Shalaka Turalkar 1, Omkar Padvekar 2, Nikhil Chavan 3, Pritam Sawant 4 and Project Guide: Mr Prathamesh Indulkar 5. 1,2,3,4,5 Department of Electronics and Telecommunication,
More informationContinuous Rotation Control of Robotic Arm using Slip Rings for Mars Rover
International Conference on Mechanical, Industrial and Materials Engineering 2017 (ICMIME2017) 28-30 December, 2017, RUET, Rajshahi, Bangladesh. Paper ID: AM-270 Continuous Rotation Control of Robotic
More informationUsing Simulation to Design Control Strategies for Robotic No-Scar Surgery
Using Simulation to Design Control Strategies for Robotic No-Scar Surgery Antonio DE DONNO 1, Florent NAGEOTTE, Philippe ZANNE, Laurent GOFFIN and Michel de MATHELIN LSIIT, University of Strasbourg/CNRS,
More informationARTIFICIAL ROBOT NAVIGATION BASED ON GESTURE AND SPEECH RECOGNITION
ARTIFICIAL ROBOT NAVIGATION BASED ON GESTURE AND SPEECH RECOGNITION ABSTRACT *Miss. Kadam Vaishnavi Chandrakumar, ** Prof. Hatte Jyoti Subhash *Research Student, M.S.B.Engineering College, Latur, India
More informationDesign and Control of the BUAA Four-Fingered Hand
Proceedings of the 2001 IEEE International Conference on Robotics & Automation Seoul, Korea May 21-26, 2001 Design and Control of the BUAA Four-Fingered Hand Y. Zhang, Z. Han, H. Zhang, X. Shang, T. Wang,
More informationFabrication of the kinect remote-controlled cars and planning of the motion interaction courses
Available online at www.sciencedirect.com ScienceDirect Procedia - Social and Behavioral Sciences 174 ( 2015 ) 3102 3107 INTE 2014 Fabrication of the kinect remote-controlled cars and planning of the motion
More information3-Degrees of Freedom Robotic ARM Controller for Various Applications
3-Degrees of Freedom Robotic ARM Controller for Various Applications Mohd.Maqsood Ali M.Tech Student Department of Electronics and Instrumentation Engineering, VNR Vignana Jyothi Institute of Engineering
More informationPrediction and Correction Algorithm for a Gesture Controlled Robotic Arm
Prediction and Correction Algorithm for a Gesture Controlled Robotic Arm Pushkar Shukla 1, Shehjar Safaya 2, Utkarsh Sharma 3 B.Tech, College of Engineering Roorkee, Roorkee, India 1 B.Tech, College of
More informationOPEN CV BASED AUTONOMOUS RC-CAR
OPEN CV BASED AUTONOMOUS RC-CAR B. Sabitha 1, K. Akila 2, S.Krishna Kumar 3, D.Mohan 4, P.Nisanth 5 1,2 Faculty, Department of Mechatronics Engineering, Kumaraguru College of Technology, Coimbatore, India
More informationAn External Command Reading White line Follower Robot
EE-712 Embedded System Design: Course Project Report An External Command Reading White line Follower Robot 09405009 Mayank Mishra (mayank@cse.iitb.ac.in) 09307903 Badri Narayan Patro (badripatro@ee.iitb.ac.in)
More informationIII. MATERIAL AND COMPONENTS USED
Prototype Development of a Smartphone- Controlled Robotic Vehicle with Pick- Place Capability Dheeraj Sharma Electronics and communication department Gian Jyoti Institute Of Engineering And Technology,
More informationProject Name: SpyBot
EEL 4924 Electrical Engineering Design (Senior Design) Final Report April 23, 2013 Project Name: SpyBot Team Members: Name: Josh Kurland Name: Parker Karaus Email: joshkrlnd@gmail.com Email: pbkaraus@ufl.edu
More informationMechatronics System Design - Sensors
Mechatronics System Design - Sensors Aim of this class 1. The functional role of the sensor? 2. Displacement, velocity and visual sensors? 3. An integrated example-smart car with visual and displacement
More informationE90 Project Proposal. 6 December 2006 Paul Azunre Thomas Murray David Wright
E90 Project Proposal 6 December 2006 Paul Azunre Thomas Murray David Wright Table of Contents Abstract 3 Introduction..4 Technical Discussion...4 Tracking Input..4 Haptic Feedack.6 Project Implementation....7
More informationImage Manipulation Interface using Depth-based Hand Gesture
Image Manipulation Interface using Depth-based Hand Gesture UNSEOK LEE JIRO TANAKA Vision-based tracking is popular way to track hands. However, most vision-based tracking methods can t do a clearly tracking
More informationDesign of Joint Controller Circuit for PA10 Robot Arm
Design of Joint Controller Circuit for PA10 Robot Arm Sereiratha Phal and Manop Wongsaisuwan Department of Electrical Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok, 10330, Thailand.
