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An Enhanced Force and Contact Position Sensor for Micro-Manipulations
Tri Cong Phung,인용석,최병준,이상무,구자춘,하승화,최혁렬 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.3
In micro-manipulations, force sensing devices play an important role in the control and the assembly of micro-objects. To protect these micro-objects from damage, we must have the ability to detect the value of the minute amount of interactive force (about a few µN) upon contact between the tip and the object. To detect this micro-force, we need an optimized design of force sensor to increase the strain values at the positions we place sensing components. Stress concentration can effectively amplify the strain values measured by the force sensors. This paper investigates the effect that the notches have on increasing the strain values at the positions we attach the sensing elements. In addition, the optimal design with a flexible structure improves the sensitivity of the sensor. An algorithm that can calculate both contact force and contact position on the sensor tip is also mentioned. Besides, an optimal location of strain gauges will ensure the accuracy and stability of the measurement. Finally, analysis and experiment are done to verify the proposed idea.
Edge Identification of a Small Object through a Low-Resolution Tactile Sensor Array
Tri Cong Phung,Yong Seok Ihn,구자춘,최혁렬 한국정밀공학회 2010 International Journal of Precision Engineering and Vol. No.
Edge detection is always an interesting field for researchers in the area of artificial intelligence, including machine visions and robotics. In the context of tactile sensors, many studies have been conducted on edgeidentification algorithms. These investigations often use high-resolution tactile sensor arrays to track an edge of a large object. In this work, edge identification is examined in which a coarse-resolution tactile sensor, specif., a 2x2 array, is used to detect and track edges of a small object. To simplify the control, we control the sensor just in 2D and in just one direction at a time. We propose two methods to solve this problem: a scanning method, of which the principle of operation is similar to that of a scanner, and an edge-following method that can make the sensor follow the boundary of the object. The flowchart of each method will be presented in detail in this paper. Some simulations in MATLAB, including four shapes, viz., square, triangle, ellipse, and hexagon, have been executed to verify our proposal. A comparison and a critique of the two methods are also presented for improving the methods.
An Enhanced Edge Tracking Method Using a Low Resolution Tactile Sensor
Phung, Tri Cong,Ihn, Yong-Seok,Koo, Ja-Choon,Choi, Hyouk-Ryeol 제어로봇시스템학회 2010 Transaction on control, automation and systems eng Vol. No.
Edge detection plays an important role in object recognition and exploration. In this paper, we propose an efficient tracking algorithm, which uses a coarse resolution tactile sensor set, for edge detection of a 2D shape object. Although many researchers have often used a tactile sensor with high resolution such as a $10{\times}10$ or higher for edge detection, in this research, we use a $2{\times}2$ tactile sensor to track the edges of an object. Using this type of low resolution sensor, we can reduce the manufacturing cost of the sensor and simplify the calculation and control process. In our algorithm, we only need to control the sensor to make it move along the vertical axis, Oy, or the horizontal axis, Ox. The sensor is moved along a suitable direction according to the sensing signals receiving from it. A set of simulations for both convex and concave shapes has been done to verify the algorithm. In addition, methods to increase the accuracy of the algorithm are also discussed.
Edge Identification of a Small Object through a Low-Resolution Tactile Sensor Array
Phung, Tri Cong,Ihn, Yong-Seok,Koo, Ja-Choon,Choi, Hyouk-Ryeol 한국정밀공학회 2010 International Journal of Precision Engineering and Vol.11 No.2
Edge detection is always an interesting field for researchers in the area of artificial intelligence, including machine visions and robotics. In the context of tactile sensors, many studies have been conducted on edge-identification algorithms. These investigations often use high-resolution tactile sensor arrays to track an edge of a large object. In this work, edge identification is examined in which a coarse-resolution tactile sensor, specif., a 2${\times}$2 array, is used to detect and track edges of a small object. To simplify the control, we control the sensor just in 2D and in just one direction at a time. We propose two methods to solve this problem: a scanning method, of which the principle of operation is similar to that of a scanner, and an edge-following method that can make the sensor follow the boundary of the object. The flowchart of each method will be presented in detail in this paper. Some simulations in MATLAB, including four shapes, viz., square, triangle, ellipse, and hexagon, have been executed to verify our proposal. A comparison and a critique of the two methods are also presented for improving the methods.
Tri Cong Phung,최혁렬,김민정,문형필,구자춘 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.2
In this paper, we propose a method of exploring the surface geometry of an unknown object by touch. The method is based on the idea that a three-dimensional surface geometry can be reconstructed from two principal curvatures of the object which are estimated from three concurrent curves. First, the process to minimize the number of contact points is addressed for the approximation of an arbitrary curve, which uses normal vectors at the contact points. Then, an algorithm for reconstructing a three-dimensional local surface from four contact points, two of which can be used to compute a normal curvature, is presented. Lastly, our method is applied to cylindrical, spherical and planar objects in simulation and experiments for validation.
An Enhanced Edge Tracking Method Using a Low Resolution Tactile Sensor
최혁렬,Tri Cong Phung,인용석,구자춘 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.2
Edge detection plays an important role in object recognition and exploration. In this paper, we propose an efficient tracking algorithm, which uses a coarse resolution tactile sensor set, for edge detection of a 2D shape object. Although many researchers have often used a tactile sensor with high resolution such as a 10x10 or higher for edge detection, in this research, we use a 2x2 tactile sensor to track the edges of an object. Using this type of low resolution sensor, we can reduce the manufacturing cost of the sensor and simplify the calculation and control process. In our algorithm, we only need to control the sensor to make it move along the vertical axis, Oy, or the horizontal axis, Ox. The sensor is moved along a suitable direction according to the sensing signals receiving from it. A set of simulations for both convex and concave shapes has been done to verify the algorithm. In addition, methods to increase the accuracy of the algorithm are also discussed.