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Development of safety system for electric wheelchair with thermography camera
Tomoyuki Ohkubo,Kazuyuki Kobayashi,Kajiro Watanabe,Yosuke Kurihara 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes the development of a safety system for electric wheelchairs applying a thermography camera, laser range finder, and head mounted display. The combination of thermography camera and laser range finder can detect obstacles and/or humans even in the dark. The main problem the thermography camera is the narrow viewing angle. To overcome this problem, we developed a real-time obstacle tracking system that consists of a thermography camera and laser range finder. The combination of devices achieves robust tracking without the time-consuming complicated image processing required in conventional obstacle tracking. To confirm the validity of the proposed approach, we tested the newly developed system in an actual environment.
Yuki Sakamoto,Tomoyuki Ohkubo,Kazuyuki Kobayashi,Kajiro Watanabe,Shuzo Matsuda,Yosuke Kurihara 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
According to a British black tea exporter, boiling water of ideal temperature is poured over tealeaves, more than half of the leaves will float while the rest drop to the bottom. Such a movement of tea leaves is well known as "jumping" phenomena. However, depending on the condition of the boiling water, it does not always occur "jumping". In order to analyze the "jumping" phenomena, we investigate automatic "jumping" phenomena through the teapot image sequence.
Experimental study on wind-based vehicle speedometer applying the whistle principle
Tomonari Kaneko,Tomoyuki Ohkubo,Yousuke Kurihara,Kazuyuki Kobayashi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
It is important to consider the effect of wind when driving a vehicle at high speeds since the rate of fuel consumption may change according to wind direction in relation to vehicle driving direction. In order to minimize fuel consumption when driving at high speeds, it is necessary to control the relative vehicle speed against the wind. This paper proposes a new type of speedometer that is based on wind speed instead of conventional ground speed. For the detection of wind speed, we focus on the whistle principle where the frequency of the whistle sound is proportional to the airflow rate. To measure the wind speed as airflow rate, we developed a special whistle suitable for a wind-based vehicle speedometer by using CAD software for three-dimensional modeling. Characteristics of the developed wind-based vehicle speedometer were tested in both indoor experiments and actual-vehicle outdoor experiments. The validity of the proposed method was confirmed by the experiments.
Body twist estimation algorithm using 3-axis acceleration sensor and magnetic sensor
Teruo Horikawa,Tomoyuki Ohkubo,Yousuke Kurihara,Kazuyuki Kobayashi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
We propose a new type of body twist measurement sensor using a 3-axis acceleration sensor and 3-axis magnetic sensor that may be applicable to sports form measurement. To measure the body twist angle, we combined the 3-axis acceleration vector and 3-axis magnetic vector by applying the singular-value decomposition technique. PSoC was used as an elemental test for the developed measurement sensor. To confirm the measurement of body twist angle, we compared it to that of several skilled baseball batters. The results suggest that the proposed method would be useful for estimating body twist angle.
Experimental study on electric motor as a sound device
Takaaki Takekoshi,Tomoyuki Ohkubo,Yousuke Kurihara,Kazuyuki Kobayashi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Electric motors are widely used for actuating tasks in systems such as home appliance vacuum cleaners. The main problem with a vacuum cleaner is the large noise from the motor at high-speed rotation. Although research is underway to develop new technology for suppressing motor noise, it is a difficult goal to achieve since motor noise is generated by numerous factors. In this paper, we propose a different solution to the problem. Instead of suppressing the motor noise, we attempt to control the noise spectrum according to the human sound perception. To achieve this, a motor control driver is required for controlling the motor rotational speed and motor noise spectrum independently. To confirm the validity of our proposed concept, we developed a basic prototype of the motor control driver for experimental testing.