More informationTotal Hours Registration through Website or for further details please visit (Refer Upcoming Events Section)
Total Hours 110-150 Registration Q R Code Registration through Website or for further details please visit http://www.rknec.edu/ (Refer Upcoming Events Section) Module 1: Basics of Microprocessor & Microcontroller
More informationDATA GLOVES USING VIRTUAL REALITY
DATA GLOVES USING VIRTUAL REALITY Raghavendra S.N 1 1 Assistant Professor, Information science and engineering, sri venkateshwara college of engineering, Bangalore, raghavendraewit@gmail.com ABSTRACT This
More informationAdvanced Digital Motion Control Using SERCOS-based Torque Drives
Advanced Digital Motion Using SERCOS-based Torque Drives Ying-Yu Tzou, Andes Yang, Cheng-Chang Hsieh, and Po-Ching Chen Power Electronics & Motion Lab. Dept. of Electrical and Engineering National Chiao
More informationJEPPIAAR ENGINEERING COLLEGE
JEPPIAAR ENGINEERING COLLEGE Jeppiaar Nagar, Rajiv Gandhi Salai 600 119 DEPARTMENT OFMECHANICAL ENGINEERING QUESTION BANK VII SEMESTER ME6010 ROBOTICS Regulation 013 JEPPIAAR ENGINEERING COLLEGE Jeppiaar
More informationGesture Recognition with Real World Environment using Kinect: A Review
Gesture Recognition with Real World Environment using Kinect: A Review Prakash S. Sawai 1, Prof. V. K. Shandilya 2 P.G. Student, Department of Computer Science & Engineering, Sipna COET, Amravati, Maharashtra,
More informationI. INTRODUCTION MAIN BLOCKS OF ROBOT
Stair-Climbing Robot for Rescue Applications Prof. Pragati.D.Pawar 1, Prof. Ragini.D.Patmase 2, Mr. Swapnil.A.Kondekar 3, Mr. Nikhil.D.Andhare 4 1,2 Department of EXTC, 3,4 Final year EXTC, J.D.I.E.T Yavatmal,Maharashtra,
More informationDevelopment of A Finger Mounted Type Haptic Device Using A Plane Approximated to Tangent Plane
Development of A Finger Mounted Type Haptic Device Using A Plane Approximated to Tangent Plane Makoto Yoda Department of Information System Science Graduate School of Engineering Soka University, Soka
More informationAutomobile Prototype Servo Control
IJIRST International Journal for Innovative Research in Science & Technology Volume 2 Issue 10 March 2016 ISSN (online): 2349-6010 Automobile Prototype Servo Control Mr. Linford William Fernandes Don Bosco
More informationVISUAL FINGER INPUT SENSING ROBOT MOTION
VISUAL FINGER INPUT SENSING ROBOT MOTION Mr. Vaibhav Shersande 1, Ms. Samrin Shaikh 2, Mr.Mohsin Kabli 3, Mr.Swapnil Kale 4, Mrs.Ranjana Kedar 5 Student, Dept. of Computer Engineering, KJ College of Engineering
More informationPick and Place Robotic Arm Using Arduino
Pick and Place Robotic Arm Using Arduino Harish K 1, Megha D 2, Shuklambari M 3, Amit K 4, Chaitanya K Jambotkar 5 1,2,3,4 5 th SEM Students in Department of Electrical and Electronics Engineering, KLE.I.T,
More informationElements of Haptic Interfaces
Elements of Haptic Interfaces Katherine J. Kuchenbecker Department of Mechanical Engineering and Applied Mechanics University of Pennsylvania kuchenbe@seas.upenn.edu Course Notes for MEAM 625, University
More informationAdvancements in Gesture Recognition Technology
IOSR Journal of VLSI and Signal Processing (IOSR-JVSP) Volume 4, Issue 4, Ver. I (Jul-Aug. 2014), PP 01-07 e-issn: 2319 4200, p-issn No. : 2319 4197 Advancements in Gesture Recognition Technology 1 Poluka
More informationImage Processing : Introduction
Image Processing : Introduction What is an Image? An image is a picture stored in electronic form. An image map is a file containing information that associates different location on a specified image.
