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A Study on Spin-rate Measurement Using a Uniquely Marked Moving Ball
Sho Furuno,Kazuyuki Kobayashi,Tomoyuki Okubo,Yosuke Kurihara 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
A method is proposed for measuring the spin rate of a ball moving through 3D space. The method uses only one high-speed camera and a uniquely marked ball. Five lines, each one a different color, are painted on the??ball’s equator and on its perpendicular great circle, enabling measurement of both the rotational angular velocity (spin rate) and translational velocity. The proposed measurement algorithm consists of two steps. The first step is to measure the translational velocity, for which we developed a new semi-automatic translational speed measurement algorithm. The second step is to measure the ball spin rate employing a unique marker tracking method using a spin rate estimation algorithm based on a rotation matrix. Simulations and experiments were carried out to show the validity of the method, and reasonable results were obtained.
Experimental study on reactive switch by using piezoelectric devices
Yuuki Takehana,Kazuyuki Kobayashi,Tomoyuki Okubo,Yousuke Kurihara 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The keyboard switch is an important for today’ advanced systems. This paper proposes a new type of emulated reactive keyboard switch by using piezoelectric devices. The proposed reactive switch consists of two elements of piezoelectric devices that sensed and actuated by DSP micro controller. We investigate how each reaction force of switches effects to the touch feeling via sensory test. According to results of feeling test, we develop an actual reactive switch for demonstrating reaction force. Validity of proposed reactive switch is verified by actual experimental tests.