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Bird Tracking and Flapping Motion Recognition for Monitoring System
Kohei Maruyama,Takeshi Saitoh,Ryosuke Konishi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Recently, the increasing bird in jury is one of the social problems. To solve this problem, we set our goal to develop the monitoring system. As the first step, we focus the bird tracking and flapping motion recognition both techniques are core technologies of our goal. It is found that Mean Shifttracking based on both the color model and flow model is the most effective to track the target object compared with other wellnown tracking methods, such as, optical flow, color model based Mean Shift, and Particle Filter. We defined three features the flow gradient and two flow features based on the frequency analysis, and proposed the method for recognizing the flapping motion. We collected 70 scenes in cluding the bird’s flying, bird’s walking, and person’s walking. As the result, the flow gradient feature is the effective for recognizing the flapping motion.
Current Sensor based Non-intrusive Appliance Recognition for Intelligent Outlet
Takeshi Saitoh,Yuuki Aota,Tomoyuki Osaki,Ryosuke Konishi,Kazunori Sugahara 대한전자공학회 2008 ITC-CSCC :International Technical Conference on Ci Vol.2008 No.7
This paper presents the current sensor based nonintrusive appliance recognition method for intelligent outlet. Our system has two main functions; one is the remote control function of power supply through the Internet. The other is monitoring function observe the state of appliance. In this paper, the monitor function is especially focused. To recognize the state of appliance, we extract nine features based on measured current signal. In the experiment, we gathered a number of signals with various appliances, and found that three features Ipeak, Iavg, and Irms yield valid recognition results of 81.3%, 84.0%, and 87.4% for classifying the state of appliance into three categories.
Mobile Robot with Following Function and Autonomous Return Function
Naoki Tsuda,Shuji Harimoto,Takeshi Saitoh,Ryosuke Konishi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes the mobile robot consisted of following function and returning function with monocular camera. In the following function, the robot follows the target object such as the person who walks in front of robot, and moves until reaching his destination. To follow him, the region extraction method is applied. Furthermore, the robot records the moving route. In the returning function, the robot moves by tracing the recorded route. We developed the mobile robot based on the electronic wheelchair and carried out several experiments. As the result, we confirm that our robot moves both following mode and returning mode adequate accuracy.
Monocular Vision based Indoor Mobile Robot
Naoya Tada,Keisuke Murata,Takeshi Saitoh,Tomoyuki Osaki,Ryosuke Konishi 대한전자공학회 2008 ITC-CSCC :International Technical Conference on Ci Vol.2008 No.7
This paper presents the indoor mobile robot that moves automatically without needing environment information beforehand while recognizing the frontal surrounding environment with only one general camera. Based on the frontal image, the robot detects two boundary lines, some obstacle regions, and a moving direction. When the obstacle is detected, the avoidance or stop movement is worked according to the size and the position of the obstacle, otherwise the robot moves at the center of the corridor. We developed two wheelchair based mobile robots, and carried out moving experiments. It was possible to pass each other without colliding by working the avoidance movement in face-to-face movement in the coexistence environment.
Voice Activated Wheelchair with Collision Avoidance Using Sensor Information
Akira Murai,Masaharu Mizuguchi,Masato Nishimori,Takeshi Saitoh,Tomoyuki Osaki,Ryosuke Konishi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper develops a functional voice activated wheelchair. Various interfaces to control powered wheelchair are proposed. Since the voice is the most natural communication ways for person, our study pays attention to speech recognition. The user controls the wheelchair by the interactive operation. The wheelchair does not act based on false speech recognition. However, there is a problem that is the wheelchair collides in the wall and obstacle by delaying the voice command. Then, our system applies the collision avoidance function CAF by which wheelchair avoids the wall or obstacle without voice command by using the informatio of two kinds of sensor. CAF assists the user to control the wheelchair without colliding in the wall or obstacle. The effectiveness of our system was confirmed through the running experiment.