More informationAbstract. 1. Introduction
Trans Am: An Experiment in Autonomous Navigation Jason W. Grzywna, Dr. A. Antonio Arroyo Machine Intelligence Laboratory Dept. of Electrical Engineering University of Florida, USA Tel. (352) 392-6605 Email:
More informationComputer Vision Based Chess Playing Capabilities for the Baxter Humanoid Robot
International Conference on Control, Robotics, and Automation 2016 Computer Vision Based Chess Playing Capabilities for the Baxter Humanoid Robot Andrew Tzer-Yeu Chen, Kevin I-Kai Wang {andrew.chen, kevin.wang}@auckland.ac.nz
More informationObject Exploration Using a Three-Axis Tactile Sensing Information
Journal of Computer Science 7 (4): 499-504, 2011 ISSN 1549-3636 2011 Science Publications Object Exploration Using a Three-Axis Tactile Sensing Information 1,2 S.C. Abdullah, 1 Jiro Wada, 1 Masahiro Ohka
More informationWireless Master-Slave Embedded Controller for a Teleoperated Anthropomorphic Robotic Arm with Gripping Force Sensing
Wireless Master-Slave Embedded Controller for a Teleoperated Anthropomorphic Robotic Arm with Gripping Force Sensing Presented by: Benjamin B. Rhoades ECGR 6185 Adv. Embedded Systems January 16 th 2013
More informationHAND-SHAPED INTERFACE FOR INTUITIVE HUMAN- ROBOT COMMUNICATION THROUGH HAPTIC MEDIA
HAND-SHAPED INTERFACE FOR INTUITIVE HUMAN- ROBOT COMMUNICATION THROUGH HAPTIC MEDIA RIKU HIKIJI AND SHUJI HASHIMOTO Department of Applied Physics, School of Science and Engineering, Waseda University 3-4-1
More informationDesign of double loop-locked system for brush-less DC motor based on DSP
International Conference on Advanced Electronic Science and Technology (AEST 2016) Design of double loop-locked system for brush-less DC motor based on DSP Yunhong Zheng 1, a 2, Ziqiang Hua and Li Ma 3
More informationSpeed Control of DC Motor Using Microcontroller
2015 IJSRST Volume 1 Issue 2 Print ISSN: 2395-6011 Online ISSN: 2395-602X Themed Section: Science Speed Control of DC Motor Using Microcontroller Katke S.P *1, Rangdal S.M 2 * 1 Electrical Department,
More informationSMART ADAPTIVE VEHICLE LIGHTING SYSTEM Ch Prithviraj 1, K. Archana Bhange 2 1
SMART ADAPTIVE VEHICLE LIGHTING SYSTEM Ch Prithviraj 1, K. Archana Bhange 2 1 PG Student, 2 Sr. Assistant Professor 1,2 Dept. of ECE, VNR Vignana Jyothi Institute of Engineering & Technology, Hyderabad,
More informationPage ENSC387 - Introduction to Electro-Mechanical Sensors and Actuators: Simon Fraser University Engineering Science
Motor Driver and Feedback Control: The feedback control system of a dc motor typically consists of a microcontroller, which provides drive commands (rotation and direction) to the driver. The driver is
More informationROBOTIC ARM FOR OBJECT SORTING BASED ON COLOR
ROBOTIC ARM FOR OBJECT SORTING BASED ON COLOR ASRA ANJUM 1, Y. ARUNA SUHASINI DEVI 2 1 Asra Anjum, M.Tech Student, Dept Of ECE, CMR College Of Engg And Tech, Kandlakoya, Medchal, Telangana, India. 2 Y.
