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RISS 인기검색어
- 검색키워드
- 저자 : BUI QUANG TAN (검색결과 2 건)
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Effective Tracking Algorithm for Human Following of Mobile Robot with Kinect Sensor
BUI QUANG TAN 경희대학교 대학원 2017 국내석사
Abstract EFFECTIVE TRACKING ALGORITHM FOR HUMAN FOLLOWING OF MOBILE ROBOT WITH KINECT SENSOR By Bui Quang Tan Master in Mechanical Engineering Graduate Shool of Kyung Hee University Advised by Ph.D. Soon-Geul Lee Almost half of jobs in the United States are likely to be automated within the next 20 years. That is the prediction from researchers at the University of Oxford in England. They think more and more machines will be given jobs that people traditionally performed. Robots now work in the food industry and build cars. Other robots can be programmed to welcome people as they arrive at a store or hotel. Imagine that you are in an airport and you have to take care your children. You will be very happy if there is a robot it can follow you and help you to carry your luggage. To do the task the robot must have ability to detect, following human and collision a voidance. In this paper, a vacuum cleaning robot platform equipped by Kinect camera sensor to follow a moving human. The system is defined as the Tracking Human Robot System (THRS). This robot is used as a service robot it can track a person quickly and smoothly on a flat floor and maintain a safe distance to that person. There are several sensors they can be used for human tracking. Ultrasonic sensors transmit and receive ultrasonic waves and determine the distance to an object by calculating the time interval between sending the signal and receiving the echo. They are used to track a human and avoid obstacles by developing an ultrasonic-sensor array. However, ultrasonic-sensors cannot distinguish human from object. RGB cameras, which can deliver the three basic color components (red, green, and blue), are frequently used some image processing software for object detection and tracking. For example, OpenCV, Matlab, and Point Cloud Library (PCL) can be used for image processing. However, 3D motion sensors (or depth sensors) are very likely to supersede other sensors in human tracking due to their reliability and depth sensing ability. A 3D motion sensor is a device that can capture motions in 3D. There are two popular commercial 3D motion sensors, Kinect from Microsoft and Xtion PRO Live from Asus. The Kinect sensor has high resolution (1–75mm) and is more adaptable than the Xtion PRO Live. Human-tracking is easy to realize with 3D motion sensors because they usually come with a software development kit (SDK) that processes color, depth, and skeleton data. With these data, it is convenient to create human-tracking applications. Key Words Tracking Human Robot System (THRS), Kinect sensor, vacuum cleaning robot, collision avoidance.
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Fabrication of CuO-based biosensor by alternating current plasma for detecting hydrogen peroxide
Bui Quang Tan 한남대학교 대학원 2023 국내석사
In this study, we developed a catalytic electrode by alternating currents (AC) plasma deposition of CuO NPs as catalysts on a ITO electrode for determine hydrogen peroxide. In detail, we firstly synthesized the precursors by complexation of metal salts such as CuCl2, FeCl2, and ZnCl2 and acrylic acid in the presence of a small amount of water, respectively. We secondly prepared catalytic electrode with Fe2O3 , CuO, and ZnO NPs by one-step AC plasma deposition on the surface of ITO glass. The prepared catalytic electrode was characterized by FT-IR spectroscopy, SEM, contact angle, energy-dispersive X-ray spectroscopy (EDS), X-ray photoelectron spectroscopy (XPS) and cyclic voltammetry to confirm its successful fabrication. A prepared catalytic electrode with CuO NPs were appeared the highly oxidation and reduction peaks for hydrogen peroxide (H2O2) in PBS solution. We could obtain the results such as the good sensitivity (63.52 mA M -1 cm -2 ), good selectivity, low detection limits (0.6 µM), the fast sensing response (5 sec) and wide linear response (0.5 ~ 8.5 mM), and good stable over 120 cycles for the fabricated catalytic electrode with CuO NPs. According to these results, the prepared catalytic electrode with CuO NPs could be used as sensor for detection of hydrogen peroxide concentrations in various samples.
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