More informationSPY ROBOT CONTROLLING THROUGH ZIGBEE USING MATLAB
SPY ROBOT CONTROLLING THROUGH ZIGBEE USING MATLAB MD.SHABEENA BEGUM, P.KOTESWARA RAO Assistant Professor, SRKIT, Enikepadu, Vijayawada ABSTRACT In today s world, in almost all sectors, most of the work
More informationInternational Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering. (An ISO 3297: 2007 Certified Organization)
International Journal of Advanced Research in Electrical, Electronics Device Control Using Intelligent Switch Sreenivas Rao MV *, Basavanna M Associate Professor, Department of Instrumentation Technology,
More informationEmbedded Robotics. Software Development & Education Center
Software Development & Education Center Embedded Robotics Robotics Development with ARM µp INTRODUCTION TO ROBOTICS Types of robots Legged robots Mobile robots Autonomous robots Manual robots Robotic arm
More informationKINECT CONTROLLED HUMANOID AND HELICOPTER
KINECT CONTROLLED HUMANOID AND HELICOPTER Muffakham Jah College of Engineering & Technology Presented by : MOHAMMED KHAJA ILIAS PASHA ZESHAN ABDUL MAJEED AZMI SYED ABRAR MOHAMMED ISHRAQ SARID MOHAMMED
More informationSix-degree-of-freedom robot design
Six-degree-of-freedom robot design Zhendong Guan a, Xiaobin Gong b, Shichang Yan c School of Shandong University of Science and Technology, Qingdao 266590, China a654201141@qq.com, b 528173250@qq.com,
More informationChapter 1 Introduction to Robotics
Chapter 1 Introduction to Robotics PS: Most of the pages of this presentation were obtained and adapted from various sources in the internet. 1 I. Definition of Robotics Definition (Robot Institute of
More informationAn Electronic Eye to Improve Efficiency of Cut Tile Measuring Function
IOSR Journal of Computer Engineering (IOSR-JCE) e-issn: 2278-0661,p-ISSN: 2278-8727, Volume 19, Issue 4, Ver. IV. (Jul.-Aug. 2017), PP 25-30 www.iosrjournals.org An Electronic Eye to Improve Efficiency
More informationDESIGN AND OPERATION OF SYNCHRONIZED ROBOTIC ARM
DESIGN AND OPERATION OF SYNCHRONIZED ROBOTIC ARM Goldy Katal 1, Saahil Gupta 2, Shitij Kakkar 3 1 Student, Electrical and Electronics Department, Maharaja Agrasen Institute of Technology, Delhi, India,
More informationMotion Control of a Three Active Wheeled Mobile Robot and Collision-Free Human Following Navigation in Outdoor Environment
Proceedings of the International MultiConference of Engineers and Computer Scientists 2016 Vol I,, March 16-18, 2016, Hong Kong Motion Control of a Three Active Wheeled Mobile Robot and Collision-Free
More informationCombined Approach for Face Detection, Eye Region Detection and Eye State Analysis- Extended Paper
International Journal of Engineering Research and Development e-issn: 2278-067X, p-issn: 2278-800X, www.ijerd.com Volume 10, Issue 9 (September 2014), PP.57-68 Combined Approach for Face Detection, Eye
More informationFuzzy Logic Based Force-Feedback for Obstacle Collision Avoidance of Robot Manipulators
Fuzzy Logic Based Force-Feedback for Obstacle Collision Avoidance of Robot Manipulators D. Wijayasekara, M. Manic Department of Computer Science University of Idaho Idaho Falls, USA wija2589@vandals.uidaho.edu,
More informationSpeed Control of BLDC Motor Using FPGA
Speed Control of BLDC Motor Using FPGA Jisha Kuruvilla 1, Basil George 2, Deepu K 3, Gokul P.T 4, Mathew Jose 5 Assistant Professor, Dept. of EEE, Mar Athanasius College of Engineering, Kothamangalam,
More informationDC Motor and Servo motor Control with ARM and Arduino. Created by:
DC Motor and Servo motor Control with ARM and Arduino Created by: Andrew Kaler (39345) Tucker Boyd (46434) Mohammed Chowdhury (860822) Tazwar Muttaqi (901700) Mark Murdock (98071) May 4th, 2017 Objective
More informationII. LITERATURE SURVEY
Hand Gesture Recognition Using Operating System Mr. Anap Avinash 1 Bhalerao Sushmita 2, Lambrud Aishwarya 3, Shelke Priyanka 4, Nirmal Mohini 5 12345 Computer Department, P.Dr.V.V.P. Polytechnic, Loni
More informationTeam Description Paper: HuroEvolution Humanoid Robot for Robocup 2014 Humanoid League
Team Description Paper: HuroEvolution Humanoid Robot for Robocup 2014 Humanoid League Chung-Hsien Kuo, Yu-Cheng Kuo, Yu-Ping Shen, Chen-Yun Kuo, Yi-Tseng Lin 1 Department of Electrical Egineering, National
More informationRoboCup TDP Team ZSTT
RoboCup 2018 - TDP Team ZSTT Jaesik Jeong 1, Jeehyun Yang 1, Yougsup Oh 2, Hyunah Kim 2, Amirali Setaieshi 3, Sourosh Sedeghnejad 3, and Jacky Baltes 1 1 Educational Robotics Centre, National Taiwan Noremal
More informationMechatronics Engineering and Automation Faculty of Engineering, Ain Shams University MCT-151, Spring 2015 Lab-4: Electric Actuators
Mechatronics Engineering and Automation Faculty of Engineering, Ain Shams University MCT-151, Spring 2015 Lab-4: Electric Actuators Ahmed Okasha, Assistant Lecturer okasha1st@gmail.com Objective Have a
More informationRF(433Mhz) BASED PROJECTS
************************************************************************ INNOVATIVE & APPLICATION ORIENTED PROJECTS ON SVSEMBEDDED SYSTEMS (8051/AVR/ARM7/MSP430/RENESAS/ARM cortex M3) ************************************************************************
More informationNautical Autonomous System with Task Integration
Nautical Autonomous System with Task Integration (code name NASTI) Students: Terry Max Christy, Jeremy Borgman Advisors: Dr. Gary Dempsey, Nick Schmidt 1 Outline Original Goals System Overview Review of
More informationR (2) Controlling System Application with hands by identifying movements through Camera
R (2) N (5) Oral (3) Total (10) Dated Sign Assignment Group: C Problem Definition: Controlling System Application with hands by identifying movements through Camera Prerequisite: 1. Web Cam Connectivity
More informationAssembly Language. Topic 14 Motion Control. Stepper and Servo Motors
Assembly Language Topic 14 Motion Control Stepper and Servo Motors Objectives To gain an understanding of the operation of a stepper motor To develop a means to control a stepper motor To gain an understanding
More informationIntroduction: Components used:
Introduction: As, this robotic arm is automatic in a way that it can decides where to move and when to move, therefore it works in a closed loop system where sensor detects if there is any object in a
More informationRobot Navigation System with RFID and Ultrasonic Sensors A.Seshanka Venkatesh 1, K.Vamsi Krishna 2, N.K.R.Swamy 3, P.Simhachalam 4
Robot Navigation System with RFID and Ultrasonic Sensors A.Seshanka Venkatesh 1, K.Vamsi Krishna 2, N.K.R.Swamy 3, P.Simhachalam 4 B.Tech., Student, Dept. Of EEE, Pragati Engineering College,Surampalem,
More informationDC motor control using arduino
DC motor control using arduino 1) Introduction: First we need to differentiate between DC motor and DC generator and where we can use it in this experiment. What is the main different between the DC-motor,
More informationKeywords: Data Compression, Image Processing, Image Enhancement, Image Restoration, Image Rcognition.
Volume 5, Issue 1, January 2015 ISSN: 2277 128X International Journal of Advanced Research in Computer Science and Software Engineering Research Paper Available online at: www.ijarcsse.com Scrutiny on
More informationRobotic Hand Using Arduino
Robotic Hand Using Arduino Varun Sant 1, Kartik Penshanwar 2, Akshay Sarkate 3, Prof.A.V.Walke 4 Padmabhoshan Vasantdada Patil Institute of Technology, Bavdhan, Pune, INDIA Abstract: This paper highlights
More informationDesign of Cylindrical Whole-hand Haptic Interface using Electrocutaneous Display
Design of Cylindrical Whole-hand Haptic Interface using Electrocutaneous Display Hiroyuki Kajimoto 1,2 1 The University of Electro-Communications 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585 Japan 2 Japan Science
More information2. Introduction to Computer Haptics
2. Introduction to Computer Haptics Seungmoon Choi, Ph.D. Assistant Professor Dept. of Computer Science and Engineering POSTECH Outline Basics of Force-Feedback Haptic Interfaces Introduction to Computer
More informationWadehra Kartik, Kathpalia Mukul, Bahl Vasudha, International Journal of Advance Research, Ideas and Innovations in Technology
ISSN: 2454-132X Impact factor: 4.295 (Volume 4, Issue 1) Available online at www.ijariit.com Hand Detection and Gesture Recognition in Real-Time Using Haar-Classification and Convolutional Neural Networks
More informationHand & Upper Body Based Hybrid Gesture Recognition
Hand & Upper Body Based Hybrid Gesture Prerna Sharma #1, Naman Sharma *2 # Research Scholor, G. B. P. U. A. & T. Pantnagar, India * Ideal Institue of Technology, Ghaziabad, India Abstract Communication
More informationAC : MICROPROCESSOR BASED, GLOBAL POSITIONING SYSTEM GUIDED ROBOT IN A PROJECT LABORATORY
AC 2007-2528: MICROPROCESSOR BASED, GLOBAL POSITIONING SYSTEM GUIDED ROBOT IN A PROJECT LABORATORY Michael Parten, Texas Tech University Michael Giesselmann, Texas Tech University American Society for
More informationA Review of Optical Character Recognition System for Recognition of Printed Text
IOSR Journal of Computer Engineering (IOSR-JCE) e-issn: 2278-0661,p-ISSN: 2278-8727, Volume 17, Issue 3, Ver. II (May Jun. 2015), PP 28-33 www.iosrjournals.org A Review of Optical Character Recognition
More informationImplementation of a Self-Driven Robot for Remote Surveillance
International Journal of Research Studies in Science, Engineering and Technology Volume 2, Issue 11, November 2015, PP 35-39 ISSN 2349-4751 (Print) & ISSN 2349-476X (Online) Implementation of a Self-Driven
More informationWorkshops Elisava Introduction to programming and electronics (Scratch & Arduino)
Workshops Elisava 2011 Introduction to programming and electronics (Scratch & Arduino) What is programming? Make an algorithm to do something in a specific language programming. Algorithm: a procedure
More informationWiCon Robo Hand. Electrical & Computer Engineering Department, Texas A&M University at Qatar
WiCon Robo Hand Team Members: Mouhyemen Khan Arian Yusuf Ahmed Ragheeb Nouran Mohamed Team Name: N-ARM Electrical & Computer Engineering Department, Texas A&M University at Qatar Submitted to Dr. Haitham
More informationReal-Time Face Detection and Tracking for High Resolution Smart Camera System
Digital Image Computing Techniques and Applications Real-Time Face Detection and Tracking for High Resolution Smart Camera System Y. M. Mustafah a,b, T. Shan a, A. W. Azman a,b, A. Bigdeli a, B. C. Lovell
More informationIntroduction to Arduino HW Labs
Introduction to Arduino HW Labs In the next six lab sessions, you ll attach sensors and actuators to your Arduino processor This session provides an overview for the devices LED indicators Text/Sound Output
More information